Air-ground cooperative multi-vehicle formation control method, device, equipment, medium and product

Abstract

The invention discloses an air-ground cooperative multi-vehicle formation control method, device, equipment, medium and product, and relates to the technical field of perception and Internet of Vehicles, and the method comprises the steps: receiving a visible light signal of an unmanned plane through a photosensitive diode receiver on any rear vehicle n except a head vehicle in a vehicle team; the visible light signal is a light signal formed by sending vehicle speed information of the head vehicle to the unmanned aerial vehicle through a radio wave signal adopted by the head vehicle; according to the visible light signal, the vehicle information of the rear vehicle n and the vehicle information of the rear vehicle n-1, the rear vehicle n and the rear vehicle n-1 are controlled to cooperatively run; in the cooperative driving process, the acceleration of the rear vehicle n at the next moment is determined according to the vehicle information of the rear vehicle n at the next moment and the distance between the rear vehicle n and the rear vehicle n-1; and controlling all the vehicles in the vehicle team to run according to the acceleration of each rear vehicle n. According to the invention, large-range and large-scale communication of the vehicles is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of perception and vehicle networking technology, and particularly relates to an air-ground cooperative multi-vehicle platoon control method, device, equipment, medium and product. BACKGROUND

[0002] With the maturity of perception and vehicle networking technology, networked autonomous vehicles can realize cooperative platoon driving by relying on perception and communication technology, thereby improving traffic efficiency. At present, the perception methods of vehicles can be divided into vehicle-mounted perception and road-end perception.

[0003] Vehicle-mounted perception refers to that a vehicle perceives traffic information around the vehicle through vehicle-mounted sensors such as vehicle-mounted laser radar and visual camera, and has the defect of short visibility.

[0004] Road-end perception refers to that a road traffic condition is detected through road-side laser radar and traffic camera sensors, and the detection information is transmitted to the vehicle end through V2X technology. This method can solve the problem of short visibility of vehicle-end perception, but needs to rely on a large number of road-side infrastructures and occupy a large amount of communication resources, and therefore has a large use cost. The communication between vehicles also has the problem of limited spectrum resources, which limits the large-scale communication of vehicles on a large scale. SUMMARY

[0005] The purpose of the present application is to provide an air-ground cooperative multi-vehicle platoon control method, device, equipment, medium and product, which solves the problem of difficulty in large-scale communication of vehicles on a large scale.

[0006] To achieve the above-mentioned purpose, the present application provides the following solutions.

[0007] In a first aspect, the present application provides an air-ground cooperative multi-vehicle platoon control method, comprising:

[0008] receiving, by a photodiode receiver on any rear vehicle n in the vehicle platoon except the head vehicle, a visible light signal of a drone; the visible light signal is a light signal formed by transmitting vehicle speed information of the head vehicle to the drone by the head vehicle using a radio wave signal; n is an integer greater than 0.

[0009] controlling the rear vehicle n and the rear vehicle n-1 to cooperatively drive according to the visible light signal, vehicle information of the rear vehicle n and vehicle information of the rear vehicle n-1; the vehicle information includes position and vehicle speed.

[0010] In the process of cooperative driving, determining the acceleration of the rear vehicle n at the next moment according to the vehicle information of the rear vehicle n at the next moment and the distance between the rear vehicle n and the rear vehicle n-1.

[0011] All vehicles in the convoy are controlled to travel according to the acceleration of each following vehicle n.

[0012] In one embodiment, a drone is used to decode and convert the vehicle speed information into an electrical signal.

[0013] The electrical signal is encoded, modulated, pre-processed and digital-to-analog converted to determine a visible light signal.

[0014] In one embodiment, the rear vehicle n is caused to output a current signal according to the visible light signal. The control panel of the rear vehicle n includes a cross-group amplifier, an analog-to-digital converter, a balancing module, and a demodulator connected in sequence.

[0015] Based on the transimpedance amplifier, the current signal is converted into a voltage signal.

[0016] The voltage signal is converted into a digital signal based on the analog-to-digital converter.

[0017] Based on the equalization module, an equalized digital signal is determined according to the digital signal.

