Method, apparatus, device, and medium for two-wheeled vehicle platoon control

Abstract

The present application relates to the technical field of double-wheel vehicles, and discloses a method, device, equipment and medium for double-wheel vehicle formation control, a double-wheel vehicle formation, comprising a master vehicle and at least one slave vehicle, the method is executed by the slave vehicle and comprises: obtaining first information sent by the master vehicle, the first information being used to indicate master vehicle desired trajectory information in the double-wheel vehicle formation; determining slave vehicle desired trajectory information in the double-wheel vehicle formation based on the first information; calculating an output torque corresponding to the slave vehicle based on the first information and state information of the slave vehicle; and controlling a motion state of the slave vehicle based on the output torque. The master vehicle only needs to plan its own desired trajectory and send it, without the need to design a trajectory for each slave vehicle individually, thereby reducing the calculation power consumption of the master vehicle. Meanwhile, the information sent by the master vehicle is a single trajectory rather than a multi-slave vehicle trajectory set, thereby reducing the communication data volume and avoiding communication congestion in large-scale formation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of double-wheel vehicles, in particular to a method and device for double-wheel vehicle formation control, equipment and medium. BACKGROUND

[0002] In recent years, double-wheel vehicles have been widely studied and applied in the field of intelligent transportation and mobile robots due to their compact structure and strong maneuverability. Especially in complex or narrow environments, multiple double-wheel vehicles can form a formation to cooperatively complete tasks such as logistics transportation, search and rescue, and environmental monitoring.

[0003] In related technologies, centralized path planning requires the master vehicle to plan complete desired trajectories for itself and all slave vehicles, and the calculation amount increases linearly with the number of slave vehicles. In the case of expanding the formation scale, the computing power of the master vehicle becomes a bottleneck, causing delay in trajectory planning, and even unable to generate effective paths in real time. SUMMARY

[0004] Therefore, the present application provides a method, device, equipment and medium for double-wheel vehicle formation control to solve the problem of computing power of the master vehicle restricting double-wheel vehicle formation control.

[0005] In a first aspect, the present application provides a method for double-wheel vehicle formation control, the double-wheel vehicle formation including a master vehicle and at least one slave vehicle, the method being executed by the slave vehicle, and the method including: obtaining first information sent by the master vehicle, the first information being used to indicate master vehicle desired trajectory information in the double-wheel vehicle formation; determining slave vehicle desired trajectory information in the double-wheel vehicle formation based on the first information; calculating an output torque corresponding to the slave vehicle based on the first information and state information of the slave vehicle; and controlling a motion state of the slave vehicle based on the output torque.

[0006] In a second aspect, the present application provides another method for double-wheel vehicle formation control, the double-wheel vehicle formation including a master vehicle and at least one slave vehicle, the method being executed by the master vehicle; the method including: obtaining first information, the first information being used to indicate master vehicle desired trajectory information in the double-wheel 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 state information of the slave vehicle; and controlling a motion state of the slave vehicle based on the output torque.

[0007] In a third aspect, the present application provides a device for double-wheeled vehicle formation control, the double-wheeled vehicle formation including a master vehicle and at least one slave vehicle, the device comprising: a first module configured to acquire first information sent by the master vehicle, the first information being used to indicate slave vehicle desired trajectory information in the double-wheeled vehicle formation; a second module configured to calculate an output torque corresponding to the slave vehicle based on the first information and state information of the slave vehicle; and a control module configured to control a motion state of the slave vehicle based on the output torque.

[0008] In a fourth aspect, the present application provides a computer device, comprising: a memory and a processor, which are in communication connection with each other, and the memory stores computer instructions; the processor executes the computer instructions to perform the method for double-wheeled vehicle formation control according to the first aspect or any one of the corresponding embodiments thereof.

[0009] In a fifth aspect, the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used to make a computer execute the method for double-wheeled vehicle formation control according to the first aspect or any one of the corresponding embodiments thereof.

[0010] In a sixth aspect, the present application provides a computer program product, which comprises computer instructions, and the computer instructions are used to make a computer execute the method for double-wheeled vehicle formation control according to the first aspect or any one of the corresponding embodiments thereof.

[0011] The method for double-wheeled vehicle formation control provided in the embodiments only needs to plan and send the desired trajectory of the master vehicle, without the need to design a trajectory for each slave vehicle, thereby reducing the calculation power consumption of the master vehicle; meanwhile, the information sent by the master vehicle is a single trajectory rather than a set of trajectories for multiple slave vehicles, thereby reducing the communication data volume and avoiding communication congestion in large-scale formation; in addition, all the slave vehicles generate their own trajectories based on the desired trajectory of the master vehicle, so that in the case of master vehicle trajectory adjustment, all the slave vehicles update their own trajectories based on the same reference, thereby avoiding the dispersion of the formation due to different references of the slave vehicles; and the slave vehicles generate their own trajectories directly based on the desired trajectory of the master vehicle, so that the motion trend of the master vehicle can be predicted in advance, and the motion state of the slave vehicle can be adjusted in advance, thereby reducing the tracking lag of the slave vehicle caused by sudden actions of the master vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, hereinafter, a brief introduction will be given to the drawings needed to be used in the specific embodiments or related art descriptions. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0013] Figure 1 A flowchart of a method for double-wheeled vehicle platoon control according to an embodiment of the application is shown;

[0014] Figure 2 A control flowchart of a master vehicle and a slave vehicle according to an embodiment of the application is shown;

[0015] Figure 3 Another control flowchart of a master vehicle and a slave vehicle according to an embodiment of the application is shown;

[0016] Figure 4 Still another control flowchart of a master vehicle and a slave vehicle according to an embodiment of the application is shown;

[0017] Figure 5 Yet another control flowchart of a master vehicle and a slave vehicle according to an embodiment of the application is shown;

[0018] Figure 6 Another method for double-wheeled vehicle platoon control according to an embodiment of the application is shown;

[0019] Figure 7 A structural diagram of an apparatus for double-wheeled vehicle platoon control according to an embodiment of the application is shown;

[0020] Figure 8 A hardware structure diagram of a computer device according to an embodiment of the application is shown. DETAILED DESCRIPTION

[0021] To make the objectives, technical solutions and advantages of the embodiments of the application clearer, the technical solutions in the embodiments of the application will be described below in connection with the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0022] The platoon method for multiple double-wheeled vehicles in the related art includes a behavior-based method, a virtual structure-based method and a master-slave (i.e. leader-follower) based method. The master-slave based method is widely used in actual deployment due to its clear structure, simple control logic and easy engineering implementation.

