A multi-unmanned target vehicle control system based on multi-machine cooperation

Abstract

The application provides a multi-unmanned target vehicle control system based on multi-machine cooperation, comprising a command center and multiple unmanned target vehicles, the command center is used for designating any unmanned target vehicle as a leader target vehicle, and the rest unmanned target vehicles are automatically designated as follower target vehicles; the unmanned target vehicle comprises a vehicle-mounted controller, a vehicle-mounted communication unit, a role switching executor, a path processing unit, a cooperative communication unit, a positioning and navigation unit, a perception and obstacle avoidance unit and a motion control unit; the role instruction of the command center is received through the vehicle-mounted communication unit, and then the working mode of the unmanned target vehicle is switched through the role switching executor; the leader target vehicle generates a global path, and the follower target vehicle generates a following path; the perception and obstacle avoidance unit obtains environmental information in the moving process of the unmanned target vehicle, and then the motion control unit executes obstacle avoidance movement according to the environmental information. The application realizes efficient, flexible and expandable autonomous cooperative movement of multiple target vehicles, and significantly improves the ability of simulating actual combat targets in complex environments.

Description

Technical Field

[0001] This invention relates to the field of unmanned target vehicle technology, and more specifically, to a multi-unmanned target vehicle control system based on multi-machine collaboration. Background Technology

[0002] Unmanned target vehicles (UDVs) are intelligent training equipment designed to simulate enemy targets in real battlefields. Through preset programs or remote control commands, they simulate the movement trajectory of enemy targets (such as serpentine maneuvers and acceleration evasion), realistically replicating the mobility characteristics of armored vehicles and tactical vehicles, and improving the effectiveness of live-fire shooting and tactical combat training. In existing technologies, multiple UAVs typically rely entirely on point-to-point control from a command center, resulting in excessive communication load on the command center and making it difficult to efficiently and in real-time command the coordinated movement of multiple target vehicles, thus limiting the system's scalability. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, the present invention aims to provide a multi-unmanned target vehicle control system based on multi-machine collaboration, so as to overcome the defects in the prior art.

[0004] To achieve the above objectives, this invention provides a multi-unmanned target vehicle control system based on multi-machine collaboration, including a command center and multiple unmanned target vehicles. The command center establishes electrical and signal connections with the multiple unmanned target vehicles. The command center designates any one unmanned target vehicle as the lead vehicle, and the remaining vehicles are automatically designated as follower vehicles. Each unmanned target vehicle includes an onboard controller, an onboard communication unit, a role-switching actuator, a path processing unit, a collaborative communication unit, a positioning and navigation unit, a perception and obstacle avoidance unit, and a motion control unit. The onboard communication unit is electrically and signal-connected to the onboard controller, the onboard controller is electrically and signal-connected to the role-switching actuator, and the role-switching actuator is electrically and signal-connected to both the path processing unit and the collaborative communication unit, enabling it to receive role commands from the command center via the onboard communication unit, thereby allowing the role-switching actuator to switch the unmanned target vehicle's operating mode. The onboard controller is electrically and signal-connected to the path processing unit, and the positioning and navigation unit is positioned... The navigation unit is electrically and signal-connected to the path processing unit, and the path processing unit is electrically and signal-connected to the motion control unit. This allows the path processing unit to receive target point information from the command center and vehicle positioning information from the positioning and navigation unit, and generate a global path. The motion control unit then executes movement based on the global path. The path processing unit is also electrically and signal-connected to the cooperative communication unit. When the unmanned target vehicle is operating as a leader target vehicle, the cooperative communication unit broadcasts the leader ID, target point information, and leader positioning information to the following target vehicles. When the unmanned target vehicle is operating as a follower target vehicle, the cooperative communication unit receives the leader ID, target point information, and leader positioning information from the leader target vehicle, and the path processing unit generates a following path. The obstacle perception and avoidance unit is electrically and signal-connected to the motion control unit. This allows the obstacle perception and avoidance unit to acquire environmental information during the unmanned target vehicle's movement, and the motion control unit then executes obstacle avoidance movement based on the environmental information.

