Vehicle spacing calculation method and vehicle formation driving system

Abstract

The embodiment of the invention provides a vehicle distance calculation method and a vehicle formation driving system, and relates to the technical field of automatic driving. The vehicle distance calculation method comprises the following steps: acquiring a driving track of a second vehicle in front of a first vehicle; determining a first target point closest to the head position of the first vehicle and a second target point closest to the tail position of the second vehicle on the driving track; and determining the distance between the first vehicle and the second vehicle based on the first target point, the second target point and the driving track. According to the method, the driving track of the front vehicle is combined, so that the more accurate vehicle distance can be calculated, and compared with the mode that the position information of the front vehicle and the rear vehicle is directly adopted to calculate the Euclidean distance to serve as the vehicle distance, the method is more suitable for vehicle distance calculation in the curve and U-shaped road scenes.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle spacing calculation method and a vehicle platooning driving system. Background Art

[0002] With the development of autonomous driving technology, single-vehicle autonomous driving has been widely adopted. This also provides a foundation for autonomous platooning, which can effectively improve transportation efficiency. Autonomous platooning refers to two or more vehicles that, based on intelligent sensors, wireless communications, and cloud platforms, use data sharing and collaborative decision-making to autonomously operate in a platoon in specific scenarios.

[0003] When vehicles are platooning, all following vehicles, except the lead vehicle, must calculate the distance between them and the vehicle in front. The distance between adjacent vehicles is a crucial parameter in platooning, ensuring the entire platoon can maintain the set distance and is a key indicator of platoon control capabilities. Therefore, obtaining accurate vehicle distances during platooning is a pressing technical challenge. Summary of the Invention

[0004] The purpose of the present invention is to provide a vehicle spacing calculation method and a vehicle platoon driving system. When calculating the spacing between adjacent vehicles, the front position of the first vehicle and the rear position of the second vehicle are used as references, and a first target point closest to the front position of the first vehicle and a second target point closest to the rear position of the second vehicle are found on the driving trajectory; then, the trajectory segment delineated by the first target point and the second target point on the driving trajectory is used to determine the spacing between the first vehicle and the second vehicle; thereby, the driving trajectory of the leading vehicle is combined to calculate a more accurate vehicle spacing. Compared with directly using the position information of the leading and trailing vehicles to calculate the Euclidean distance as the vehicle spacing, this method is more suitable for vehicle spacing calculation in curved and U-shaped road scenarios.

[0005] To achieve the above objectives, the present invention provides a method for calculating vehicle spacing, comprising: obtaining a driving trajectory of a second vehicle located in front of a first vehicle; determining a first target point closest to the front position of the first vehicle and a second target point closest to the rear position of the second vehicle on the driving trajectory; and determining the distance between the first vehicle and the second vehicle based on the first target point, the second target point, and the driving trajectory.

[0006] The present invention also provides a vehicle platoon driving system, comprising: a plurality of vehicles communicating with each other, wherein the plurality of vehicles are arranged and driven in sequence to form a vehicle platoon; and any vehicle among the plurality of vehicles except the lead vehicle is used to execute the vehicle spacing calculation method as described above.

[0007] The present invention also provides a computer-readable storage medium, which is a non-volatile storage medium or a non-transient storage medium, storing a computer program thereon. When the computer program is executed by a processor, the steps of the vehicle distance calculation method as described above are executed.

[0008] In one embodiment, the acquired driving trajectory includes: a plurality of trajectory points within a preset time period;

[0009] Determining a distance between the first vehicle and the second vehicle based on the first target point, the second target point, and the driving trajectory includes:

[0010] Acquire a trajectory point set between the first vehicle and the second vehicle on the driving trajectory, wherein the target trajectory points in the trajectory point set include: the first target point, the second target point, and the trajectory points between the first target point and the second target point;

[0011] The sum of the distances between all adjacent target trajectory points is used as the distance between the first vehicle and the second vehicle.

[0012] In one embodiment, before determining a first target point closest to the front position of the first vehicle and a second target point closest to the rear position of the second vehicle on the driving trajectory, the method further includes:

[0013] The front position of the first vehicle is determined based on the current position information of the first vehicle, and the rear position of the second vehicle is determined based on the current position information of the second vehicle.