[0018] Based on the demodulator, the equalized digital signal is converted into the original binary information sequence.

[0019] In one embodiment, using a n (t+1)=F(v0(t),v n (t),s n (t)), determine the acceleration of the rear vehicle n at the next moment; where v0(t) is the speed of the leading vehicle at time t, v n (t) is the speed of the rear vehicle n at time t, s n (t) is the distance between the rear vehicle n and the rear vehicle n-1; a n (t+1) is the acceleration of the rear vehicle n at the next moment; F(v0(t),v n (t),s n (t)) is the calculation formula for the acceleration of the rear vehicle n at the next moment, F(·)=α(V(s n (t))-v n (t))+β(v0(t)-v n (t)), α is the expected vehicle speed weight coefficient, β is the speed difference weight coefficient; V(s n (t)) is the distance of the rear vehicle n at s n (t) Expected vehicle speed under spacing conditions, s min is the minimum distance between vehicles when traveling in a platoon; s max is the maximum distance between vehicles when traveling in a platoon; v max is the maximum speed of the rear vehicle n.

[0020] In an embodiment, it is determined whether the rear vehicle n satisfies wherein v n (t) is the speed of the rear vehicle n at time t; v min is the minimum speed of the rear vehicle n when driving; v max is the maximum speed of the rear vehicle n when driving; a n (t) is the acceleration of the rear vehicle n at time t; a min is the minimum acceleration of the rear vehicle n when driving; a max is the maximum acceleration of the rear vehicle n when driving; s n (t) is the distance between the rear vehicle n and the rear vehicle n-1; s min is the minimum distance between vehicles when driving in a platoon; s max is the maximum distance between vehicles when driving in a platoon.

[0021] If yes, the acceleration of the rear vehicle n at the next time is determined according to the vehicle information of the rear vehicle n at the next time and the distance between the rear vehicle n and the rear vehicle n-1.

[0022] If no, the current speed of the rear vehicle n is adjusted until the rear vehicle n satisfies

[0023] In a second aspect, the application provides a device for coordinated multi-vehicle platoon control, comprising:

[0024] a visible light signal receiving module for receiving a visible light signal of a UAV by a photodiode receiver on any rear vehicle n in the vehicle platoon except the leading vehicle; the visible light signal is a light signal formed by transmitting the speed information of the leading vehicle to the UAV by radio wave signals of the leading vehicle; n is an integer greater than 0.

[0025] a vehicle driving control module for controlling the coordinated driving of the rear vehicle n and the rear vehicle n-1 according to the visible light signal, the vehicle information of the rear vehicle n and the vehicle information of the rear vehicle n-1; the vehicle information includes position and speed.

[0026] an acceleration determination module for determining the acceleration of the rear vehicle n at the next time according to the vehicle information of the rear vehicle n at the next time and the distance between the rear vehicle n and the rear vehicle n-1 during the coordinated driving; and controlling the driving of all vehicles in the vehicle platoon according to the acceleration of each rear vehicle n.

[0027] In a third aspect, the present application provides a computer device, comprising a memory, a processor, a computer program stored in the memory and executable in the processor, and the processor executes the computer program to implement the steps of the air-ground cooperative multi-vehicle platoon control method according to any one of the above.

[0028] In a fourth aspect, the present application provides a computer readable storage medium, having a computer program stored thereon, and the computer program, when executed by a processor, implements the steps of the air-ground cooperative multi-vehicle platoon control method according to any one of the above.

[0029] In a fifth aspect, the present application provides a computer program product, comprising a computer program, and the computer program, when executed by a processor, implements the steps of the air-ground cooperative multi-vehicle platoon control method according to any one of the above.

