Method, device, equipment and medium for two-wheeled vehicle formation control

Abstract

The invention relates to the technical field of two-wheeled vehicles, and discloses a two-wheeled vehicle formation control method, device, equipment and medium, and a two-wheeled vehicle formation, comprising a master vehicle and at least one slave vehicle, the method is executed by the slave vehicle, and comprises the following steps: obtaining first information sent by the master vehicle, the first information being used for indicating expected trajectory information of the master vehicle in the two-wheeled vehicle formation, determining slave vehicle expected trajectory information in the two-wheeled vehicle formation based on the first information; calculating an output torque corresponding to the slave vehicle based on the first information and the state information of the slave vehicle; and controlling the motion state of the slave vehicle based on the output torque. According to the invention, the master vehicle only needs to plan the own expected trajectory and send the trajectory, there is no need to design a trajectory for each slave vehicle independently, and the computing power consumption of the master vehicle is reduced; and meanwhile, the information sent by the master vehicle is a single track instead of a multi-slave vehicle track set, so that the communication data volume is reduced, and the communication congestion during large-scale formation is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of two-wheeled vehicles, and in particular to a method, device, equipment and medium for controlling a formation of two-wheeled vehicles. Background Art

[0002] In recent years, two-wheeled vehicles have been widely researched and applied in the fields of intelligent transportation and mobile robotics due to their compact structure and high maneuverability. In particular, in complex or confined environments, multiple two-wheeled vehicles can form a platoon and collaboratively complete tasks such as logistics transportation, search and rescue, and environmental monitoring.

[0003] In the centralized path planning technology used in related technologies, the master vehicle needs to plan complete desired trajectories for itself and all follower vehicles. The amount of computation increases linearly with the number of follower vehicles. As the size of the platoon increases, the computing power of the master vehicle will become a bottleneck, resulting in delays in trajectory planning and even the inability to generate an effective path in real time. Summary of the Invention

[0004] In view of this, the present invention provides a method, apparatus, device and medium for controlling a two-wheeled vehicle formation, so as to solve the problem that the computing power of the main vehicle restricts the control of the two-wheeled vehicle formation.

[0005] In a first aspect, the present application provides a method for controlling a two-wheeled vehicle formation, wherein the two-wheeled vehicle formation includes a master vehicle and at least one slave vehicle, and the method is executed by the slave vehicle. The method includes: obtaining first information sent by the master vehicle, wherein the first information is used to indicate the expected trajectory information of the master vehicle in the two-wheeled vehicle formation, and determining the expected trajectory information of the slave vehicles in the two-wheeled vehicle formation based on the first information; calculating the output torque corresponding to the slave vehicle based on the first information and the state information of the slave vehicle; and controlling the motion state of the slave vehicle based on the output torque.

[0006] In a second aspect, the present application provides another method for controlling a two-wheeled vehicle formation, wherein the two-wheeled vehicle formation includes a master vehicle and at least one slave vehicle, and the method is executed by the master vehicle; the method includes: obtaining first information, wherein the first information is used to indicate the expected trajectory information of the master vehicle in the two-wheeled vehicle formation; sending the first information to the slave vehicle so that the slave vehicle calculates the output torque corresponding to the slave vehicle based on the first information and the status information of the slave vehicle; and controlling the motion state of the slave vehicle based on the output torque.

[0007] In a third aspect, the present application provides a device for controlling a two-wheeled vehicle formation, wherein the two-wheeled vehicle formation includes a master vehicle and at least one slave vehicle, and the device includes: a first module for obtaining first information sent by the master vehicle, wherein the first information is used to indicate the expected trajectory information of the slave vehicle in the two-wheeled vehicle formation; a second module for calculating the output torque corresponding to the slave vehicle based on the first information and the status information of the slave vehicle; and a control module for controlling the motion state of the slave vehicle based on the output torque.

[0008] In a fourth aspect, the present invention provides a computer device comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the method for controlling a two-wheeled vehicle formation according to the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0009] In a fifth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method for controlling a two-wheeled vehicle formation according to the first aspect or any corresponding embodiment thereof.

[0010] In a sixth aspect, the present invention provides a computer program product comprising computer instructions for causing a computer to execute the method for controlling a two-wheeled vehicle formation according to the first aspect or any corresponding embodiment thereof.

[0011] In the method for controlling a two-wheeled vehicle formation provided by this embodiment, the master vehicle only needs to plan and send its own desired trajectory, without having to design a separate trajectory for each slave vehicle, thereby reducing the computing power consumption of the master vehicle. At the same time, the information sent by the master vehicle is a single trajectory rather than a collection of trajectories of multiple slave vehicles, which reduces the amount of communication data and avoids communication congestion during large-scale formations. In addition, all slave vehicles generate their own trajectories based on the desired trajectory of the master vehicle, ensuring that all vehicles in the formation will synchronously update their own trajectories based on the same reference when the master vehicle's trajectory is adjusted, avoiding a scattered formation caused by different references of the slave vehicles. Furthermore, the slave vehicles generate their own trajectories directly based on the desired trajectory of the master vehicle, which can predict the movement trend of the master vehicle in advance, thereby adjusting their own movement state in advance, and reducing the tracking lag of the slave vehicles caused by the sudden movement of the master vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in related technologies, the following briefly introduces the drawings required for use in the specific embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 A schematic flow chart of a method for controlling a two-wheeled vehicle formation according to an embodiment of the present application is shown; Figure 2 1 is a schematic diagram showing the control flow of the master vehicle and the slave vehicle according to an embodiment of the present application; Figure 3 Another schematic diagram showing the control process of the master vehicle and the slave vehicle according to an embodiment of the present application; Figure 4 Another schematic diagram showing the control process of the master vehicle and the slave vehicle according to an embodiment of the present application; Figure 5 Another schematic diagram showing the control process of the master vehicle and the slave vehicle according to an embodiment of the present application; Figure 6 Another method for controlling a two-wheeled vehicle formation according to an embodiment of the present application is shown; Figure 7 A schematic structural diagram of a device for controlling a two-wheeled vehicle formation according to an embodiment of the present application is shown; Figure 8 Schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0014] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0015] Related technologies for platooning multiple two-wheeled vehicles include behavior-based methods, virtual structure-based methods, and master-slave (i.e., leader-follower)-based methods. The master-slave-based method is widely used in actual deployments due to its clear structure, simple control logic, and ease of engineering implementation.