[0014] In one embodiment, the first vehicle is equipped with a first positioning device, and the first positioning device is at a first distance from the front of the first vehicle;

[0015] Determining a front position of the first vehicle based on current position information of the first vehicle includes:

[0016] determining a first unit direction vector of the first vehicle based on a speed parameter of the first vehicle;

[0017] The front position of the first vehicle is determined based on the current position information collected by the first positioning device, the first unit direction vector, and the first distance.

[0018] In one embodiment, the calculation formula for the front position of the first vehicle is:

[0019] L t =L1+q x1 * d1;

[0020] Among them, L t represents the front position of the first vehicle, L1 represents the current position information collected by the first positioning device, q x1 represents the first unit direction vector, and d1 represents the first distance.

[0021] In one embodiment, the second vehicle is equipped with a second positioning device, and the second positioning device is at a second distance from the rear of the second vehicle;

[0022] Determining a rear position of the second vehicle based on current position information of the second vehicle includes:

[0023] determining a second unit direction vector of the second vehicle based on a speed parameter of the second vehicle;

[0024] The rear position of the second vehicle is determined based on the current position information collected by the second positioning device, the second unit direction vector, and the second distance.

[0025] In one embodiment, the rear position of the second vehicle is calculated as follows:

[0026] L w =L2+q x2 *d2;

[0027] Among them, L w represents the rear position of the second vehicle, L2 represents the current position information collected by the second positioning device, and q x2 represents the second unit direction vector, and d2 represents the second distance.

[0028] In one embodiment, the first vehicle records the trajectory points of the second vehicle within a preset time period using a sliding window method. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a specific flow chart of the vehicle distance calculation method in the first embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of a vehicle in a vehicle formation according to a first embodiment of the present invention;

[0031] Figure 3Schematic diagram of the driving trajectory between the first vehicle and the second vehicle according to the first embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following will describe in detail various embodiments of the present invention in conjunction with the accompanying drawings to provide a clearer understanding of the objectives, features and advantages of the present invention. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0033] In the following description, for the purpose of illustrating the various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0034] Unless the context requires otherwise, throughout the specification and claims, the word "comprise" and variations such as "include" and "have" should be construed in an open, inclusive sense, that is, should be interpreted to mean "including, but not limited to."

[0035] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0036] As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "or / and" unless the context clearly dictates otherwise.

[0037] In the following description, in order to clearly demonstrate the structure and working mode of the present invention, many directional words will be used for description, but words such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and should not be understood as restrictive terms.

[0038] A first embodiment of the present invention relates to a method for calculating vehicle spacing, which is applied to a vehicle formation including multiple vehicles, where the multiple vehicles in the vehicle formation are arranged and travel in sequence. During the process of multiple vehicles traveling in formation, the following vehicle can use the spacing calculation method of this embodiment to calculate the spacing between itself and the vehicle in front.

[0039] Vehicles in a platoon can communicate with each other, a process known as V2V communication. For example, vehicles communicate with each other through an onboard unit (OBU). The OBU can obtain vehicle position and driving data through onboard sensors and integrated navigation. It can also obtain information about the surrounding environment through cameras and radar, such as the speed, position, and driving status warnings of surrounding vehicles. Vehicles can exchange various information in real time through V2V communication.

[0040] In addition, the vehicle platooning system architecture may also include a cloud platform, roadside units, and V2X (Vehicle to Everything) wireless communication parts, which refers to the technology for vehicles to exchange and communicate information with the surrounding environment (including other vehicles, pedestrians, road infrastructure, and networks, etc.), including: V2I (Vehicle-to-Infrastructure), V2C (Vehicle-to-Cloud), and the above-mentioned V2V wireless communications.

[0041] Vehicles in a platoon can be divided into lead vehicles and follower vehicles. The lead vehicle is the front vehicle in the platoon, while the follower vehicles are the vehicles behind the lead vehicle. During driving, the follower vehicle can be switched to the lead vehicle as needed. Follower vehicles, as all other vehicles in the platoon behind the lead vehicle, are required to maintain a reasonable safe distance from the vehicle ahead.