[0030] According to the specific embodiments provided by the present application, the present application discloses the following technical effects:

[0031] The present application provides an air-ground cooperative multi-vehicle platoon control method, device, equipment, medium and product, a photodiode receiver on any rear vehicle n in the vehicle platoon receives a visible light signal of a UAV, the UAV can dynamically adjust the height and position, and greatly expands the coverage range of light communication; the visible light signal is formed by transmitting the vehicle speed information of the head vehicle to the UAV by the head vehicle using a radio wave signal, and does not depend on the roadside infrastructure, thereby solving the problem of needing a large number of roadside infrastructure and occupying a large amount of communication resources; in addition, according to the visible light signal, the vehicle information of the rear vehicle n and the vehicle information of the rear vehicle n-1, the rear vehicle n and the rear vehicle n-1 are controlled to cooperatively travel; in the cooperative travel process, according to the vehicle information of the rear vehicle n at the next moment and the distance between the rear vehicle n and the rear vehicle n-1, the acceleration of the rear vehicle n at the next moment is determined; all vehicles in the vehicle platoon are controlled to travel according to the acceleration of each rear vehicle n, and it can be seen that the present application controls all vehicles in the vehicle platoon based on the communication between adjacent vehicles, and realizes large-scale communication of vehicles. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0033] Figure 1 The flowchart of an air-ground cooperative multi-vehicle platoon control method in an embodiment of the present application.

[0034] Figure 2 A system flow diagram provided by an embodiment of the present application.

[0035] Figure 3 A data transmission diagram provided by an embodiment of the present application.

[0036] Figure 4 A structural diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0038] The above purposes, features and advantages of the present application will be more obvious and easy to understand. The present application will be described in further detail below with reference to the drawings and specific embodiments.

[0039] As shown in the accompanying drawings and specific embodiments, the embodiments of the present application provide a kind of air-ground cooperative multi-vehicle platoon control method, and specific contents are described as follows. Figure 1 S1: using the photodiode receiver on any rear vehicle n in the vehicle platoon except the head vehicle receives the visible light signal of the unmanned aerial vehicle;The visible light signal is the light signal formed by sending the vehicle speed information of the head vehicle to the unmanned aerial vehicle by the head vehicle using radio wave signal;N is an integer greater than 0.

[0040] S2: according to the visible light signal, vehicle information of rear vehicle n and vehicle information of rear vehicle n-1, control the cooperative driving of rear vehicle n and rear vehicle n-1;The vehicle information includes position and speed.

[0041] S3: during cooperative driving, according to the vehicle information of the next time of rear vehicle n and the distance between rear vehicle n and rear vehicle n-1, determine the acceleration of rear vehicle n at the next time.

[0042] S4: according to the acceleration of each rear vehicle n, control all vehicles in the vehicle platoon to drive.

[0043]

[0044] ​With the development of communication technology, visible light communication technology is gradually applied in the field of vehicle communication. Visible light communication technology is a wireless communication technology that uses visible light band for data transmission. Because it does not need spectrum authorization, it has abundant resources, high bandwidth, energy saving, environmental protection and other characteristics. In addition, this technology can realize information interaction without affecting the normal use of light, and does not affect the transmission of radio frequency signals. Therefore, it has broad prospects to be applied in air-ground cooperation.

[0045] Vehicle perception technology refers to the use of various sensors, cameras, radars and other devices installed on vehicles to achieve real-time monitoring and perception of the vehicle's surrounding environment. It is one of the core technologies of modern intelligent transportation systems and autonomous vehicles, and has important significance for improving vehicle safety, efficiency and intelligent level. Vehicle perception technology mainly includes laser radar, camera, millimeter wave radar, ultrasonic sensor, inertial measurement unit, etc.

[0046] Air-ground cooperation technology based on cooperation between unmanned aerial vehicles and ground vehicles is a multi-dimensional cooperative operation system integrating unmanned aerial vehicles and ground vehicles (such as autonomous vehicles). This technology combines the high-altitude perspective of unmanned aerial vehicles with the ground perception of ground vehicles to achieve information complementation and task cooperation. The main features of air-ground cooperation technology include information sharing, task allocation, cooperative control, etc.

[0047] Visible light communication (VLC) is a wireless communication technology that uses visible light as a data transmission medium. Certain modulation techniques are used to convert electrical signals containing data into corresponding optical signals, which are emitted by light emitters. The optical signals are received by the receiving end, and the signals are decoded and processed to obtain the original data. This technology has high transmission rate, strong security, energy saving and environmental protection, and has broad application prospects. In the air-ground cooperation system, the existing communication method mainly uses radio wave communication, which has the problem of limited spectrum resources. As a wireless communication technology without spectrum resource limitation, VLC can be used as a complementary solution for communication between unmanned aerial vehicles and ground vehicles.