[0016] In a master-slave control approach, one or more leader vehicles (leaders) typically provide desired trajectory or target information, while followers (followers) track and control the vehicles based on their relative relationship with the leader vehicles. This master-slave formation control strategy has widespread application in robotics. However, due to their structural characteristics, two-wheeled vehicles must maintain their balance while forming a formation. Speed-based control often reduces maneuverability. Furthermore, sudden changes in the desired trajectory during formation changes often lead to instability in the followers.

[0017] In view of the above shortcomings, the present application proposes a two-wheeled vehicle formation control method based on master-slave control to maximize the robustness and maneuverability of the two-wheeled vehicles during formation movement.

[0018] According to an embodiment of the present invention, a method embodiment for controlling a two-wheeled vehicle formation is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0019] In this embodiment, a method for controlling a two-wheeled vehicle formation is provided, which can be used for two-wheeled vehicles. The two-wheeled vehicle formation includes a master vehicle and at least one slave vehicle. There is a corresponding relationship between the at least one slave vehicle and the master vehicle. The method is executed by the slave vehicle. Figure 1 A flow chart of a method for controlling a two-wheeled vehicle formation according to an embodiment of the present application is shown. Figure 1 As shown, the process includes the following steps: Step S101: obtaining first information sent by a master vehicle, the first information being used to indicate expected trajectory information of the master vehicle in a two-wheeled vehicle formation, and determining expected trajectory information of the follower vehicles in the two-wheeled vehicle formation based on the first information.

[0020] In this step, a two-wheeled vehicle refers to a vehicle that is supported and driven by two wheels and has the characteristics of compact structure and strong maneuverability. In the field of intelligent transportation and mobile robots, two-wheeled vehicles are often designed as mobile platforms with autonomous control capabilities. The wheels can be driven by motors to achieve forward or turning movements. Compared with multi-wheeled vehicles, two-wheeled vehicles have a small turning radius and flexible movement, and can quickly adjust the direction in a small space. The main vehicle is the leader and information source in the two-wheeled vehicle formation. It can be responsible for generating and publishing the core control information of the entire formation and is the benchmark for the formation movement. The movement trajectory of the main vehicle is the reference object of other slave vehicles. The two-wheeled vehicle formation adopts a master-slave control architecture, which can realize the distributed collaborative movement of multiple two-wheeled vehicles.

[0021] A follower vehicle is a two-wheeled vehicle that follows the leader vehicle in a two-wheeled vehicle formation. Based on information from the leader vehicle, it performs tracking control to maintain the formation. The status of a follower vehicle represents its current state of motion. This includes information such as the position of the follower's center of mass, its speed, and its acceleration.

[0022] The master vehicle's expected trajectory information can be the master vehicle's trajectory points within a certain period of time in the future, for example, within one to two seconds. Timestamp synchronization can be used for the master vehicle's expected trajectory information to ensure that after receiving the master vehicle's expected trajectory information, the slave vehicle can consistently calculate the slave vehicle's expected trajectory information.

[0023] The master vehicle's posture can be determined by its orientation and direction in space, as measured by its inertial measurement unit (IMU). The desired formation can be determined based on pre-defined formation geometry, such as the lateral offset or longitudinal distance of the follower vehicle relative to the master vehicle.

[0024] The slave vehicle receives the first information sent by the master vehicle through the communication module. The first information includes the expected trajectory of the master vehicle. The slave vehicle can parse the first information and extract the key features of the master vehicle's trajectory as the reference point for its own trajectory planning.

[0025] The follower vehicle generates its own expected trajectory based on the preset formation rules and the expected trajectory of the master vehicle. It can convert the absolute trajectory of the master vehicle into the relative trajectory of the follower vehicle to ensure the consistency of the formation.

[0026] Step S102 : Calculate the output torque corresponding to the slave vehicle based on the first information and the state information of the slave vehicle.

[0027] In this step, the vehicle collects its own real-time status information, such as current position, speed, body inclination, wheel speed, etc., through sensors such as encoders, IMUs, and visual sensors, and compares it with the autonomously generated desired trajectory to obtain a trajectory tracking error. Based on the first information and the trajectory tracking error, the output torque for driving the two-wheeled vehicle is calculated through a control algorithm.

[0028] Step S103: Control the motion state of the slave vehicle based on the output torque.

[0029] In this step, the slave vehicle converts the calculated output torque into a motor drive signal, controls the left and right wheel speeds and steering, and adjusts its own motion state in real time so that the actual trajectory gradually approaches the desired trajectory, ultimately achieving coordinated motion with the master vehicle and maintaining the overall formation of the formation.