[0042] The specific process of the vehicle distance calculation method of this embodiment is as follows: Figure 1 Each vehicle in the platoon is equipped with a positioning device (which can be a GPS positioning device or a Beidou satellite positioning device). Generally speaking, all vehicles in the platoon are of the same model; of course, the vehicles in the platoon can also be of different models. Take one vehicle as an example, please refer to Figure 2 The length of the vehicle is K, the vehicle is equipped with a positioning device T, and the distance between the positioning device T and the front of the vehicle is d head , then the distance between the positioning device T and the rear of the vehicle is Kd head .

[0043] Step 101: Acquire a driving trajectory of a second vehicle located in front of a first vehicle.

[0044] Specifically, the first vehicle is any following vehicle in the platoon, and the second vehicle is the vehicle located in front of the first vehicle in the platoon. The second vehicle may be a lead vehicle or a following vehicle. During the platooning process, the first vehicle can receive real-time position information from the second vehicle. The trajectory points formed by this position information constitute the driving trajectory of the second vehicle.

[0045] The positioning device mounted on the first vehicle is denoted as a first positioning device, and the distance between the first positioning device and the front of the first vehicle is denoted as a first distance D1(similarly Figure 2 d head ) in the formula (1); the first positioning device collects vehicle position information at a certain frequency during the driving of the first vehicle, for example, the first positioning device collects position information every 0.2 seconds.

[0046] For the first vehicle, the first positioning device can send the current position information to the controller of the first vehicle (which can be the main controller of the vehicle or a controller specially used for position calculation) after each collection of the current position information, and the controller of the first vehicle determines the position of the front of the first vehicle based on the current position information of the first vehicle; the specific method for determining the position of the front of the first vehicle is as follows:

[0047] According to the speed parameter of the first vehicle, a first unit direction vector of the first vehicle is determined; specifically, the linear velocity components (V x1 , V y1 ) of the first vehicle on the XY plane are obtained first, the X axis is the front direction of the vehicle (i.e., the longitudinal direction of the vehicle), and the Y axis is the left direction of the vehicle (i.e., the transverse direction of the vehicle); the linear velocity components (V x1 , V y1 ) can be calculated based on the modulus and direction angle of the speed vector collected by the first positioning device; or the total speed can be obtained by integrating the acceleration measured by the inertial measurement unit (IMU) mounted in the first vehicle; and then the linear velocity components (V x1 , V y1 ) are obtained according to the heading angle of the vehicle measured by the gyroscope sensor. The XY plane is a pre-defined plane coordinate system, and all vehicles in the vehicle formation use the same plane coordinate system.

[0048] The speed parameter of the first vehicle includes the linear velocity components (V x1 , V y1 ), and then the linear velocity components are normalized to obtain the current unit direction vector of the first vehicle, denoted as a first unit direction vector q x1 , and the expression of the first unit direction vector q t is as follows:

[0049]

[0050] Based on the current position information collected by the first positioning device, the first unit direction vector, and the first distance, the position of the front of the first vehicle is determined; the calculation formula of the position L t of the front of the first vehicle is as follows:

[0051] L t =L1+qx1 * d1;

[0052] Among them, L t represents the front position of the first vehicle, L1 represents the current position information collected by the first positioning device, q x1 represents the first unit direction vector, and d1 represents the first distance.

[0053] Furthermore, assuming that the length of the first vehicle is K, the rear position L of the first vehicle can also be further calculated. w1 For example, the rear position L of the first vehicle w1 The calculation formula is:

[0054] L w1 =L1+q x1 * (K-d1);

[0055] Among them, L w1 represents the rear position of the first vehicle, L1 represents the current position information collected by the first positioning device, q x1 represents the first unit direction vector, and d1 represents the first distance.

[0056] The positioning device installed on the second vehicle is recorded as the second positioning device, and the distance between the second positioning device and the rear end of the second vehicle is a second distance d2 (similar to Figure 2 Kd head ); The second positioning device collects vehicle position information at a certain frequency during the driving process of the second vehicle, for example, the second positioning device collects position information every 0.2 seconds.