[0048] The prior art related to the present application mainly has the following disadvantages:

[0049] 1. Limited self-perception range. The limitations of sensor installation location and angle make it impossible for the vehicle to detect potential obstacles when in the perception blind area, increasing the risk of traffic accidents. To solve this problem, people use multi-sensor data fusion technology to expand the perception range and improve the perception accuracy, but this solution increases the user's use cost.

[0050] 2. Current radio wave communication technologies have limited spectrum resources. With the widespread use of wireless communication devices, radio spectrum resources are becoming increasingly scarce, making spectrum allocation difficult and impacting communication quality. Furthermore, radio wave communication is susceptible to electromagnetic interference, especially in urban environments, where various wireless signals intersect and can easily cause interference, impacting communication stability and reliability.

[0051] In order to achieve vehicle platooning while alleviating the resource shortage problem of vehicle communication, this application proposes to apply visible light communication technology to air-ground collaboration and conduct platoon collaborative control based on this. The series of technical solutions of this method are as follows:

[0052] The present application discloses a multi-vehicle formation control optimization method based on air-ground collaboration, which involves two parts: a visible light communication method for air-ground collaboration and a multi-vehicle formation control optimization method.

[0053] Visible light communication for air-ground collaboration: The lead vehicle in a convoy uses radio waves to transmit information to the drone, while the drone communicates with the vehicles behind it using visible light communication technology. The vehicle's onboard Power Delivery (PD) receiver receives the visible light signal from the drone, and the vehicle adopts different control strategies based on whether or not it receives the signal.

[0054] Multi-vehicle platooning control optimization method: After obtaining the information of the leading vehicle, the rear vehicle in the platoon calculates the speed and position of the rear vehicle n at the next moment according to this method, while satisfying safety constraints.

[0055] Furthermore, in an exemplary embodiment, before S1, the following steps are further included:

[0056] S101: Using a drone, the vehicle speed information is decoded and converted into an electrical signal.

[0057] S102: Encoding, modulating, preprocessing, and digital-to-analog conversion are performed on the electrical signal to determine a visible light signal.

[0058] like Figure 2 As shown in Figure 1, the leading vehicle in the convoy sends vehicle information to the UAV. At time t, the leading vehicle in the convoy sends its own vehicle speed information v0(t) to the UAV using radio wave signals.

[0059] The drone transmits a visible light signal to the rear vehicle in the convoy. After receiving the information from the lead vehicle, the drone decodes it and converts it into an electrical signal. This signal is then converted into an optical signal through encoding, modulation, preprocessing, and digital-to-analog conversion. An LED driver then drives the LEDs mounted on the drone to flash at a specific frequency, transmitting the visible light signal. The LEDs can be mounted on the bottom of the drone, radiating light downward from the air so that vehicles can receive the optical signal.

[0060] The vehicle receives the visible light signal. A photodiode (PD) receiver is installed on the top of the vehicle to capture the visible light signal sent by the UAV. If the PD receiver successfully captures the light signal, the head vehicle information is converted from the light signal to an electrical signal through the steps of transimpedance amplification, analog-to-digital conversion, equalization, demodulation, etc. At this time, the vehicle can cooperate with other vehicles according to the vehicle information, surrounding vehicle information, and head vehicle information, i.e., enter step 4. If the PD receiver does not capture the light signal, the vehicle cruises according to the adaptive cruise control (ACC) mode.

[0061] Encoding refers to converting the basic information of the vehicle into a binary sequence, so as to be converted into a light signal for transmission.

[0062] Modulation refers to intensity modulation, frequency modulation, or phase modulation of the original signal to generate a modulated signal, thereby improving the transmission rate of the system. Modulation techniques include on-off keying (OOK), pulse position modulation (PPM), and pulse amplitude modulation (PAM).