[0030] In this way, the master vehicle only needs to plan and send its own desired trajectory, without having to design a separate trajectory for each slave vehicle, which reduces the master vehicle's computing power consumption; at the same time, the information sent by the master vehicle is a single trajectory rather than a collection of trajectories of multiple slave vehicles, which reduces the amount of communication data and avoids communication congestion during large-scale formations; in addition, all slave vehicles generate their own trajectories based on the master vehicle's desired trajectory, ensuring that all vehicles in the formation will synchronously update their own trajectories based on the same benchmark when the master vehicle's trajectory is adjusted, avoiding a scattered formation caused by different benchmarks of the slave vehicles; and, by generating its own trajectory directly based on the master vehicle's desired trajectory, the slave vehicle can predict the master vehicle's movement trend in advance, thereby adjusting its own movement state in advance and reducing the tracking lag of the slave vehicle caused by the master vehicle's sudden movement.

[0031] In some optional embodiments, the first information includes the expected trajectory information of the master vehicle and the posture of the master vehicle. Based on the first information and the status information of the slave vehicle, the output torque corresponding to the slave vehicle is calculated, including: obtaining the expected trajectory of the slave vehicle based on the expected trajectory information of the master vehicle, the posture of the master vehicle and the status information of the slave vehicle; calculating the output torque corresponding to the slave vehicle based on the expected trajectory of the slave vehicle.

[0032] In this implementation, the basic information required for control obtained by the slave vehicle includes: primary information sent by the master vehicle, including the master vehicle's desired trajectory and real-time posture; and status information from the slave vehicle itself, including real-time data collected by sensors, including the slave vehicle's current position, speed, body posture, and wheel speed. The slave vehicle synchronizes and standardizes this information to provide homogeneous, time-consistent input for subsequent trajectory generation and torque calculation.

[0033] After obtaining the aforementioned basic information, the slave vehicle calculates its own desired trajectory based on the pre-set platooning rules, converting the master vehicle's global trajectory into a local target trajectory for the slave vehicle. The slave vehicle compares its autonomously generated desired trajectory with its own real-time state to determine the trajectory tracking error. Based on this error, a control algorithm (such as proportional-integral-derivative control or model predictive control) is used to calculate the output torque to drive the two-wheeled vehicle.

[0034] In this way, when the slave vehicle generates the desired trajectory, it simultaneously integrates the desired trajectory and real-time posture of the master vehicle. The generated trajectory can not only follow the master vehicle's global planning, but also adapt to the master vehicle's instantaneous dynamics. At the same time, the slave vehicle generates the desired trajectory based on its own state information, ensuring that the trajectory is within its own reach, reducing tracking errors caused by unreachable target trajectories and improving control stability.

[0035] Figure 2 1 is a schematic diagram showing the control flow of the master vehicle and the slave vehicle in the embodiment of the present application. Figure 2 As shown, the master vehicle 21 transmits its center-of-mass trajectory 211, its posture 212, and its current formation 213 to the slave vehicles 22. After receiving these information, the slave vehicles calculate the expected slave trajectory information 24 based on these information. Furthermore, both the master vehicle 21 and the slave vehicles 22 control their own motion using a distributed joint torque controller 23 for overall control.

[0036] The method for controlling a two-wheeled vehicle formation provided by this embodiment is different from the related art in which the path planning is completely centralized by the master vehicle or the master-slave is completely independent. This method uses the master vehicle's expected trajectory information as a global benchmark. The slave vehicles calculate the expected trajectories of the slave vehicles in a distributed manner based on the information sent by the master vehicle. Through master-slave decoupling control, distributed trajectory planning and torque calculation of the two-wheeled vehicles are realized, which can reduce the computing pressure of the master vehicle and is suitable for engineering implementation and system expansion. At the same time, through the trajectory tracking controller, joint torque is output, and the movement of the two-wheeled vehicle is controlled based on the output torque. It has better non-complete system control capabilities and is suitable for balance control of highly maneuverable two-wheeled vehicles. While ensuring the balance of the vehicle body, the maneuverability of the two-wheeled vehicle system is greatly preserved.

[0037] In some optional embodiments, determining the expected trajectory of a slave vehicle in a two-wheeled vehicle formation based on the first information includes: determining a position offset of the slave vehicle relative to the master vehicle based on the expected formation formation; determining the center-of-mass position of the slave vehicle based on the position offset of the target timestamp, the posture of the master vehicle, and the center-of-mass position of the master vehicle; and calculating the expected trajectory information of the slave vehicle based on the center-of-mass position of the slave vehicle and the status information of the slave vehicle, wherein the status information of the slave vehicle includes the speed of the slave vehicle and the acceleration of the slave vehicle.

[0038] In this embodiment, the slave vehicle can determine its position offset relative to the master vehicle in the master vehicle coordinate system according to the desired formation. It represents the expected position offset of the slave vehicle relative to the master vehicle in the master vehicle coordinate system. It can be calculated as follows:

[0039] in, It is used to represent the horizontal or vertical position offset of the current slave vehicle in the master vehicle coordinate system. The last two digits of the vector are both 0, indicating that the speed offset and acceleration offset of the slave vehicle in the master vehicle coordinate system are 0, indicating that the expected speed and acceleration of the slave vehicle are consistent with those of the master vehicle, and only the position has a fixed offset relative to the master vehicle, ensuring that the slave vehicle and the master vehicle keep moving at the same speed and maintain the dynamic consistency of the formation. In , the row vector is converted into a column vector by transposing, which is used to describe the geometric position relationship of the follower vehicle relative to the master vehicle in the formation.

[0040] The posture of the main vehicle can be obtained by reading the body rotation matrix R through the main vehicle IMU sensor, where , is a special orthogonal group in three-dimensional space. R is used to characterize the posture of the master vehicle, including its direction and orientation, which can be obtained through the IMU sensor. For example, if the master vehicle turns, R is updated accordingly. The slave vehicle can use this matrix to convert the offset in the master vehicle coordinate system to a position in the global coordinate system, ensuring the accuracy of the desired trajectory calculation.