[0005] Through the above technical solution, the system realizes a distributed collaborative architecture of "leader-follower" by using a role-switching actuator and a collaborative communication unit. The command center only needs to designate one leader target vehicle and its target point. The leader target vehicle broadcasts its ID, target point, and positioning information to all following target vehicles through the collaborative communication unit, reducing the communication and control burden of the command center and significantly enhancing scalability. The path processing unit of the following target vehicles can simultaneously receive target points from the command center, vehicle positioning information from the positioning and navigation unit, and leader positioning information and target point information from the leader target vehicle. This allows the path processing unit to generate specific following paths. The following vehicles can dynamically adjust their own paths based on the leader's position and target to maintain the relative positional relationship or desired formation with the leader, achieving stable and coordinated group movement. This effectively solves the problems of low efficiency and poor coordination in traditional centralized control, realizing efficient, flexible, and scalable autonomous collaborative movement of multiple target vehicles, and significantly improving the ability to simulate combat targets in complex environments.

[0006] As a further explanation of the multi-unmanned target vehicle control system of the present invention, preferably, the path processing unit includes an FPGA path generator and a ROM chip; wherein, the FPGA path generator is used to receive target point information from the command center and the vehicle's own positioning information from the positioning and navigation unit when the unmanned target vehicle's working mode is following the target vehicle, and generate a global path; the ROM chip is used to receive target point information and leader positioning information from the leader target vehicle when the unmanned target vehicle's working mode is following the target vehicle, and generate a following path.

[0007] The above technical solution uses an FPGA path generator to calculate the global path of the lead target vehicle and a ROM chip to calculate the following path of the follow target vehicle. This hardware division of labor improves the overall efficiency and real-time performance of the path processing unit. The ROM chip usually pre-stores optimized and solidified following algorithms in the existing technology, and can directly and quickly call the stored algorithms. Combined with the received dynamic information of the lead vehicle, it outputs the following path instructions in real time, which solves the efficiency and latency bottlenecks of path calculation (especially high real-time following path) in the existing technology.

[0008] As a further explanation of the multi-unmanned target vehicle control system of the present invention, preferably, the positioning and navigation unit includes a dual-frequency RTK positioning module, an inertial measurement subunit, a wheel speed detection subunit, and a navigation processor; wherein, the dual-frequency RTK positioning module is electrically and signal-connected to the navigation processor via an RS422 interface to obtain the centimeter-level absolute positioning and heading angle of the unmanned target vehicle; the inertial measurement subunit and the wheel speed detection subunit are electrically and signal-connected to the navigation processor via an SPI bus and a PWM interface, respectively, to obtain the attitude information of the unmanned target vehicle; the navigation processor is electrically and signal-connected to the path processing unit via a CAN bus to output fused positioning data.

[0009] Through the above technical solution, the navigation processor receives and integrates data from the dual-frequency RTK positioning module, the inertial measurement unit, and the wheel speed detection unit in real time, avoiding the risk of collaborative interruption or loss of control due to signal interruption. The dual-frequency RTK positioning module utilizes L1 / L2 dual-frequency signals to effectively suppress ionospheric errors. Combined with RTK (Real-Time Dynamic Differential) technology, it provides stable centimeter-level (2-5cm) absolute positioning and heading angle in open environments. The inertial measurement unit transmits three-axis acceleration and angular velocity data to the navigation processor at high speed via a high-bandwidth SPI interface. Combined with the PWM pulses from the wheel speed detection unit, the navigation processor can calculate high-precision attitude angles (pitch, roll, yaw) and short-term displacement changes in real time, ensuring that the system can still accurately perceive its own state during high-speed maneuvers and drastic attitude changes.