[0057] For the second vehicle, the second positioning device may send the current position information to the controller of the second vehicle (which may be the main controller of the vehicle or a controller dedicated to position calculation) after each collection of the current position information. The controller of the second vehicle then determines the front position of the second vehicle based on the current position information of the second vehicle. The specific method for determining the front position of the second vehicle is as follows:

[0058] According to the speed parameter of the second vehicle, the second unit direction vector of the second vehicle is determined; specifically, the linear velocity component (V x2 , V y2 ), the X axis is the vehicle's forward direction (i.e., the vehicle's longitudinal direction), and the Y axis refers to the vehicle's left side (i.e., the vehicle's transverse direction); the linear velocity component (V x2 , V y2) can be calculated based on the modulus and direction angle of the velocity vector collected by the second positioning device; it can also be obtained by integrating the acceleration measured by the inertial measurement unit IMU installed in the second vehicle to obtain the total velocity; and then the linear velocity component (V) is obtained based on the heading angle of the vehicle measured by the gyroscope sensor. x2 , V y2 ).

[0059] The velocity parameters of the second vehicle include the linear velocity component (V x2 , V y2 ), then the linear velocity component is normalized to obtain the current unit direction vector of the second vehicle, recorded as the second unit direction vector, the second unit direction vector q x2 The expression is:

[0060]

[0061] Based on the current position information collected by the second positioning device, the second unit direction vector and the second distance, the rear position of the second vehicle is determined; the rear position L of the second vehicle w The calculation formula is:

[0062] L w =L2+q x2 * d2;

[0063] Among them, L w represents the rear position of the second vehicle, L2 represents the current position information collected by the second positioning device, and q x2 represents the second unit direction vector, and d2 represents the second distance.

[0064] Furthermore, assuming that the length of the second vehicle is K, the head position L of the second vehicle can also be further calculated. t2 For example, the front position L of the second vehicle t2 The calculation formula is:

[0065] L t2 =L2+q x2 * (K-d2);

[0066] Among them, L t2 represents the front position of the second vehicle, L2 represents the current position information collected by the second positioning device, and q x2 represents the second unit direction vector, and d2 represents the second distance.

[0067] The second vehicle can send the position information collected by the second positioning device to the first vehicle, or calculate the rear position L of the second vehicle each time.w Send to the first vehicle; thereby, the first vehicle can record the position information of the second vehicle or the parking position of the second vehicle within a preset time period, thereby forming a time series queue, which includes multiple position information (or vehicle tail positions) of the second vehicle, and these multiple position information (or vehicle tail positions) are sorted according to time; the first vehicle only records the position information (or vehicle tail position) within the preset time period, and when new position information (or vehicle tail position) is received, the old position information (or vehicle tail position) is deleted, and all the position information (or vehicle tail position) within the preset time period form all the trajectory points on the driving trajectory of the second vehicle;

[0068] For example, the first vehicle uses a sliding window method to record the trajectory points of the second vehicle within a preset time length. For example, the first vehicle records trajectory points at 0.2s / point, and the preset time length is 15s. Then, the first vehicle can record 75 trajectory points at the same time. These 75 trajectory points constitute the current driving trajectory of the second vehicle.

[0069] Furthermore, for each vehicle in the platoon, the position of the vehicle can be collected at a lower frequency on straight sections of the road, and at a higher frequency on curves and U-shaped roads; this can generate a more appropriate driving trajectory for the scenario. Furthermore, each vehicle in the platoon can use Kalman filtering to smooth the noise in the collected position information.

[0070] Step 102: Determine a first target point closest to the front position of the first vehicle and a second target point closest to the rear position of the second vehicle on the driving trajectory.

[0071] Specifically, after obtaining the front position of the first vehicle, the first vehicle traverses the trajectory points on the driving trajectory of the second vehicle, and searches for the trajectory point closest to the front position of the first vehicle on the driving trajectory, which is the first target point; specifically, the traversal starts from the earliest trajectory point on the driving trajectory, and the distance between the front position of the first vehicle and each trajectory point is calculated in turn (usually the Euclidean distance), and the calculated distances are compared to determine the trajectory point with the smallest distance to the front position of the first vehicle as the first target point.