[0023] In the master-slave control based on the master-slave method, the desired trajectory or target information is usually provided by one or more leader vehicles (Leader), and the follower vehicles (Follower) are controlled according to the relative relationship between the leader and the follower. The master-slave formation control strategy has a wide application in the field of robots. However, due to the structural characteristics of the double-wheeled vehicle, it needs to maintain its own balance while forming a formation; at the same time, the speed-based control usually leads to the reduction of maneuverability; in addition, the mutation of the desired trajectory usually leads to the instability of the follower when the formation is transformed.

[0024] In view of the above problems, the present application provides a double-wheeled vehicle formation control method based on master-slave control, which can maximize the robustness and maneuverability of the double-wheeled vehicle during formation movement.

[0025] According to the embodiment of the present application, a method for double-wheeled vehicle formation control 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 the 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.

[0026] In this embodiment, a method for double-wheeled vehicle formation control is provided, which can be used for double-wheeled vehicle formation, including a leader vehicle and at least one follower vehicle, and a corresponding relationship exists between the at least one follower vehicle and the leader vehicle. The method is executed by the follower vehicle, Figure 1 The flowchart of the method for double-wheeled vehicle formation control according to the embodiment of the present application is shown as Figure 1 As shown in the figure, the flow includes the following steps:

[0027] In step S101, the first information sent by the leader vehicle is obtained, and the first information is used to indicate the desired trajectory information of the leader vehicle in the double-wheeled vehicle formation. The desired trajectory information of the follower vehicle in the double-wheeled vehicle formation is determined based on the first information.

[0028] In this step, the double-wheeled vehicle refers to a vehicle supported and driven by two wheels, which has the characteristics of compact structure and strong maneuverability. In the field of intelligent transportation and mobile robots, the double-wheeled vehicle is often designed as a mobile platform with autonomous control capability, which can drive the wheels through the motor to realize forward movement or turning, etc. Compared with multi-wheeled vehicles, the double-wheeled vehicle has a small turning radius and flexible movement, and can quickly adjust the direction in a small space. The leader vehicle is the leader and information source in the double-wheeled vehicle formation, which can be responsible for generating and publishing the core control information of the entire formation, and is the reference for the formation movement. The motion trajectory of the leader vehicle is the reference object for other follower vehicles. The double-wheeled vehicle formation adopts the master-slave control architecture, which can realize the distributed collaborative movement of multiple double-wheeled vehicles.

[0029] The slave vehicle is a two-wheeled vehicle following the motion of the master vehicle in a two-wheeled vehicle formation, and performs tracking control based on master vehicle information to maintain the formation shape. The state of the slave vehicle is used to represent the current motion state of the slave vehicle. The state of the slave vehicle includes the position of the center of mass of the slave vehicle, the speed of the slave vehicle, and the acceleration of the slave vehicle, etc.

[0030] The master vehicle desired trajectory information can be a trajectory point of the master vehicle in a future period of time, for example, a trajectory point of the master vehicle in a future one to two seconds. The master vehicle desired trajectory information can be time-stamped to ensure that the slave vehicle can consistently calculate the slave vehicle desired trajectory information after receiving the master vehicle desired trajectory information.

[0031] The attitude of the master vehicle can be the direction and orientation of the master vehicle body in space obtained by reading the inertial measurement unit (IMU) of the master vehicle. The desired formation shape can be obtained based on a preset formation geometric relationship, for example, the lateral offset or longitudinal distance of the slave vehicle relative to the master vehicle.

[0032] The slave vehicle receives the first information sent by the master vehicle through the communication module, and the first information includes the desired trajectory of the master vehicle. The slave vehicle can analyze the first information to extract the key features of the master vehicle trajectory as the reference point for its own trajectory planning.

[0033] The slave vehicle generates its own desired trajectory according to the preset formation rule combined with the desired trajectory of the master vehicle, which can convert the absolute trajectory of the master vehicle into the relative trajectory of the slave vehicle to ensure the consistency of the formation shape.

[0034] Step S102, based on the first information and the state information of the slave vehicle, calculate the corresponding output torque of the slave vehicle.

[0035] In this step, the slave vehicle collects its real-time state information such as current position, speed, body inclination angle, wheel speed, etc. through sensors such as encoders, IMUs, vision sensors, etc. and compares it with the autonomously generated desired trajectory to obtain the trajectory tracking error. Based on the first information and the trajectory tracking error, the output torque of the driving two-wheeled vehicle is calculated through a control algorithm.

[0036] Step S103, based on the output torque, control the motion state of the slave vehicle.

[0037] In this step, the slave vehicle converts the calculated output torque into motor drive signals to control the left and right wheel speeds and steering, and adjusts its motion state in real time to gradually approach the desired trajectory, and finally realizes the coordinated motion with the master vehicle to maintain the overall formation shape of the formation.

[0038] In this way, the host vehicle only needs to plan and send its own desired trajectory, without the need to design a trajectory for each follower vehicle, reducing the computing power consumption of the host vehicle; meanwhile, the information sent by the host vehicle is a single trajectory rather than a set of trajectories for multiple follower vehicles, reducing the amount of communication data and avoiding communication congestion in large-scale platooning; in addition, all follower vehicles generate their own trajectories based on the desired trajectory of the host vehicle, ensuring that all vehicles in the platoon, in the case of adjustment of the host vehicle trajectory, will update their own trajectories based on the same reference, avoiding the dispersion of the formation due to different references of the follower vehicles; and the follower vehicles directly generate their own trajectories based on the desired trajectory of the host vehicle, which can predict the movement trend of the host vehicle in advance, so as to adjust the movement state in advance, reducing the tracking lag of the follower vehicles caused by sudden actions of the host vehicle.