[0041] From the center of mass of the vehicle , can be calculated as follows:

[0042] It can be calculated as follows ,based on Characterize the expected trajectory information of the slave vehicle:

[0043] in, Used to represent the speed of the vehicle. Used to characterize the acceleration of the slave vehicle. The speed and acceleration of the slave vehicle can reuse the master vehicle status to ensure the coordination of the formation.

[0044] Figure 3 Another schematic diagram showing the control process of the master vehicle and the slave vehicle in the embodiment of the present application is shown. Figure 3 As shown, the master vehicle 21 transmits its center-of-mass trajectory 211, its posture 212, and its current formation 213 to the slave vehicle 22. After receiving these information, the slave vehicle calculates its desired trajectory information 24 based on these information, along with the slave vehicle's status 221. Furthermore, both the master vehicle 21 and the slave vehicle 22 control their own motion using a distributed joint torque controller 23 for overall control.

[0045] In this way, the master vehicle uniformly plans the formation, and the slave vehicles adjust as needed, avoiding information redundancy and achieving highly robust trajectory planning for the slave vehicles. At the same time, multiple slave vehicles can be expanded, and new slave vehicles only need to receive information from the master vehicle and calculate their own offsets without modifying the overall architecture. In addition, through the combination of position offset and attitude matrix, the slave vehicle can accurately calculate its own target position in the global coordinate system, ensuring that no matter how the slave vehicle turns or moves, it can maintain the preset relative position.

[0046] Considering the sampling lag, physical constraints and communication delay in actual control systems, directly adopting the above expected trajectory may lead to drastic steering or sudden actions.

[0047] In some optional embodiments, the aforementioned method for controlling a two-wheeled vehicle formation further includes: smoothing the expected trajectory information of the slave vehicle by using at least one of the following methods: interpolation, Kalman filtering, sliding average filtering, curve fitting, and model predictive control.

[0048] In this embodiment, the following error can be smoothly adjusted using interpolation technology. Alternatively, the trajectory can be optimized using a Kalman filter method based on the two-wheeled vehicle's equation of motion and real-time observation data through a prediction-update cycle. The prediction phase estimates the current position based on historical states, and the update phase corrects the prediction error using observed values. Alternatively, a sliding average filter method can be used to calculate the mean within a preset sliding window and replace the center point. Alternatively, a curve fitting method can be used to fit trajectory points using a piecewise polynomial function. Alternatively, a Model Predictive Control (MPC) method can be used to perform rolling optimization of control variables within a finite future time domain, combining kinematic constraints to generate a smooth trajectory.

[0049] Figure 4 Another schematic diagram showing the control process of the master vehicle and the slave vehicle in the embodiment of the present application is shown. Figure 4 As shown, the master vehicle 21 sends its center-of-mass trajectory 211, its posture 212, and its current formation 213 to the slave vehicle 22. After receiving these information, the slave vehicle calculates the desired slave trajectory information 24 based on the master vehicle center-of-mass trajectory 211, the master vehicle posture 212, the current formation 213, and the slave vehicle state 221. The slave vehicle then interpolates and smoothes the desired slave trajectory information 24 to obtain smoothed desired slave trajectory information 241. Furthermore, both the master vehicle 21 and the slave vehicle 22 control their own motion based on the distributed joint torque controller 23 for overall control.

[0050] In this way, by smoothing the expected trajectory information of the slave vehicle, it is possible to avoid the situation where the trajectory suddenly changes due to formation changes and causes the vehicle body to become unstable.

[0051] In some optional implementations, the expected trajectory information of the slave vehicle is smoothed based on interpolation, including: obtaining the slave vehicle state information and the expected trajectory information of the slave vehicle at the target timestamp; and performing a weighted summation of the slave vehicle state information at the target timestamp and the expected trajectory information of the slave vehicle at the target timestamp based on an interpolation coefficient to generate the smoothed expected trajectory information of the slave vehicle.

[0052] In this embodiment, the current state of the slave vehicle can be represented as follows: :

[0053] in, Used to represent the current center of mass position information of the slave vehicle, Used to represent the current speed information of the slave vehicle. Used to represent the current acceleration information of the slave vehicle.

[0054] The expected trajectory information of the slave vehicle can be smoothed by weighted interpolation. The smoothed expected trajectory information of the slave vehicle is As shown below:

[0055] in, Used to represent the interpolation coefficient, .exist When it approaches 1, the vehicle trajectory is close to the current state, the response is slow but the stability is high; When it approaches 0, the slave vehicle quickly follows the desired trajectory and responds sensitively, but may become unstable due to sudden changes.

[0056] The interpolation coefficients can be dynamically adjusted based on the desired formation and the responsiveness of the trajectory tracking controller. By adjusting the interpolation coefficients, obstacle avoidance is achieved during formation changes, ensuring a smooth and gradual convergence of the vehicles toward the desired trajectory. Furthermore, in high-speed cornering scenarios, dynamic adjustment of the interpolation coefficients can reduce the fluctuations in the vehicle's tilt angle, minimizing the risk of rollover.

[0057] Specifically, based on the desired formation, the formation density is determined, and the formation density can be calculated based on the deviation between the vehicle and the target position. The formation density can be calculated using the following formula: :

[0058] The saturation margin and stability index of the controller can be determined based on the response capability of the trajectory tracking controller. The saturation margin of the controller can be determined based on the output torque of the trajectory tracking controller. , and the maximum torque of the motor The stability index can be used to evaluate the balance risk of a two-wheeled vehicle based on its tilt angle and its rate of change.