[0010] As a further explanation of the multi-unmanned target vehicle control system of the present invention, preferably, the perception and obstacle avoidance unit includes a lidar sensor, a millimeter-wave radar sensor, a binocular vision module, and an obstacle avoidance processor; wherein, the lidar sensor is electrically and signal-connected to the obstacle avoidance processor via an Ethernet interface to acquire 3D point cloud data of the environment surrounding the unmanned target vehicle; the millimeter-wave radar sensor is electrically and signal-connected to the obstacle avoidance processor via a CAN FD bus to detect the relative speed and azimuth angle of moving targets; the binocular vision module is electrically and signal-connected to the obstacle avoidance processor via a MIPI CSI-2 interface to identify obstacle types and texture features; the obstacle avoidance processor is electrically and signal-connected to the motion control unit via a GMSL2 high-speed serial link to output real-time obstacle avoidance vector commands.

[0011] Through the above technical solutions, the lidar sensor provides high-resolution 3D point clouds via Ethernet, accurately constructing the environmental geometry, unaffected by lighting conditions; the millimeter-wave radar sensor penetrates rain, fog, and dust via CAN FD, directly measuring the relative radial velocity and azimuth of moving targets, responding extremely quickly to dynamic threats; the binocular vision module acquires rich texture and color information via MIPI CSI-2, achieving obstacle semantic recognition and feature understanding; these three complement each other, ensuring reliable perception in complex scenarios such as strong light, darkness, rain, fog, dust, and mixed dynamic / static conditions, significantly reducing the missed / false detection rate. Finally, the obstacle avoidance processor achieves deep fusion and outputs obstacle avoidance commands through the GMSL2 ultra-high-speed link, solving the core bottlenecks of existing systems in terms of moving target tracking accuracy in complex environments, intelligent obstacle understanding, and real-time obstacle avoidance.

[0012] As a further explanation of the multi-unmanned target vehicle control system of the present invention, preferably, the cooperative communication unit includes a V2X communication module and an ad hoc network processor; wherein, the V2X communication module is electrically and signal-connected to the ad hoc network processor through a MIPI CSI-2 interface to broadcast / receive formation cooperative data; the ad hoc network processor is electrically and signal-connected to a role switching actuator through an RS422 interface to switch communication strategies according to the working mode.

[0013] Through the above technical solution, the V2X communication module provides a high-bandwidth data link with millisecond-level latency between vehicles and workshops. The lead target vehicle L broadcasts target points and positioning information via V2X, which is directly received by the following target vehicles S. The path processing unit can generate the following path in near real-time, significantly improving the accuracy and response speed of formation synchronization. Through the cooperative communication unit 25, the communication strategy is switched in real time according to the role switching actuator's role instructions to the self-organizing network processor. The lead target vehicle L starts high-frequency broadcasting (leader ID, target point, positioning information) and stops receiving broadcasts from other vehicles. The following target vehicles S only listen to the lead vehicle's broadcast, stop broadcasting themselves, and only send status reports to the command center, maximizing bandwidth utilization and solving the problems of real-time performance, strategy flexibility, anti-interference, and energy efficiency in existing systems for high-dynamic cooperative communication.

[0014] As a further explanation of the multi-unmanned target vehicle control system of the present invention, preferably, the unmanned target vehicle also includes a status monitoring unit, a positioning and navigation unit and a perception and obstacle avoidance unit, which are electrically and signal-connected to the status monitoring unit, respectively. The status monitoring unit is electrically and signal-connected to the vehicle-mounted communication unit to upload the status information of the unmanned target vehicle to the command center. The status monitoring unit is also electrically and signal-connected to the collaborative communication unit so that when the unmanned target vehicle is in the following target vehicle working mode, the status information is broadcast to the leader target vehicle through the collaborative communication unit.