[0039] In some optional embodiments, the first information includes the desired trajectory information of the host vehicle and the attitude of the host vehicle, and the output torque corresponding to the follower vehicle is calculated based on the first information and the state information of the follower vehicle, including: obtaining the desired trajectory of the follower vehicle based on the desired trajectory information of the host vehicle, the attitude of the host vehicle and the state information of the follower vehicle; and calculating the output torque corresponding to the follower vehicle based on the desired trajectory of the follower vehicle.

[0040] In the embodiment, the basic information required by the follower vehicle to obtain control includes: the first information sent by the host vehicle, including the desired trajectory information of the host vehicle and the real-time attitude of the host vehicle; and the state information of the follower vehicle, including real-time data collected by sensors, such as the current position, speed, body attitude and wheel speed of the follower vehicle. The follower vehicle performs time synchronization and format standardization on these information, providing homologous and time-sequential inputs for subsequent trajectory generation and torque calculation.

[0041] After the follower vehicle obtains the aforementioned basic information, the desired trajectory of the follower vehicle is calculated based on a preset platooning rule, converting the global trajectory of the host vehicle into a local target trajectory of the follower vehicle. The follower vehicle compares the self-generated desired trajectory with the real-time state of the follower vehicle, obtaining a trajectory tracking error. Based on the error, the output torque of the driven double-wheel vehicle is calculated through a control algorithm (such as proportional-integral-derivative control, model predictive control, etc.).

[0042] In this way, when the follower vehicle generates the desired trajectory, the desired trajectory of the host vehicle and the real-time attitude of the host vehicle are fused, so that the generated trajectory can follow the global planning of the host vehicle and adapt to the instantaneous dynamics of the host vehicle; meanwhile, the follower vehicle generates the desired trajectory based on the state information of the follower vehicle, which can ensure that the trajectory is within the reachable range of the follower vehicle, reduce the tracking error caused by the unreachability of the target trajectory, and improve the control stability.

[0043] Figure 2 FIG. 1 is a schematic diagram showing the control process of the host vehicle and the follower vehicle according to an embodiment of the present application. As shown in FIG. 1, the host vehicle and the follower vehicle are in a platoon, and the host vehicle plans a global trajectory and sends the trajectory to the follower vehicle. The follower vehicle generates a local trajectory based on the global trajectory of the host vehicle and its own state information, and controls the driven double-wheel vehicle based on the local trajectory. Figure 2As shown, the master vehicle 21 sends the master vehicle centroid trajectory 211, the master vehicle attitude 212 and the current formation 213 to the slave vehicle 22. After the slave vehicle 22 obtains the master vehicle centroid trajectory 211, the master vehicle attitude 212 and the current formation 213 sent by the master vehicle, the slave vehicle calculates the slave vehicle expected trajectory information 24 based on the master vehicle centroid trajectory 211, the master vehicle attitude 212 and the current formation 213. Moreover, the master vehicle 21 and the slave vehicle 22 control their own movements based on the distributed joint torque controller 23 of the overall control.

[0044] The method for formation control of the two-wheeled vehicle provided in this embodiment is different from the complete centralized control of the master vehicle or the completely independent path planning of the master and the slave in the related art. The method uses the master vehicle expected trajectory information as a global reference, and the slave vehicle calculates the slave vehicle expected trajectory in a distributed manner based on the information sent by the master vehicle. Through the master-slave decoupling control, the distributed trajectory planning and torque calculation of the two-wheeled vehicle are realized, which can reduce the calculation pressure of the master vehicle and is suitable for engineering implementation and system expansion. At the same time, the joint torque is output through the trajectory tracking controller, and the movement of the two-wheeled vehicle is controlled based on the output torque, which has better nonholonomic system control ability and is suitable for balance control of the high-mobility two-wheeled vehicle. While ensuring the balance of the vehicle body, the mobility of the two-wheeled vehicle system is greatly retained.

[0045] In some optional embodiments, determining the expected trajectory of the slave vehicle in the formation of the two-wheeled vehicle based on the first information comprises: determining a position offset of the slave vehicle relative to the master vehicle based on the expected formation; determining a centroid position of the slave vehicle based on the position offset of the target time stamp, the attitude of the master vehicle and the centroid position of the master vehicle; and calculating the expected trajectory information of the slave vehicle based on the centroid position of the slave vehicle and state information of the slave vehicle, wherein the state information of the slave vehicle comprises a speed of the slave vehicle and an acceleration of the slave vehicle.

[0046] 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 expected formation, and can calculate the expected trajectory of the slave vehicle based on the position offset and the state information of the slave vehicle. The position offset of the slave vehicle relative to the master vehicle in the master vehicle coordinate system is represented. The position offset of the slave vehicle relative to the master vehicle in the master vehicle coordinate system can be calculated in the following manner:

[0047]

[0048] wherein, The position offset of the slave vehicle relative to the master vehicle in the master vehicle coordinate system is represented. In the embodiment, the row vector is converted into a column vector by transposition, for describing the geometric positional relationship of the slave vehicle relative to the host vehicle in the platoon.

[0049] The posture of the host vehicle can be obtained by reading the body rotation matrix R of the host vehicle IMU sensor, wherein, , is a special orthogonal group in three-dimensional space. R is used to represent the posture of the body of the host vehicle, specifically including the direction and orientation of the host vehicle, which can be obtained by an IMU sensor, for example, if the host vehicle turns, R will be updated accordingly, and the slave vehicle can convert the offset in the host vehicle coordinate system into the position in the global coordinate system through the matrix, to ensure the accuracy of the expected trajectory calculation.