[0059] Construct an interpolation coefficient calculation model:

[0060] in, is the basic coefficient, which can be determined according to the actual application scenario. For example, The value can be 0.4 to 0.6. 、 and is a weight parameter that can be calibrated through experiments. The constraints of the interpolation coefficient model can be constructed to calculate the model. The constraints can be ∈[ , ], by establishing constraints, extreme responses can be avoided.

[0061] In each master vehicle control time period, the interpolation coefficient is updated, and the smoothed expected trajectory information of the slave vehicle is calculated based on the updated interpolation coefficient.

[0062] Figure 5 Another schematic diagram showing the control process of the master vehicle and the slave vehicle in the embodiment of the present application is shown. Figure 5 As shown, the master vehicle 21 sends its center-of-mass trajectory 211, its posture 212, and its current formation 213 to the slave vehicle 22. After receiving these information, the slave vehicle calculates its desired trajectory information 24 based on the master vehicle center-of-mass trajectory 211, the master vehicle posture 212, the current formation 213, and the slave vehicle state 221. The slave vehicle then interpolates and smoothes this trajectory information 24 based on dynamically adjusted interpolation coefficients 242 to obtain smoothed desired trajectory information 241. Furthermore, both the master vehicle 21 and the slave vehicle 22 control their own motion based on the distributed joint torque controller 23 for overall control.

[0063] In this way, the smoothness of trajectory tracking is achieved through distributed interpolation smoothing trajectory planning of the slave vehicle, which can avoid the trajectory jump and control oscillation of the slave vehicle and ensure the stability of the two-wheeled vehicle; at the same time, the gradual adjustment of the slave vehicle trajectory can be achieved through interpolation smoothing, which can improve the continuity and controllability of trajectory tracking.

[0064] In some optional embodiments, based on the first information and the status information of the slave vehicle, the output torque corresponding to the slave vehicle is calculated, including: establishing a control model of the trajectory tracking controller based on quadratic programming; configuring the objective function and constraints in the control model, wherein the objective function includes a task space trajectory tracking function, a complete constraint tracking function and an incomplete constraint tracking function, and the constraints include under-actuated dynamics equations, ground reaction force constraints, upper and lower limit constraints of joint torques, and upper and lower limit constraints of accelerations; solving the output torque when the objective function and constraints are satisfied.

[0065] In this implementation, quadratic programming (QP) is used to find the optimal solution under specific constraints. The task-space trajectory tracking function aims to ensure that the vehicle's center of mass position, velocity, and acceleration follow a smoothed desired trajectory. The trajectory tracking error can be used as the primary term in the task-space trajectory tracking function, and weighting coefficients can be used to adjust the priority of different tasks.

[0066] The goal of the holonomic constraint tracking function is to ensure that the two-wheeled vehicle satisfies its geometric constraints during motion, such as ensuring that the wheel's velocity at the contact point with the ground is zero. The constraints of the nonholonomic constraint tracking function are the kinematic constraints imposed by the vehicle's incompleteness, such as preventing the vehicle from moving laterally.

[0067] The modeling logic of the under-actuated dynamics equation is that the two-wheeled vehicle is an under-actuated system, and a dynamic model can be established based on the Lagrange equation. Through the under-actuated dynamics equation, it can be ensured that the control torque meets the vehicle dynamics characteristics and avoids the disconnection between the theoretical torque and the actual dynamic response. The ground reaction force constraints include normal unilateral constraints and tangential friction cone constraints. Among them, for the normal unilateral constraint, the ground support force can be converted into an inequality constraint, for example, the ground support force cannot be less than 0. For the tangential friction cone constraint, it can be configured so that the tangential force between the wheel and the ground meets the friction requirements. The upper and lower limit constraints of the joint torque can be configured based on the motor performance, and the upper and lower limit constraints of the acceleration can be configured based on the acceleration limit.

[0068] The objective function and constraints are converted into standard QP form. The control torque is calculated in real time through an efficient QP solver. The solved control torque is converted into a motor drive signal to control the left and right wheel speeds or steering torques of the small yellow wheel vehicle, achieving trajectory tracking and balance maintenance.

[0069] In this way, the master vehicle and the slave vehicle independently run the WBC controller. The slave vehicle calculates the control torque in a distributed manner based on the master vehicle's trajectory and its own state, which can avoid the computational bottleneck of centralized control and improve the scalability of the system. At the same time, the two-wheeled vehicle control problem is transformed into a constrained optimization problem. Through mathematical modeling, the optimal control torque is solved to ensure that the control quantity meets the physical constraints and the tracking error is minimized. In addition, the dynamic modeling based on the Lagrange equation strictly handles the under-driven characteristics of the two-wheeled vehicle to avoid infeasible control quantities. In addition, this control algorithm is highly versatile and can ensure the balance of the vehicle body under various desired trajectories.

[0070] The present application also provides another method for controlling a two-wheeled vehicle formation, wherein the two-wheeled vehicle formation includes a master vehicle and at least one slave vehicle, and the method is executed by the master vehicle; Figure 6 Another method for controlling a two-wheeled vehicle formation according to an embodiment of the present application is shown. Figure 6 As shown, the process includes the following steps: Step S601: Acquire first information, where the first information is used to indicate expected trajectory information of a main vehicle in a two-wheeled vehicle formation.

[0071] In this step, the first information obtained by the master vehicle includes the master vehicle's expected trajectory information, which can be trajectory points within a certain period of time in the future, for example, within one to two seconds. Timestamp synchronization can be used for the master vehicle's expected trajectory information to ensure that after receiving the master vehicle's expected trajectory information, the slave vehicle can consistently calculate the expected trajectory information of the slave vehicle.