[0063] Preprocessing refers to enhancing the anti-noise capability of data in the transmission process and improving the reliability and transmission efficiency of data through interference filtering, signal amplification, power control, adaptive equalization, and other technical means.

[0064] Digital-to-analog conversion refers to converting a digital signal into a visible light signal through a digital-to-analog converter, and then making the LED turn signal flash at a specified frequency through an LED driver.

[0065] Further, in an exemplary embodiment, S1 further comprises, after S1:

[0066] S103: According to the visible light signal, the rear vehicle n outputs a current signal; the control panel of the rear vehicle n includes a transimpedance amplifier, an analog-to-digital converter, an equalization module, and a demodulator connected in sequence.

[0067] S104: Based on the transimpedance amplifier, the current signal is converted into a voltage signal.

[0068] S105: Based on the analog-to-digital converter, the voltage signal is converted into a digital signal.

[0069] S106: Based on the equalization module, the equalized digital signal is determined according to the digital signal.

[0070] S107: convert the equalized digital signal into the original binary information sequence based on the demodulator.

[0071] The vehicle receives the visible light signal. A photodiode (PD) receiver is installed on the top of the vehicle to capture the visible light signal sent by the UAV. If the PD receiver successfully captures the light signal, the head vehicle information is converted from the light signal to an electrical signal through the steps of transimpedance amplification, analog-to-digital conversion, equalization, demodulation, etc. At this time, the vehicle can cooperate with other vehicles according to the vehicle information, surrounding vehicle information, and head vehicle information, that is, enter the multi-vehicle platoon control. If the PD receiver does not capture the light signal, the vehicle cruises according to the ACC (Adaptive Cruise Control) mode.

[0072] Transimpedance amplification refers to converting the weak current signal output by the PD receiver into a corresponding voltage signal through a transimpedance amplifier, thereby improving the signal-to-noise ratio and sensitivity of the entire communication system.

[0073] Analog-to-digital conversion refers to converting the voltage signal input by the transimpedance amplifier into a digital signal through an analog-to-digital converter, so as to perform digital signal processing and subsequent digital signal transmission.

[0074] Equalization refers to compensating for the frequency response distortion of the transmission channel through an equalization module. Since visible light communication is affected by the transmission channel, the optical signal will have problems of multipath propagation, scattering, and attenuation, thereby causing the frequency response distortion of the transmission channel. Therefore, the equalization module is needed to compensate for the dispersion, distortion, and other deformations of the transmission channel in real time, thereby improving the reliability of data transmission.

[0075] Demodulation refers to converting the input digital signal into the original binary information sequence through a demodulator using a specific decoding technique.

[0076] Further, in an exemplary embodiment, S2 can be replaced with the following steps.

[0077] S201: determine the acceleration of the rear vehicle n at the next time point using a n (t+1) = F(v0(t), v n (t), s n (t)), where v0(t) is the speed of the head vehicle at time t, v n (t) is the speed of the rear vehicle n at time t, s n (t) is the distance between the rear vehicle n and the rear vehicle n-1; a n (t+1) is the acceleration of the rear vehicle n at the next time point; F(v0(t), v n (t), s n (t)) is a calculation formula for the acceleration of the rear vehicle n at the next time point, F(·) = α(V(sn (t))-v n (t))+β(v0(t)-v n (t)), α is the expected vehicle speed weight coefficient, β is the speed difference weight coefficient; V(s n (t)) is the distance of the rear vehicle n at s n (t) Expected vehicle speed under spacing conditions, s min is the minimum distance between vehicles when traveling in a platoon; s max is the maximum distance between vehicles when traveling in a platoon; v max is the maximum speed of the rear vehicle n.

[0078] After obtaining the data from the leading vehicle, the vehicle combines the data from the own vehicle and the surrounding vehicles to calculate the vehicle status such as the speed and position at the next moment; the own vehicle obtains the data from each vehicle sensor through the CAN bus. The required data includes information such as the current position, speed, and acceleration. α represents the expected speed weight coefficient, which can be set to 0.9, and β represents the speed difference weight coefficient, which can be set to 0.6.