[0050] The slave vehicle centroid position can be calculated as follows:

[0051]

[0052] The expected trajectory information of the slave vehicle can be calculated as follows: based on

[0053]

[0054] wherein, is used to represent the speed of the slave vehicle, is used to represent the acceleration of the slave vehicle, and the speed and acceleration of the slave vehicle can reuse the state of the host vehicle, to ensure the coordination of the platoon.

[0055] Figure 3 Another schematic diagram of the control process of the host vehicle and the slave vehicle of the embodiment is shown. As shown in Figure 3 , the host vehicle 21 sends the host vehicle centroid trajectory 211, the host vehicle posture 212 and the current formation 213 to the slave vehicle 22, and the slave vehicle obtains the host vehicle centroid trajectory 211, the host vehicle posture 212 and the current formation 213 sent by the host vehicle, and then calculates the expected trajectory information 24 of the slave vehicle based on the host vehicle centroid trajectory 211, the host vehicle posture 212, the current formation 213 and the state 221 of the slave vehicle. Moreover, the host vehicle 21 and the slave vehicle 22 are both controlled by the distributed joint torque controller 23 of the overall control to move themselves.

[0056] In this way, the host vehicle uniformly plans the formation of the platoon, and the slave vehicle adjusts as needed, avoiding information redundancy and realizing high-robustness trajectory planning of the slave vehicle; at the same time, multiple slave vehicles can be expanded, and a new slave vehicle only needs to receive the information of the host vehicle and calculate its own offset, without the need to modify the overall architecture; in addition, through the combination of the position offset and the posture matrix, the slave vehicle can accurately calculate its target position in the global coordinate system, to ensure that the slave vehicle can maintain the preset relative position regardless of how the slave vehicle turns or moves.​

[0057] Considering the sampling lag, physical constraints and communication delay existing in the actual control system, directly using the above desired trajectory may lead to sharp steering or sudden action.

[0058] In some optional embodiments, the foregoing method for formation control of two-wheeled vehicles further comprises: smoothing the desired trajectory information of the follower vehicle by at least one of the following methods: interpolation, Kalman filtering, moving average filtering, curve fitting and model predictive control.

[0059] In this embodiment, the following error can be smoothed by interpolation technology. The trajectory can also be optimized by a prediction-update cycle based on the motion equation of the two-wheeled vehicle and real-time observation data by Kalman filtering method, in which the current position is estimated based on historical state in the prediction stage, and the prediction error is corrected by the observation value in the update stage. The sliding window can be used to calculate the mean value in the window to replace the center point by moving average filtering method. The trajectory points can be fitted by piecewise polynomial function by curve fitting method. The control amount in the future limited time domain can be optimized by model predictive control (MPC) method, and the smooth trajectory is generated in combination with kinematic constraints.

[0060] Figure 4 Another schematic diagram of the control process of the host vehicle and the follower vehicle of the embodiment of the application is shown. As shown in Figure 4 The host vehicle 21 sends the host vehicle centroid trajectory 211, the host vehicle attitude 212 and the current formation 213 to the follower vehicle 22. After the follower vehicle obtains the host vehicle centroid trajectory 211, the host vehicle attitude 212 and the current formation 213 sent by the host vehicle, the follower vehicle calculates the desired trajectory information 24 of the follower vehicle based on the host vehicle centroid trajectory 211, the host vehicle attitude 212, the current formation 213 and the state 221 of the follower vehicle, and performs interpolation smoothing on the desired trajectory information 24 of the follower vehicle to obtain the smoothed desired trajectory information 241 of the follower vehicle. Moreover, the host vehicle 21 and the follower vehicle 22 are controlled to move by the distributed joint torque controller 23 of the overall control.

[0061] In this way, by smoothing the desired trajectory information of the follower vehicle, the situation that the trajectory suddenly changes due to formation transformation and causes the vehicle body to be unstable can be avoided.

[0062] In some optional embodiments, the desired trajectory information of the follower vehicle is smoothed based on the interpolation method, which comprises: obtaining the state information and the desired trajectory information of the follower vehicle at the target time stamp; and performing weighted summation on the state information and the desired trajectory information of the follower vehicle at the target time stamp based on an interpolation coefficient to generate the smoothed desired trajectory information of the follower vehicle.

[0063] In the embodiment, the current state of the follower vehicle can be characterized by :

[0064]

[0065] wherein, the current centroid position information of the follower vehicle is characterized by, the current speed information of the follower vehicle is characterized by, the current acceleration information of the follower vehicle is characterized by.

[0066] The desired trajectory information of the follower vehicle can be smoothed by weighted interpolation, and the smoothed desired trajectory information of the follower vehicle is as follows:

[0067]

[0068] wherein, the interpolation coefficient is characterized by, In the case where the interpolation coefficient approaches 1, the trajectory of the follower vehicle is close to the current state, the response is slow but the stability is high; in the case where the interpolation coefficient approaches 0, the follower vehicle quickly tracks the desired trajectory, the response is sensitive, but instability may be caused by sudden changes.

[0069] The interpolation coefficient can be dynamically adjusted based on the desired formation and the response capability of the trajectory tracking controller. By adjusting the interpolation coefficient, the formation transformation process is obstacle-avoiding, so that the follower vehicle gradually converges to the desired trajectory, and the trajectory is smooth; at the same time, in the high-speed turning scene, dynamically adjusting the interpolation coefficient can reduce the inclination angle fluctuation of the two-wheeled vehicle and reduce the risk of tipping over.

[0070] Specifically, based on the desired formation, the formation tightness can be determined, which can be calculated based on the deviation of the follower vehicle from the target position. The formation tightness can be calculated by the following formula :

[0071]

[0072] 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 ratio of the output torque of the trajectory tracking controller to the maximum torque of the motor . The stability index can be based on the inclination angle of the two-wheeled vehicle and its rate of change to evaluate the risk of vehicle body balance.

[0073] A calculation model of the interpolation coefficient is constructed:

[0074]

[0075] wherein, is a base coefficient, which can be determined according to an actual application scenario. For example, is may be 0.4 to 0.6. , and is a weight parameter, which can be calibrated through experiments. An interpolation coefficient model can be constructed to calculate a constraint condition of the model, and the constraint condition can be ∈[ , ] Through the establishment of the constraint condition, extreme responses can be avoided.