[0072] Step S602: Sending first information to the slave vehicle, so that the slave vehicle calculates the output torque corresponding to the slave vehicle based on the first information and the state information of the slave vehicle.

[0073] In this step, the master vehicle can broadcast or send a first message containing its desired trajectory to all slave vehicles through the communication module. After receiving the first message, the slave vehicle combines the real-time status information collected by its own sensors with a preset control algorithm to calculate the output torque required to track the master vehicle's trajectory.

[0074] Step S603: Control the motion state of the slave vehicle based on the output torque.

[0075] In this step, the slave vehicle converts the calculated output torque into a motor drive signal, controls the left and right wheel speeds and steering, and adjusts its own motion state in real time so that the actual trajectory gradually approaches the desired trajectory, ultimately achieving coordinated motion with the master vehicle and maintaining the overall formation of the formation.

[0076] In this way, in a dynamic environment, the master vehicle can synchronously guide all slave vehicles to adjust their motion states by updating its own desired trajectory (first information). At the same time, the slave vehicles are only responsible for calculating the output torque based on their own states, without having to deal with global formation constraints, which reduces the computing power requirements of the slave vehicles. The master vehicle focuses on trajectory planning and global control, avoiding the tedious calculation of individual torques, forming an efficient division of labor in which the master vehicle manages the global situation and the slave vehicles manage the local situation, which is suitable for large-scale formations with a large number of slave vehicles.

[0077] In some optional embodiments, sending the first information to the slave vehicle includes: generating a motion trajectory of the center of mass of the master vehicle based on task requirements, wherein the motion trajectory of the center of mass of the master vehicle includes the position, velocity and acceleration of multiple key trajectory points, and the key trajectory points include the starting point, the end point or the inflection point; dividing the motion trajectory of the center of mass of the master vehicle into multiple intervals based on the key trajectory points, and using a cubic polynomial to fit the expected trajectory information of the master vehicle within each interval; establishing a system of linear equations based on the boundary conditions of the key trajectory points, and solving the coefficients of the cubic polynomial; generating the expected trajectory information of the master vehicle based on the cubic polynomial after the coefficients are solved, and sending the generated expected trajectory information of the master vehicle to the slave vehicle.

[0078] In this embodiment, the task requirement may be a formation change or an obstacle avoidance path, etc. Based on the task requirement, the main vehicle generates a main vehicle center of mass motion trajectory including multiple key trajectory points. Based on key trajectory points, such as the trajectory starting point, trajectory end point or trajectory inflection point, the main vehicle center of mass motion trajectory is divided into multiple intervals, and in each interval, a cubic spline polynomial is used to fit the main vehicle expected trajectory information. Based on the boundary conditions of the key trajectory points, such as the starting position, the end position or the starting speed, a linear equation group is established, and the coefficients of the cubic polynomial are solved. Based on the cubic polynomial after the coefficients are solved, the main vehicle expected trajectory information is generated, and the generated main vehicle expected trajectory information is sent to the slave vehicle. The state vector of the main vehicle center of mass trajectory can be used to , represents the expected trajectory information of the main vehicle, As shown below:

[0079] in, Used to represent the center of mass position of the main vehicle, Used to represent the main vehicle speed, Used to represent the acceleration of the main vehicle. Through the transposition operation, the three vectors are arranged in columns to form a three-dimensional column vector, which is convenient for subsequent calculations.

[0080] In this way, by using cubic spline interpolation to generate the expected trajectory information of the main vehicle in segments, it is possible to ensure that the center-of-mass trajectory of the main vehicle is continuous and differentiable at the position and velocity levels, as well as continuous at the acceleration level, thereby avoiding instability of the two-wheeled vehicle due to sudden changes in the trajectory. At the same time, the continuous trajectory can reduce the design difficulty of the two-wheeled vehicle control algorithm, avoid control torque output oscillations caused by an uneven trajectory, and ensure the stability of the motor drive. In addition, through segmented fitting, the expected trajectory of the main vehicle is divided into multiple intervals, and independent fitting can be used to adjust the polynomial coefficients according to the task requirements of different intervals to optimize the motion efficiency.

[0081] In some optional embodiments, the aforementioned method for controlling a two-wheeled vehicle formation further includes: based on the main vehicle, sending the main vehicle's expected trajectory information, the main vehicle's posture and the expected formation formation according to a preset time period.

[0082] In this embodiment, the master vehicle and slave vehicles can periodically exchange information via wireless communications, such as wireless Fidelity (WIFI), two-way wireless communication technology (Zigbee), or fifth-generation mobile communication technology (5G). The master vehicle sends information via broadcast. Each slave vehicle calculates the target trajectory point based on the internally received data and obtains a short-term tracking reference point through interpolation. The communication protocol supports a certain degree of packet loss robustness, and the overall system adopts a distributed control structure, which can reduce the burden on the master node and enhance system scalability.

[0083] In this way, the master-slave control process only requires the master vehicle to periodically transmit the master vehicle's desired trajectory information, the master vehicle's posture, and the desired formation. The communication overhead is low, the efficiency is high, and the system has high real-time performance. At the same time, trajectory planning, desired trajectory calculation, and trajectory tracking are distributed to the master vehicle and slave vehicles respectively, which can achieve decoupling and optimization of the "perception-planning-control" chain.