[0079] Furthermore, in an exemplary embodiment, before S2, the following steps are further included:

[0080] S202: Determine the distance between the rear vehicle n and the rear vehicle n-1 based on the onboard radar of the rear vehicle n.

[0081] The distance to the vehicle ahead is obtained using the vehicle's onboard radar. The distance to the vehicle ahead is measured using the vehicle's forward-facing radar. The LiDAR, mounted on the vehicle's front bumper, measures the distance between the vehicle's front bumper and the rear of the vehicle ahead.

[0082] S203: Determine whether the following vehicle n satisfies Among them, v n (t) is the speed of the rear vehicle n at time t; v min is the minimum speed of the rear vehicle n; v max is the maximum speed of the rear vehicle n; a n (t) is the acceleration of the rear vehicle n at time t; a min is the minimum acceleration of the rear vehicle n; a max is the maximum acceleration of the rear vehicle n; s n (t) is the distance between the rear vehicle n and the rear vehicle n-1; s min is the minimum distance between vehicles when traveling in a platoon; s max The maximum distance between vehicles when traveling in a platoon.

[0083] S204: If yes, according to the vehicle information of the rear vehicle n at the next moment and the distance between the rear vehicle n and the rear vehicle n-1, the acceleration of the rear vehicle n at the next moment is determined.

[0084] S205: If no, the current speed of the rear vehicle n is adjusted until the rear vehicle n satisfies

[0085] It can be seen that the multi-vehicle platoon control optimization method based on air-ground cooperation provided by the application includes air-ground cooperation technology based on unmanned aerial vehicles and ground vehicles and multi-vehicle platoon control algorithm.

[0086] 1. Air-ground cooperation technology based on unmanned aerial vehicles and ground vehicles: The application combines vehicle-mounted sensing technology with air-ground cooperative communication, and realizes all-around perception of the environment around the vehicle through vehicle-mounted sensors, cameras, radars and other devices of unmanned aerial vehicles. This fusion improves the cognitive ability of the vehicle to the surrounding environment, and provides key data support for platoon control.

[0087] 2. Multi-vehicle platoon control algorithm: The application proposes an optimized multi-vehicle platoon control algorithm, which considers the relative distance, speed, acceleration between vehicles and the speed information of the head vehicle of the platoon, and realizes cooperative driving between vehicles by adjusting the power and braking system of the vehicle in real time.

[0088] As shown in Figure 2 , the multi-vehicle platoon control optimization method based on air-ground cooperation includes two parts of visible light communication method for air-ground cooperation and multi-vehicle platoon control optimization method, as well as corresponding sub-steps and algorithms, which constitute the complete multi-vehicle platoon control optimization method based on air-ground cooperation.

[0089] As shown in Figure 3 , the data transmission process of the application includes: first, the head vehicle of the platoon sends the vehicle state information to the unmanned aerial vehicle, and the unmanned aerial vehicle converts the information into a light signal and emits a visible light signal to the rear vehicle through the on-board LED lamp after receiving the information. After the vehicles in the platoon capture the visible light signal, information decoding is performed and the distance information between the vehicle and the front vehicle perceived by the vehicle is fused, and finally the head vehicle data, the distance information between the vehicle and the front vehicle and the vehicle information are obtained.

[0090] The beneficial effects brought by the technical scheme of the application are:

[0091] 1. Relieve the problem of shortage of communication resources. By adopting visible light communication technology, the application effectively utilizes the advantage of rich visible light spectrum resources, thereby reducing the dependence on traditional radio spectrum resources. The communication resources are effectively expanded, and the overall capacity of the communication system is improved. In addition, the congestion of radio spectrum is reduced, the communication interference is reduced, and the stability and reliability of data transmission are improved.

[0092] 2. Enhance the vehicle's perception ability. By using UAV as a communication relay, the application significantly improves the vehicle's perception range and line of sight. Enhances the vehicle's perception of the current fleet environment.

[0093] 3. Optimize multi-vehicle platoon coordination. Under the condition of meeting the vehicle safety constraints, the state of the vehicle at the next time is calculated by considering the state information of the head vehicle, the front vehicle and the ego vehicle, which reduces unnecessary acceleration and deceleration, reduces traffic accidents and improves driving safety.