[0076] In each master vehicle control time period, the interpolation coefficient is updated, and based on the updated interpolation coefficient, the smoothed slave vehicle expected trajectory information is calculated.

[0077] Figure 5 Another schematic diagram of a control process of a master vehicle and a slave vehicle according to an embodiment of the application is shown. As shown in Figure 5 the master vehicle 21 sends the master vehicle centroid trajectory 211, the master vehicle attitude 212 and the current formation 213 to the slave vehicle 22. After the slave vehicle obtains the master vehicle centroid trajectory 211, the master vehicle attitude 212 and the current formation 213 sent by the master vehicle, the slave vehicle calculates the slave vehicle expected trajectory information 24 based on the master vehicle centroid trajectory 211, the master vehicle attitude 212, the current formation 213 and the state 221 of the slave vehicle, and performs interpolation smoothing processing on the slave vehicle expected trajectory information 24 based on the dynamically adjusted interpolation coefficient 242 to obtain the smoothed slave vehicle expected trajectory information 241. Moreover, the master vehicle 21 and the slave vehicle 22 are both controlled to move by the distributed joint torque controller 23 of the overall control.

[0078] In this way, through the distributed interpolation smoothing trajectory planning of the slave vehicle, the smoothness of trajectory tracking is realized, the jump of the slave vehicle trajectory and the control oscillation can be avoided, and the stability of the two-wheeled vehicle is ensured; at the same time, through interpolation smoothing, the progressive adjustment of the slave vehicle trajectory can be realized, and the continuity and controllability of trajectory tracking can be improved.

[0079] In some optional embodiments, based on the first information and the state information of the slave vehicle, the corresponding output torque of the slave vehicle is calculated, including: based on quadratic programming, a control model of a trajectory tracking controller is established; a target function and a constraint condition in the control model are configured, wherein the target function includes a task space trajectory tracking function, a complete constraint tracking function and an incomplete constraint tracking function, and the constraint condition includes an underactuated dynamics equation, a ground reaction force constraint, an upper and lower limit constraint of joint torque and an upper and lower limit constraint of acceleration; the output torque is solved under the condition of meeting the target function and the constraint condition.

[0080] In the embodiment, quadratic programming (QP) is used to solve the optimal solution problem under certain constraints. The goal of the task space trajectory tracking function is to make the buggycar's center of mass position, velocity and acceleration track the smoothed desired trajectory; the trajectory tracking error can be taken as the main term of the task space trajectory tracking function, and the priority of different tasks can be adjusted by a weighting coefficient.

[0081] The goal of the complete constraint tracking function is to make the buggycar satisfy the geometric constraints in motion, for example, the speed of the wheel-ground contact point is zero. The constraint type of the incomplete constraint tracking function is the kinematic constraint generated by the incompleteness of the buggycar, for example, the buggycar cannot move laterally.

[0082] The modeling logic of the underactuated dynamics equation is that the buggycar is an underactuated system, and a dynamics model can be established according to the Lagrange equation. Through the underactuated dynamics equation, it can be ensured that the control torque meets the vehicle dynamics characteristics, and the theoretical torque is avoided from being out of touch with the actual dynamics response. The ground reaction force constraint includes the normal one-sided constraint and the tangential friction cone constraint. For the normal one-sided 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, the tangential force between the wheel and the ground can be configured to meet the friction requirement. 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.

[0083] The objective function and the constraint condition are converted into a standard QP form, the control torque is calculated in real time through an efficient QP solver, the calculated control torque is converted into a motor driving signal, the left and right wheel rotation speeds or steering torques of the buggycar are controlled, and trajectory tracking and balance maintenance are realized.

[0084] In this way, the master vehicle and the slave vehicle independently run the WBC controller, the slave vehicle calculates the control torque based on the master vehicle trajectory and its own state in a distributed manner, the calculation bottleneck of centralized control can be avoided, and the system scalability is improved; at the same time, the buggycar control problem is converted into an optimization problem with constraints, the optimal control torque is solved through mathematical modeling, it can be ensured that the control quantity meets the physical constraints and the tracking error is minimized; in addition, the dynamics modeling based on the Lagrange equation strictly handles the underactuated characteristics of the buggycar, and the infeasible control quantity is avoided; in addition, the control algorithm has high universality, and the balance of the vehicle body under various desired trajectories can be ensured.

[0085] The application also provides another method for buggycar formation control, the buggycar formation including a master vehicle and at least one slave vehicle, the method being performed by the master vehicle; Figure 6 Another method for buggycar formation control is shown in the embodiment of the application, as shown in Figure 6As shown, the flow includes the following steps:

[0086] Step S601, obtaining first information, the first information being used to indicate the master vehicle desired trajectory information in the double-wheeled vehicle platoon.

[0087] In this step, the first information obtained by the master vehicle includes the master vehicle desired trajectory information, which can be the trajectory point of the master vehicle in a future period of time, for example, the trajectory point of the master vehicle in the next one to two seconds. The master vehicle desired trajectory information can be synchronized by time stamp to ensure that the slave vehicle can consistently calculate the slave vehicle desired trajectory information after receiving the master vehicle desired trajectory information.

[0088] Step S602, sending the first information to the slave vehicle to enable the slave vehicle to calculate the output torque corresponding to the slave vehicle based on the first information and state information of the slave vehicle.

[0089] In this step, the master vehicle can broadcast or directionally send the first information containing its desired trajectory to all slave vehicles through the communication module. After receiving the first information, the slave vehicle combines the real-time state information collected by the sensor itself, and calculates the output torque required for tracking the master vehicle trajectory by a preset control algorithm.

[0090] Step S603, controlling the motion state of the slave vehicle based on the output torque.

[0091] In this step, the slave vehicle converts the calculated output torque into motor driving signals to control the rotation speed and steering of the left and right wheels, and adjusts the motion state in real time to make the actual trajectory gradually approach the desired trajectory, and finally realizes the cooperative motion with the master vehicle and maintains the overall formation of the platoon.