[0072] The rear position of the second vehicle and the front position of the first vehicle are obtained at the same time. Similarly, after obtaining the rear position of the second vehicle, the trajectory points on the driving trajectory of the second vehicle are traversed, and the trajectory point closest to the rear position of the second vehicle is found on the driving trajectory, which is the second target point. Specifically, the traversal starts from the latest trajectory point on the driving trajectory, and the distance between the rear position of the second vehicle and each trajectory point is calculated in turn (usually Euclidean distance). The calculated distances are compared, and the trajectory point with the smallest distance to the rear position of the second vehicle is determined as the second target point.

[0073] For example, Figure 3 As shown, the point on the driving trajectory closest to the front position of the first vehicle C1 is point J1, and the point on the driving trajectory closest to the rear position of the second vehicle C2 is point J2.

[0074] Step 103: Determine the distance between the first vehicle and the second vehicle based on the first target point, the second target point, and the driving trajectory.

[0075] Step 103 includes the following sub-steps:

[0076] Sub-step 1031: Acquire a trajectory point set between the first vehicle and the second vehicle on the driving trajectory, where the target trajectory points in the trajectory point set include: the first target point, the second target point, and the trajectory points between the first target point and the second target point.

[0077] Sub-step 1032: The sum of the distances between all adjacent target trajectory points is used as the distance between the first vehicle and the second vehicle.

[0078] Specifically, after determining the first target point and the second target point, a trajectory point located between the first target point and the second target point is obtained on the driving trajectory. The first target point, the second target point and the trajectory point located between the first target point and the second target point are combined to obtain a trajectory point set. The target trajectory points included in the trajectory point set include: the first target point, the second target point and the trajectory point between the first target point and the second target point.

[0079] The distances between adjacent target trajectory points in the trajectory point set are then calculated and summed. The resulting sum is the distance between the first vehicle and the second vehicle. In other words, the length of the trajectory segment formed by the first and second target points on the driving trajectory is used as the distance between the first vehicle and the second vehicle.

[0080] by Figure 3For example, if the number of target trajectory points is 8, the distances between adjacent points of these 8 target trajectory points are accumulated in sections, and the sum of the accumulated values ​​is the distance between the first vehicle and the second vehicle.

[0081] Assume that the number of target trajectory points is n, n>1 and is an integer, and the coordinates of the n target trajectory points are (x1, y1), (x2, y2), ..., (x n ,y n ); then the expression of the distance Z between the first vehicle and the second vehicle is:

[0082] It should be noted that, in this embodiment, only the first vehicle and the second vehicle in the vehicle formation are used as an example for explanation. Any two adjacent vehicles in the vehicle formation can use the vehicle spacing calculation method in this embodiment to calculate the distance between the vehicles.

[0083] In this embodiment, when calculating the distance between adjacent vehicles, the front position of the first vehicle and the rear position of the second vehicle are used as references, and a first target point closest to the front position of the first vehicle and a second target point closest to the rear position of the second vehicle are searched on the driving trajectory; then, the trajectory segment defined by the first target point and the second target point on the driving trajectory is used to determine the distance between the first vehicle and the second vehicle; thereby, the driving trajectory of the preceding vehicle is combined to calculate a more accurate vehicle distance. Compared with directly using the position information of the preceding and following vehicles to calculate the Euclidean distance as the vehicle distance, this method is more suitable for vehicle distance calculation in curved and U-shaped road scenarios.

[0084] Furthermore, the influence of the installation position of the positioning device on the vehicle on the calculated vehicle distance is taken into consideration, thereby further improving the accuracy of the calculated vehicle distance.

[0085] A second embodiment of the present invention relates to a vehicle platooning system, comprising: a plurality of vehicles communicating with each other, the plurality of vehicles being arranged and traveling in sequence to form a vehicle platoon;

[0086] Any vehicle other than the lead vehicle among the multiple vehicles is used to execute the vehicle spacing calculation method of the first embodiment; that is, the following vehicle in the vehicle formation can use the above-mentioned vehicle spacing calculation method to calculate the distance between itself and the leading vehicle in real time, which helps to control the vehicle spacing and thus improve the safety of vehicle formation driving.