[0094] In an exemplary embodiment, an air-ground cooperative multi-vehicle platoon control device is provided, comprising the following modules.

[0095] A visible light signal receiving module is used to receive the visible light signal of the UAV by using the photodiode receiver on any rear vehicle n in the platoon except the head vehicle; the visible light signal is the light signal formed by transmitting the speed information of the head vehicle to the UAV by using radio wave signals by the head vehicle; n is an integer greater than 0.

[0096] A vehicle driving control module is used to control the cooperative driving of the rear vehicle n and the rear vehicle n-1 according to the visible light signal, the vehicle information of the rear vehicle n and the vehicle information of the rear vehicle n-1; the vehicle information includes position and speed.

[0097] An acceleration determination module is used to determine the acceleration of the rear vehicle n at the next time according to the vehicle information of the rear vehicle n at the next time and the distance between the rear vehicle n and the rear vehicle n-1 during cooperative driving; all vehicles in the platoon are controlled according to the acceleration of each rear vehicle n.

[0098] In an exemplary embodiment, a computer device is provided, which can be a server or a terminal, and its internal structure diagram can be as follows Figure 4As shown in the figure. The computer device includes a processor, a memory, an input / output interface (I / O for short) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through the system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capability. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used for air-ground collaborative multi-vehicle formation control. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with the terminal outside through the network connection. The computer program is executed by the processor to realize the air-ground collaborative multi-vehicle formation control.

[0099] Those skilled in the art can understand that, Figure 4 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0100] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in each of the above method embodiments.

[0101] In one exemplary embodiment, a computer readable storage medium is provided, storing a computer program, which is executed by a processor to implement the steps in each of the above method embodiments.

[0102] In one exemplary embodiment, a computer program product is provided, including a computer program, which is executed by a processor to implement the steps in each of the above method embodiments.

[0103] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0104] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0105] The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a blockchain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0106] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0107] The principles and implementation modes of the present application are described by applying specific examples herein, and the above-mentioned embodiments are only used to help understand the method and its core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range can be changed. In conclusion, the content of the present application should not be understood as a limitation.

Claims

1. A method for controlling multi-vehicle formations in air-ground coordination, characterized in that: The air-ground collaborative multi-vehicle formation control method includes: A photodiode receiver on any rear vehicle n in the convoy, excluding the lead vehicle, receives the visible light signal from the drone; the visible light signal is generated by the lead vehicle transmitting its speed information to the drone using a radio wave signal; n is an integer greater than 0; Controlling the rear vehicle n and the rear vehicle n-1 to travel in coordination with each other based on the visible light signal, the vehicle information of the rear vehicle n, and the vehicle information of the rear vehicle n-1; the vehicle information including the position and speed; During the coordinated driving process, determining the acceleration of the rear vehicle n at the next moment based on the vehicle information of the rear vehicle n at the next moment and the distance between the rear vehicle n and the rear vehicle n-1; All vehicles in the convoy are controlled to travel according to the acceleration of each following vehicle n.

2. The air-ground coordinated multi-vehicle platoon control method according to claim 1 is characterized in that: The visible light signal of the UAV is received by using the photodiode receiver on any rear vehicle n except the lead vehicle in the convoy, which previously included: Using a drone, the vehicle speed information is decoded and converted into an electrical signal; The electrical signal is encoded, modulated, pre-processed and digital-to-analog converted to determine a visible light signal.

3. The air-ground coordinated multi-vehicle formation control method according to claim 2 is characterized in that: The visible light signal of the UAV is received by a photodiode receiver on any rear vehicle n except the lead vehicle in the convoy, and then the following steps are included: According to the visible light signal, the rear vehicle n is caused to output a current signal; the control panel of the rear vehicle n includes a cross-group amplifier, an analog-to-digital converter, an equalizing module, and a demodulator connected in sequence; Based on the transimpedance amplifier, converting the current signal into a voltage signal; Converting the voltage signal into a digital signal based on the analog-to-digital converter; Determine, based on the equalization module, an equalized digital signal according to the digital signal; Based on the demodulator, the equalized digital signal is converted into the original binary information sequence.