[0092] In this way, in a dynamic environment, the master vehicle can guide all slave vehicles to adjust the motion state by updating the desired trajectory (first information) of the master vehicle, and at the same time, the slave vehicle only needs to calculate the output torque based on its own state without processing global platoon constraints, which reduces the computational power demand of the slave vehicle. The master vehicle focuses on trajectory planning and global control, avoiding being trapped in tedious individual torque calculation, forming an efficient division of labor that the master vehicle manages the global and the slave vehicle manages the local, which is suitable for large-scale platoon with a large number of slave vehicles.

[0093] In some optional embodiments, sending the first information to the slave vehicle comprises: generating a master vehicle mass center motion trajectory based on the task demand, wherein the master vehicle mass center motion trajectory comprises positions, velocities and accelerations of a plurality of key trajectory points, the key trajectory points comprising start points, end points or inflection points; dividing the master vehicle mass center motion trajectory into a plurality of intervals based on the key trajectory points, and fitting the master vehicle desired trajectory information in each interval using a cubic polynomial; establishing a linear equation system based on boundary conditions of the key trajectory points, and solving coefficients of the cubic polynomial; and generating the master vehicle desired trajectory information based on the solved cubic polynomial, and sending the generated master vehicle desired trajectory information to the slave vehicle.

[0094] In the embodiment, the task demand can be formation transformation or obstacle avoidance path, etc. The master vehicle generates a master vehicle mass center motion trajectory comprising a plurality of key trajectory points based on the task demand. The master vehicle divides the master vehicle mass center motion trajectory into a plurality of intervals based on the key trajectory points, such as trajectory start points, trajectory end points or trajectory inflection points, and fits the master vehicle desired trajectory information in each interval using a cubic spline polynomial. A linear equation system is established based on boundary conditions of the key trajectory points, such as start point positions, end point positions or start point velocities, and coefficients of the cubic polynomial are solved. The master vehicle desired trajectory information is generated based on the solved cubic polynomial, and the generated master vehicle desired trajectory information is sent to the slave vehicle. The master vehicle mass center trajectory can be represented by a state vector , representing the master vehicle desired trajectory information, as follows:

[0095]

[0096] wherein, is used to represent the master vehicle mass center position, is used to represent the master vehicle velocity, is used to represent the master vehicle acceleration, and by transposing operation, the three vectors are arranged in columns to form a three-dimensional column vector, facilitating subsequent calculation.

[0097] In this way, the master vehicle desired trajectory information is generated by cubic spline interpolation segmentation, which can ensure the continuity and differentiability of the master vehicle mass center trajectory in the position and velocity levels, and the continuity in the acceleration level, and can avoid instability of the two-wheeled vehicle due to trajectory mutation; at the same time, the continuous trajectory can reduce the design difficulty of the control algorithm of the two-wheeled vehicle, and can avoid control torque output shock caused by non-smooth trajectory, and ensure the stability of motor driving; in addition, by segment fitting, the master vehicle desired trajectory is divided into a plurality of intervals, and is fitted independently, and the polynomial coefficients can be adjusted according to the task demand of different intervals, and the motion efficiency can be optimized.

[0098] In some optional embodiments, the method for formation control of double-wheeled vehicles further comprises: transmitting, by the master vehicle, the master vehicle desired trajectory information, the master vehicle pose and the desired formation shape at a preset time period.

[0099] In the embodiment, the master vehicle and the slave vehicles can periodically exchange information through wireless communication, such as Wireless Fidelity (WIFI), Zigbee or 5th Generation Mobile Communication Technology (5G). The master vehicle transmits information through broadcasting. Each slave vehicle calculates a target trajectory point according to 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, the overall system adopts a distributed control structure, which can reduce the burden of the master node and enhance the scalability of the system.

[0100] In this way, the master-slave control process only needs the master vehicle to periodically transmit the master vehicle desired trajectory information, the master vehicle pose and the desired formation shape, the communication overhead is small, the efficiency is high, and the system has high real-time performance. Meanwhile, the trajectory planning, the desired trajectory calculation and the trajectory tracking are respectively distributed in the master vehicle and the slave vehicles, which can realize decoupling and optimization of the "perception-planning-control" chain.

[0101] The application also provides a double-wheeled vehicle formation control system, which comprises: a master vehicle and at least one slave vehicle; the master vehicle transmits master vehicle desired trajectory information, a master vehicle pose and a desired formation shape; each slave vehicle receives the information transmitted by the master vehicle, calculates slave vehicle desired trajectory information based on the information transmitted by the master vehicle and state information of the slave vehicle, and controls the motion of the double-wheeled vehicle based on the output torque calculated by a trajectory tracking controller based on the desired trajectory information of the double-wheeled vehicle.

[0102] In the double-wheeled vehicle formation control system, the trajectory tracking controller can adopt Whole-Body Control (WBC). Based on the trajectory tracking controller, the control framework for accurately tracking a specified trajectory can be realized by coordinating the motion capabilities of all joints of the double-wheeled vehicle and the contact force constraints, under the premise of ensuring the feasibility of whole-body dynamics. Through the trajectory tracking controller, the control torque of the double-wheeled vehicle is solved to drive the double-wheeled vehicle motor to perform motion, realize trajectory tracking and balance maintenance.

[0103] An apparatus for bicycle platoon control is also provided in the embodiments, which is configured to implement the above-described embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

[0104] An apparatus for bicycle platoon control is also provided in the embodiments, which is configured to implement the above-described embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated. Figure 7 A structural schematic diagram of the apparatus for bicycle platoon control of the embodiments of the present application is shown as follows, Figure 7 as shown, comprising:

[0105] The first module 701 is configured to acquire first information sent by the host vehicle, the first information being used to indicate desired trajectory information of the host vehicle in the bicycle platoon, and to determine desired trajectory information of the slave vehicle in the bicycle platoon based on the first information.

[0106] The second module 702 is configured to calculate an output torque corresponding to the slave vehicle based on the first information and state information of the slave vehicle.