[0084] The present application also provides a two-wheeled vehicle formation control system, which includes: a master vehicle and at least one slave vehicle; based on the master vehicle, sending the master vehicle's expected trajectory information, the master vehicle's posture and the expected formation formation; based on the slave vehicle, obtaining the information sent by the master vehicle, and calculating the expected trajectory information of the slave vehicle based on the information sent by the master vehicle and the status information of the slave vehicle; through a trajectory tracking controller, based on the expected trajectory information of the two-wheeled vehicle, respectively calculating the output torque of each two-wheeled vehicle, and controlling the movement of the two-wheeled vehicle based on the output torque.

[0085] In a two-wheeled vehicle formation control system, a trajectory tracking controller can employ whole-body control (WBC). This controller coordinates the kinematic capabilities and contact force constraints of all the two-wheeled vehicle's joints, ensuring full-body dynamic feasibility while accurately tracking the specified trajectory within the control framework. The controller calculates the vehicle's control torque, driving the vehicle's motors to execute motion, achieving trajectory tracking and maintaining balance.

[0086] This embodiment also provides a device for controlling a two-wheeled vehicle formation. This device is used to implement the above-mentioned embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0087] This embodiment provides a device for controlling a two-wheeled vehicle formation. Figure 7 A schematic diagram of the structure of a device for controlling a two-wheeled vehicle formation according to an embodiment of the present application is shown. Figure 7 As shown, including: The first module 701 is configured to obtain first information sent by a master vehicle, where the first information is used to indicate expected trajectory information of the master vehicle in a two-wheeled vehicle formation, and determine expected trajectory information of the slave vehicles in the two-wheeled vehicle formation based on the first information.

[0088] The second module 702 is configured to calculate an output torque corresponding to the slave vehicle based on the first information and the state information of the slave vehicle.

[0089] The control module 703 is used to control the motion state of the slave vehicle based on the output torque.

[0090] In some optional implementations, the second module 702 includes: The first unit of the second module is used to obtain the expected trajectory of the slave vehicle based on the expected trajectory information of the master vehicle, the posture of the master vehicle and the status information of the slave vehicle; and calculate the output torque corresponding to the slave vehicle based on the expected trajectory of the slave vehicle.

[0091] In some optional implementations, the first module 701 includes: The first unit of the first module is used to determine the position offset of the slave vehicle relative to the master vehicle based on the expected formation formation; determine the center of mass position of the slave vehicle based on the position offset of the target timestamp, the posture of the master vehicle and the center of mass position of the master vehicle; and calculate the expected trajectory information of the slave vehicle based on the center of mass position of the slave vehicle and the slave vehicle's own state, wherein the slave vehicle's own state includes the speed of the slave vehicle and the acceleration of the slave vehicle.

[0092] In some optional embodiments, the aforementioned apparatus for controlling a two-wheeled vehicle formation further includes: The processing module is used to smooth the expected trajectory information of the slave vehicle by adopting at least one of the following methods: interpolation, Kalman filtering, sliding average filtering, curve fitting and model predictive control.

[0093] In some optional embodiments, the processing module includes: The first unit of the processing module is used to obtain the slave vehicle state information and the slave vehicle expected trajectory information at the target timestamp; based on the interpolation coefficient, perform weighted summation on the slave vehicle state information at the target timestamp and the slave vehicle expected trajectory information at the target timestamp to generate smoothed slave vehicle expected trajectory information.

[0094] In some optional implementations, the second module 702 further includes: The second unit of the second module is used to establish a control model of the trajectory tracking controller based on quadratic programming; configure the objective function and constraints in the control model, where the objective function includes the task space trajectory tracking function, the complete constraint tracking function and the incomplete constraint tracking function; the constraints include the under-actuated dynamics equation, the ground reaction force constraint, the upper and lower limit constraints of the joint torque and the upper and lower limit constraints of the acceleration; solve the output torque when the objective function and the constraints are met.

[0095] This embodiment also provides another device for controlling a two-wheeled vehicle formation, comprising: The acquisition module is used to acquire first information, where the first information is used to indicate the expected trajectory information of the main vehicle in the two-wheeled vehicle formation.

[0096] The calculation module is used to send the first information to the slave vehicle, so that the slave vehicle calculates the output torque corresponding to the slave vehicle based on the first information and the state information of the slave vehicle.

[0097] The control module is used to control the motion state of the slave vehicle based on the output torque.

[0098] In some optional embodiments, the computing module includes: The first unit of the calculation module is used to generate a motion trajectory of the center of mass of the master vehicle based on task requirements, wherein the motion trajectory of the center of mass of the master vehicle includes the position, velocity and acceleration of multiple key trajectory points, and the key trajectory points include starting points, end points or inflection points; based on the key trajectory points, the motion trajectory of the center of mass of the master vehicle is divided into multiple intervals, and within each interval, a cubic polynomial is used to fit the expected trajectory information of the master vehicle; based on the boundary conditions of the key trajectory points, a linear equation system is established to solve the coefficients of the cubic polynomial; based on the cubic polynomial after the coefficients are solved, the expected trajectory information of the master vehicle is generated, and the generated expected trajectory information of the master vehicle is sent to the slave vehicle.

[0099] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0100] The device for controlling a two-wheeled vehicle formation in this embodiment is presented in the form of a functional unit, where the unit refers to an application-specific integrated circuit (ASIC), a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0101] The embodiment of the present invention also provides a computer device having the above Figure 7 The device shown is used for two-wheeled vehicle formation control.

[0102] See also Figure 8 , Figure 8 Schematic diagram of the structure of a computer device according to an embodiment of the present invention. Figure 8 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of a graphical user interface on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Equally, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 8 A processor 10 is taken as an example.

[0103] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0104] The aforementioned memory 20 stores instructions that can be executed by at least one processor 10, so that the aforementioned at least one processor 10 executes the method shown in the above embodiment.

[0105] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created based on the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0106] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0107] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 7 The bus connection is taken as an example.