4. The air-ground coordinated multi-vehicle formation control method according to claim 1 is characterized in that: During the cooperative driving process, the acceleration of the rear vehicle n at the next moment is determined according to the vehicle information of the rear vehicle n at the next moment and the distance between the rear vehicle n and the rear vehicle n-1, specifically including: using a n (t+1)=F(v0(t),v n (t),s n (t)), determine the acceleration of the rear vehicle n at the next moment; where v0(t) is the speed of the leading vehicle at time t, v n (t) is the speed of the rear vehicle n at time t, s n (t) is the distance between the rear vehicle n and the rear vehicle n-1; a n (t+1) is the acceleration of the rear vehicle n at the next moment; F(v0(t),v n (t),s n (t)) is the calculation formula for the acceleration of the rear vehicle n at the next moment, F(v0(t),v n (t),s n (t))=α(V(s n (t))-v n (t))+β(v0(t)-v n (t)), α is the expected vehicle speed weight coefficient, β is the speed difference weight coefficient; V(s n (t)) is the distance of the rear vehicle n at s n (t) Expected vehicle speed under spacing conditions, s min is the minimum distance between vehicles when traveling in a platoon; s max is the maximum distance between vehicles when traveling in a platoon; v max is the maximum speed of the rear vehicle n.

5. The air-ground coordinated multi-vehicle formation control method according to claim 4 is characterized in that: During the coordinated driving process, the acceleration of the rear vehicle n at the next moment is determined based on the vehicle information of the rear vehicle n at the next moment and the distance between the rear vehicle n and the rear vehicle n-1, wherein the above further includes: Based on the onboard radar of the rear vehicle n, the distance between the rear vehicle n and the rear vehicle n-1 is determined.

6. The air-ground coordinated multi-vehicle formation control method according to claim 1 is characterized in that: During the coordinated driving process, the acceleration of the rear vehicle n at the next moment is determined based on the vehicle information of the rear vehicle n at the next moment and the distance between the rear vehicle n and the rear vehicle n-1, wherein the above further includes: Determine whether the rear vehicle n satisfies Among them, v n (t) is the speed of the rear vehicle n at time t; v min is the minimum speed of the rear vehicle n; v max is the maximum speed of the rear vehicle n; a n (t) is the acceleration of the rear vehicle n at time t; a min is the minimum acceleration of the rear vehicle n; a max is the maximum acceleration of the rear vehicle n; s n (t) is the distance between the rear vehicle n and the rear vehicle n-1; s min is the minimum distance between vehicles when traveling in a platoon; s max The maximum distance between vehicles when traveling in a platoon; If yes, determining the acceleration of the rear vehicle n at the next moment based on the vehicle information of the rear vehicle n at the next moment and the distance between the rear vehicle n and the rear vehicle n-1; If not, adjust the current speed of the rear vehicle n until the rear vehicle n satisfies 7. An air-ground coordinated multi-vehicle formation control device, characterized in that: The air-ground coordinated multi-vehicle formation control device comprises: A visible light signal receiving module is configured to receive a visible light signal from a UAV using a photodiode receiver on any rear vehicle n in the convoy, excluding the lead vehicle. The visible light signal is generated by the lead vehicle transmitting its speed information to the UAV using a radio wave signal. n is an integer greater than 0. a vehicle driving control module, configured to control the rear vehicle n and the rear vehicle n-1 to travel in coordination based on the visible light signal, vehicle information of the rear vehicle n, and vehicle information of the rear vehicle n-1; the vehicle information including position and speed; The acceleration determination module is used to determine the acceleration of the rear vehicle n at the next moment during the coordinated driving process based on the vehicle information of the rear vehicle n at the next moment and the distance between the rear vehicle n and the rear vehicle n-1; and control the driving of all vehicles in the convoy according to the acceleration of each rear vehicle n.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the air-ground collaborative multi-vehicle formation control method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the air-ground collaborative multi-vehicle formation control method described in any one of claims 1-6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the air-ground collaborative multi-vehicle formation control method described in any one of claims 1-6 is implemented.

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