[0107] The control module 703 is configured to control a motion state of the slave vehicle based on the output torque.

[0108] In some optional embodiments, the second module 702 comprises:

[0109] The second module first unit is configured to acquire desired trajectory of the slave vehicle based on the desired trajectory information of the host vehicle, the attitude of the host vehicle and the state information of the slave vehicle, and to calculate the output torque corresponding to the slave vehicle based on the desired trajectory of the slave vehicle.

[0110] In some optional embodiments, the first module 701 comprises:

[0111] The first module first unit is configured to determine a position offset of the slave vehicle relative to the host vehicle based on the desired platoon formation, to determine a centroid position of the slave vehicle based on the position offset of the target timestamp, the attitude of the host vehicle and the centroid position of the host vehicle, and to calculate the desired trajectory information of the slave vehicle based on the centroid position of the slave vehicle and the self-state of the slave vehicle, wherein the self-state of the slave vehicle comprises a speed of the slave vehicle and an acceleration of the slave vehicle.

[0112] In some optional embodiments, the apparatus for bicycle platoon control described above further comprises:

[0113] The processing module is configured to perform smoothing processing on the desired trajectory information of the slave vehicle in at least one of the following manners: interpolation, Kalman filtering, sliding average filtering, curve fitting and model predictive control.

[0114] In some optional embodiments, the processing module comprises:

[0115] The first unit of the processing module is configured to acquire the target timestamp follower state information and the target timestamp follower expected trajectory information, and perform weighted summation on the target timestamp follower state information and the target timestamp follower expected trajectory information based on the interpolation coefficient to generate smoothed follower expected trajectory information.

[0116] In some optional embodiments, the second module 702 further comprises:

[0117] The second unit of the second module is configured to establish a control model of the trajectory tracking controller based on quadratic programming, configure a target function and a constraint condition in the control model, wherein the target function comprises a task space trajectory tracking function, a complete constraint tracking function and an incomplete constraint tracking function, and the constraint condition comprises an under-actuated dynamics equation, a ground reaction force constraint, an upper and lower joint torque constraint and an upper and lower acceleration constraint, and the output torque is solved under the condition of meeting the target function and the constraint condition.

[0118] The embodiment also provides another device for formation control of a two-wheeled vehicle, comprising:

[0119] The acquisition module is configured to acquire first information, which is used to indicate follower expected trajectory information in the formation of the two-wheeled vehicle.

[0120] The calculation module is configured to send the first information to the follower, so that the follower calculates corresponding output torque of the follower based on the first information and state information of the follower.

[0121] The control module is configured to control a motion state of the follower based on the output torque.

[0122] In some optional embodiments, the calculation module comprises:

[0123] The first unit of the calculation module is configured to generate a centroid motion trajectory of the leader based on a task requirement, wherein the centroid motion trajectory of the leader comprises positions, velocities and accelerations of a plurality of key trajectory points, and the key trajectory points comprise start points, end points or inflection points; divide the centroid motion trajectory of the leader into a plurality of intervals based on the key trajectory points, and fit the leader expected trajectory information in each interval by using a cubic polynomial; establish a linear equation set based on boundary conditions of the key trajectory points to solve coefficients of the cubic polynomial; generate the leader expected trajectory information based on the cubic polynomial after the coefficient solving, and send the generated leader expected trajectory information to the follower.

[0124] Further function descriptions of the above-mentioned modules and units are the same as those of the above-mentioned corresponding embodiments, and will not be described here again.

[0125] The device for double-wheeled vehicle platoon control in the embodiment is presented in the form of functional units, where the units refer to Application Specific Integrated Circuit (ASIC) circuits, processors and memories executing one or more software or fixed programs, and / or other devices that can provide the above functions.

[0126] The embodiment of the present application also provides a computer device having the above Figure 7 device for double-wheeled vehicle platoon control.

[0127] Please refer to Figure 8 , Figure 8 is a structural schematic diagram of a computer device according to an embodiment of the present application, as Figure 8 shown, the computer device includes one or more processors 10, memories 20, and interfaces for connecting components, including high-speed interfaces and low-speed interfaces. The components communicate with each other using different buses, and can be installed on a common mainboard or in other manners as needed. The processor can process instructions executed in the computer device, including instructions stored in the memory or on the memory to display 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, multiple processors and / or buses can be used with multiple memories and multiple storage devices, if necessary. Also, multiple computer devices can be connected, each providing part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 8 In the embodiment, the processor 10 is taken as an example.

[0128] The processor 10 can be a central processor, a network processor, or a combination thereof. The processor 10 can further include a hardware chip. The hardware chip can be an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The Programmable Logic Device can be a Complex Programmable Logic Device (CPLD), a Field-Programmable Gate Array (FPGA), a Generic Array Logic (GAL), or any combination thereof.

[0129] The aforementioned memory 20 stores instructions executable by the at least one processor 10, so that the aforementioned at least one processor 10 executes the method shown in the above embodiment.

[0130] The memory 20 can include a program storage area and a data storage area. The program storage area can store an operating system, application programs required for at least one function, and the like. The data storage area can store data created according to usage of the computer device, and the like. In addition, the memory 20 can include a high-speed random access memory, and can further include a non-transitory memory such as at least one of a magnetic disk storage device, a flash memory device, or other non-transitory solid state memory device. In some alternative embodiments, the memory 20 can optionally include a memory that is remotely located with respect to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0131] The memory 20 can include a volatile memory, such as a random access memory, and can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid state disk. The memory 20 can also include a combination of the above-mentioned types of memory.

[0132] The computer device also 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 can be connected through a bus or other means, Figure 7 The connection through the bus is used as an example.

[0133] The input device 30 can receive input digital or character information, and generate key signal input with respect to user settings and function controls of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, and the like. The output device 40 can include a display device, an auxiliary lighting device (such as a light emitting diode), a tactile feedback device (such as a vibration motor), and the like. The display device includes, but is not limited to, a liquid crystal display, a light emitting diode, a display, and a plasma display. In some alternative embodiments, the display device can be a touch screen.