[0087] A third embodiment of the present invention relates to a computer-readable storage medium, which is a non-volatile storage medium or a non-transitory storage medium, storing a computer program. When the computer program is executed by a processor, the steps of the vehicle distance calculation method in the first embodiment are executed.

[0088] While preferred embodiments of the present invention have been described in detail above, it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide further embodiments.

[0089] These and other changes can be made to the embodiments in light of the above detailed description.In general, in the claims, the terms used should not be construed as limited to the specific embodiments disclosed in the specification and claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which these claims are entitled.

Claims

1. A method for calculating vehicle spacing, characterized in that: include: Obtaining a driving trajectory of a second vehicle located in front of the first vehicle; Determining a first target point closest to the front position of the first vehicle and a second target point closest to the rear position of the second vehicle on the driving trajectory; The distance between the first vehicle and the second vehicle is determined based on the first target point, the second target point, and the driving trajectory.

2. The method for calculating the distance between vehicles according to claim 1, characterized in that: The obtained driving trajectory includes: a plurality of trajectory points within a preset time period; Determining a distance between the first vehicle and the second vehicle based on the first target point, the second target point, and the driving trajectory includes: Acquire a trajectory point set between the first vehicle and the second vehicle on the driving trajectory, wherein the target trajectory points in the trajectory point set include: the first target point, the second target point, and the trajectory points between the first target point and the second target point; The sum of the distances between all adjacent target trajectory points is used as the distance between the first vehicle and the second vehicle.

3. The method for calculating the distance between vehicles according to claim 1, characterized in that: Before determining a first target point closest to the front position of the first vehicle and a second target point closest to the rear position of the second vehicle on the driving trajectory, the method further includes: The front position of the first vehicle is determined based on the current position information of the first vehicle, and the rear position of the second vehicle is determined based on the current position information of the second vehicle.

4. The method for calculating the distance between vehicles according to claim 2, characterized in that: The first vehicle is equipped with a first positioning device, and the first positioning device is at a first distance from the front of the first vehicle; Determining a front position of the first vehicle based on current position information of the first vehicle includes: determining a first unit direction vector of the first vehicle based on a speed parameter of the first vehicle; The front position of the first vehicle is determined based on the current position information collected by the first positioning device, the first unit direction vector, and the first distance.

5. The method for calculating the distance between vehicles according to claim 4, characterized in that: The calculation formula of the front position of the first vehicle is: 50 t =L1+q x1 * d1; Among them, L t represents the front position of the first vehicle, L1 represents the current position information collected by the first positioning device, q x1 represents the first unit direction vector, and d1 represents the first distance.

6. The method for calculating the distance between vehicles according to claim 2, characterized in that: The second vehicle is equipped with a second positioning device, and the second positioning device is at a second distance from the rear of the second vehicle; Determining a rear position of the second vehicle based on current position information of the second vehicle includes: determining a second unit direction vector of the second vehicle based on a speed parameter of the second vehicle; The rear position of the second vehicle is determined based on the current position information collected by the second positioning device, the second unit direction vector, and the second distance.

7. The method for calculating the distance between vehicles according to claim 6, characterized in that: The calculation formula for the rear position of the second vehicle is: L w =L2+q x2 * d2; Among them, L w represents the rear position of the second vehicle, L2 represents the current position information collected by the second positioning device, and q x2 represents the second unit direction vector, and d2 represents the second distance.

8. The method for calculating vehicle distance according to claim 1, wherein: The first vehicle records the trajectory points of the second vehicle within a preset time period using a sliding window method.

9. A vehicle platoon driving system, characterized in that: include: A plurality of vehicles communicating with each other, the plurality of vehicles being arranged and traveling in sequence to form a vehicle formation; Any one of the plurality of vehicles except the pilot vehicle is configured to execute the inter-vehicle distance calculation method according to any one of claims 1 to 8.

10. A computer-readable storage medium, wherein the computer-readable storage medium is a non-volatile storage medium or a non-transient storage medium, and a computer program is stored thereon, wherein: When the computer program is executed by a processor, the vehicle distance calculation method according to any one of claims 1 to 8 is executed.

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