[0108] The input device 30 can receive input digital or character information and generate key signal input related to user settings and function control of the computer device. Examples include a touch screen, keypad, mouse, trackpad, touchpad, pointing stick, one or more mouse buttons, trackball, joystick, etc. The output device 40 may include a display device, auxiliary lighting device (e.g., light-emitting diodes), and tactile feedback device (e.g., a vibration motor). Such display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, monitors, and plasma displays. In some optional embodiments, the display device may be a touch screen.

[0109] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0110] A portion of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the form in which the computer program instruction exists in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc. Accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium that can be accessed by the computer.

[0111] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for controlling a two-wheeled vehicle formation, characterized in that: The two-wheeled vehicle formation comprises a master vehicle and at least one slave vehicle, and the method is performed by the slave vehicle, and the method comprises: Acquire first information sent by the master vehicle, the first information being used to indicate expected trajectory information of the master vehicle in the two-wheeled vehicle formation, and determine expected trajectory information of the follower vehicles in the two-wheeled vehicle formation based on the first information; Calculating an output torque corresponding to the slave vehicle based on the first information and the state information of the slave vehicle; Based on the output torque, the motion state of the slave vehicle is controlled.

2. The method according to claim 1, characterized in that The first information includes the expected trajectory information of the master vehicle and the master vehicle posture. The calculating the output torque corresponding to the slave vehicle based on the first information and the state information of the slave vehicle includes: Acquire the expected trajectory of the slave vehicle based on the expected trajectory information of the master vehicle, the posture of the master vehicle, and the status information of the slave vehicle; Based on the expected trajectory of the slave vehicle, an output torque corresponding to the slave vehicle is calculated.

3. The method according to claim 1, characterized in that The determining of the expected trajectory of the follower vehicle in the two-wheeled vehicle formation based on the first information includes: Determining a position offset of the slave vehicle relative to the master vehicle based on a desired platoon formation; Determining the center-of-mass position of the slave vehicle based on the position offset of the target timestamp, the posture of the master vehicle, and the center-of-mass position of the master vehicle; Based on the center-of-mass position of the slave vehicle and the state of the slave vehicle, the expected trajectory information of the slave vehicle is calculated, wherein the state of the slave vehicle includes the speed of the slave vehicle and the acceleration of the slave vehicle.

4. The method according to claim 1, wherein The method further comprises: The expected trajectory information of the slave vehicle is smoothed by adopting at least one of the following methods: interpolation, Kalman filtering, sliding average filtering, curve fitting and model predictive control.

5. The method according to claim 4, characterized in that The method of performing the smoothing process on the expected trajectory information of the slave vehicle based on the interpolation method includes: Obtain the slave vehicle status information and the slave vehicle expected trajectory information at the target timestamp; Based on the interpolation coefficient, a weighted sum is performed on the slave vehicle state information at the target timestamp and the slave vehicle expected trajectory information at the target timestamp to generate smoothed slave vehicle expected trajectory information.

6. The method according to claim 1, characterized in that The calculating the output torque corresponding to the slave vehicle based on the first information and the state information of the slave vehicle includes: Based on quadratic programming, a control model of trajectory tracking controller is established; Configuring the objective function and constraints in the control model, wherein the objective function includes a task space trajectory tracking function, a complete constraint tracking function, and a non-complete constraint tracking function, and the constraints include an underactuated dynamics equation, a ground reaction force constraint, upper and lower joint torque constraints, and upper and lower acceleration constraints; Under the condition that the objective function and the constraint conditions are satisfied, the output torque is solved.

7. A method for controlling a two-wheeled vehicle formation, characterized in that: The two-wheeled vehicle formation includes a master vehicle and at least one slave vehicle, and the method is performed by the master vehicle; the method includes: Acquiring first information, where the first information is used to indicate expected trajectory information of a main vehicle in the two-wheeled vehicle formation; sending the first information to the slave vehicle, so that the slave vehicle calculates an output torque corresponding to the slave vehicle based on the first information and the state information of the slave vehicle; Based on the output torque, the motion state of the slave vehicle is controlled.

8. The method according to claim 7, characterized in that The sending the first information to the slave vehicle includes: Generate a motion trajectory of the center of mass of the main vehicle based on the mission requirements, wherein the motion trajectory of the center of mass of the main vehicle includes the position, velocity, and acceleration of multiple key trajectory points, wherein the key trajectory points include the starting point, the end point, or the inflection point; Based on the key trajectory points, the motion trajectory of the center of mass of the main vehicle is divided into multiple intervals, and within each interval, a cubic polynomial is used to fit the expected trajectory information of the main vehicle; Based on the boundary conditions of the key trajectory points, a linear equation system is established to solve the coefficients of the cubic polynomial; Based on the cubic polynomial after coefficients are solved, the expected trajectory information of the master vehicle is generated, and the generated expected trajectory information of the master vehicle is sent to the slave vehicle.

9. A device for controlling a platoon of two-wheeled vehicles, characterized in that: The two-wheeled vehicle formation comprises a master vehicle and at least one slave vehicle, and the device comprises: A first module is configured to obtain first information sent by the master vehicle, where the first information is used to indicate expected trajectory information of the slave vehicles in the two-wheeled vehicle formation; A second module is configured to calculate an output torque corresponding to the slave vehicle based on the first information and the state information of the slave vehicle; A control module is used to control the motion state of the slave vehicle based on the output torque.

10. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method for controlling a two-wheeled vehicle formation according to any one of claims 1 to 8 by executing the computer instructions.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions for causing a computer to execute the method for controlling a two-wheeled vehicle platoon according to any one of claims 1 to 8.

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