[0134] The embodiments of the present application further provide a computer readable storage medium, and the method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or stored in a remote storage medium or a non-transitory machine readable storage medium and downloaded to a local storage medium through network, so that the method described herein can be processed by such software on a storage medium using a general purpose computer, a special purpose processor, or programmable or special hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned memories. It can be understood that the computer, the processor, the microprocessor controller, or the 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 the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0135] Part of the present application can be applied as a computer program product, for example, computer program instructions, when executed by a computer, through the operation of the computer, the method and / or technical solutions according to the present application can be called or provided. Those skilled in the art should understand that the form of computer program instructions in computer readable medium includes but is not limited to source file, executable file, installation package file, etc. Correspondingly, the way of computer program instructions executed by computer includes but is not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer readable medium can be any available computer readable storage medium or communication medium accessible to the computer.

[0136] Although the embodiments of the present application are described in conjunction with the accompanying drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A method for platooning control of two-wheeled vehicles, characterized in that, The two-wheeled vehicle platoon includes a master vehicle and at least one slave vehicle, the method is performed by the slave vehicle, and the method includes: The system obtains first information sent by the master vehicle, which is used to indicate the desired trajectory information and attitude of the master vehicle in the two-wheel vehicle formation. Based on the first information and the state information of the slave vehicle, the system obtains the desired trajectory information of the slave vehicle. Based on the desired trajectory information of the slave vehicle, the system calculates the output torque corresponding to the slave vehicle. Calculating the output torque corresponding to the vehicle includes: establishing a control model for 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 a non-complete constraint tracking function, and the constraints include underactuated dynamics equations, ground reaction force constraints, joint torque upper and lower limit constraints, and acceleration upper and lower limit constraints; and solving for the output torque while satisfying the objective function and the constraints. The motion state of the slave vehicle is controlled based on the output torque.

2. The method according to claim 1, characterized in that, Obtaining the desired trajectory information of the vehicle includes: Based on the desired formation, determine the positional offset of the slave vehicle relative to the master vehicle; The position of the slave vehicle's center of gravity is determined based on the position offset of the target timestamp, the attitude of the master vehicle, and the position of the master vehicle's center of gravity. Based on the position of the vehicle's center of gravity and the vehicle's own state, the expected trajectory information of the vehicle is calculated, wherein the vehicle's own state includes the vehicle's velocity and the vehicle's acceleration.

3. The method according to claim 1, characterized in that, The method further includes: The desired trajectory information of the vehicle is smoothed using at least one of the following methods: interpolation, Kalman filtering, moving average filtering, curve fitting, and model predictive control.

4. The method according to claim 3, characterized in that, Based on the interpolation method, the smoothing process is performed on the desired trajectory information of the vehicle, including: Obtain the vehicle status information and the vehicle's expected trajectory information for the target timestamp; Based on the interpolation coefficients, the vehicle status information at the target timestamp and the vehicle expected trajectory information at the target timestamp are weighted and summed to generate smoothed vehicle expected trajectory information.

5. A method for platooning control of two-wheeled vehicles, characterized in that, The two-wheeled vehicle platoon includes a master vehicle and at least one slave vehicle, and the method includes: Acquire first information, which is used to indicate the desired trajectory information and attitude of the main vehicle in the two-wheeled vehicle platoon; The master vehicle sends the first information to the slave vehicle, so that the slave vehicle can obtain the slave vehicle's desired trajectory information based on the first information and the slave vehicle's status information, and calculate the corresponding output torque of the slave vehicle based on the slave vehicle's desired trajectory information; Calculating the output torque corresponding to the vehicle includes: establishing a control model for 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 a non-complete constraint tracking function, and the constraints include underactuated dynamics equations, ground reaction force constraints, joint torque upper and lower limit constraints, and acceleration upper and lower limit constraints; and solving for the output torque while satisfying the objective function and the constraints. The motion state of the slave vehicle is controlled based on the output torque.

6. The method according to claim 5, characterized in that, The sending of the first information from the master vehicle to the slave vehicle includes: Based on the task requirements, the motion trajectory of the main vehicle's center of gravity is generated. The motion trajectory of the main vehicle's center of gravity includes the position, velocity, and acceleration of multiple key trajectory points. The key trajectory points include the start point, end point, or inflection point. Based on the key trajectory points, the motion trajectory of the vehicle's center of gravity is divided into multiple intervals. Within each interval, a cubic polynomial is used to fit the desired trajectory information of the vehicle. Based on the boundary conditions of the key trajectory points, establish a system of linear equations and solve for the coefficients of the cubic polynomial; Based on the cubic polynomial obtained after solving for the coefficients, the desired trajectory information of the master vehicle is generated, and the generated desired trajectory information of the master vehicle is sent to the slave vehicle.

7. A device for controlling the formation of two-wheeled vehicles, characterized in that, The two-wheeled vehicle platoon includes a master vehicle and at least one slave vehicle, and the device includes: The first module is used to acquire first information sent by the master vehicle, the first information being used to indicate the desired trajectory information and attitude of the master vehicle in the two-wheeled vehicle formation; based on the first information and the state information of the slave vehicle, the desired trajectory information of the slave vehicle is acquired; and based on the desired trajectory information of the slave vehicle, the output torque corresponding to the slave vehicle is calculated. The second module is used to calculate the output torque corresponding to the vehicle, including: establishing a control model for 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 a non-complete constraint tracking function, and the constraints include underactuated dynamics equations, ground reaction force constraints, joint torque upper and lower limit constraints, and acceleration upper and lower limit constraints; and solving for the output torque while satisfying the objective function and the constraints. The control module is used to control the motion state of the slave vehicle based on the output torque.

8. A computer device, characterized in that, include: A memory and a processor are communicatively connected, the memory storing computer instructions, and the processor executing the computer instructions to perform the method for platoon control of two-wheeled vehicles as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method for platooning control of two-wheeled vehicles as described in any one of claims 1 to 6.

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