[0015] The above technical solution, by introducing a status monitoring unit and constructing a closed-loop architecture of positioning / obstacle avoidance, monitoring unit, and communication unit, solves the problems of existing systems in terms of full vehicle status visualization, formation coordination transparency, completeness of leader decision-making information, and fault response speed.

[0016] As a further explanation of the multi-unmanned target vehicle control system of the present invention, preferably, the command center includes a mission planning unit, a dynamic grouping unit, a role assignment unit, a command and communication unit, and a status monitoring unit; wherein, the mission planning unit is electrically and signal-connected to the dynamic grouping unit, and the mission planning unit is used to parse the input mission objectives and generate mission parameters; the dynamic grouping unit is electrically and signal-connected to the role assignment unit, and the dynamic grouping unit is used to select target vehicles that meet the availability conditions from all unmanned target vehicles to form a mission group according to the mission parameters and the real-time battlefield environment; the role assignment unit is electrically and signal-connected to the command and communication unit, and the role assignment unit is used to designate the lead target vehicle and follower target vehicles in the mission group, and to issue role instructions containing identity identifiers to the corresponding unmanned target vehicles in the mission group through the communication link; the command and communication unit is wirelessly connected to the unmanned target vehicles, and is used to establish a two-way communication link with all unmanned target vehicles; the status monitoring unit is electrically and signal-connected to the command and communication unit, and the status monitoring unit is used to receive status information uploaded by all unmanned target vehicles.

[0017] The above technical solution, through the deep collaborative architecture of the five units in the command center, solves the problems of existing multi-target vehicle systems in terms of dynamic task adaptation, intelligent resource scheduling, closed-loop control response, and large-scale management efficiency.

[0018] As a further explanation of the multi-unmanned target vehicle control system of the present invention, preferably, the status monitoring unit and the dynamic grouping unit are electrically and signal connected. The dynamic grouping unit is also used to dynamically replace the designated leader target vehicle and follower target vehicle in the task group according to the status information uploaded by all unmanned target vehicles monitored by the status monitoring unit.

[0019] Through the above technical solutions, when the leader vehicle fails or the following vehicle fails, the system can autonomously reconfigure the formation and dynamically optimize the allocation of formation roles based on real-time battlefield threat data, enabling the target vehicle group to have environmental adaptability intelligence similar to that of a biological group.

[0020] The beneficial effects of this invention are as follows: Through a role-switching actuator and a collaborative communication unit, this invention achieves a distributed collaborative architecture of "leader-follower." The command center only needs to designate one leader target vehicle and its target point. The leader target vehicle broadcasts its ID, target point, and positioning information to all following target vehicles through the collaborative communication unit, reducing the communication and control burden on the command center and significantly enhancing scalability. The path processing unit of the following target vehicles can simultaneously receive target points from the command center, vehicle positioning information from the positioning and navigation unit, and leader positioning information and target point information from the leader target vehicle. This allows the path processing unit to generate specific following paths. Following vehicles can dynamically adjust their own paths based on the leader's position and target to maintain their relative positional relationship or desired formation with the leader, achieving stable and coordinated group movement. This effectively solves the problems of low efficiency and poor coordination in traditional centralized control, achieving efficient, flexible, and scalable autonomous collaborative movement of multiple target vehicles, significantly improving the ability to simulate combat targets in complex environments. Attached Figure Description

[0021] Figure 1 This is a diagram showing the overall architecture of the multi-unmanned target vehicle control system of the present invention.

[0022] Figure 2 This is a structural block diagram of the unmanned target vehicle of the present invention;

[0023] Figure 3 This is a structural block diagram of the positioning and navigation unit of the present invention;

[0024] Figure 4 This is a structural block diagram of the obstacle avoidance sensing unit of the present invention;

[0025] Figure 5 This is a connection diagram of the status monitoring unit of the present invention;

[0026] Figure 6 This is a structural block diagram of the command center of the present invention. Detailed Implementation

[0027] To further understand the structure, features, and other objectives of the present invention, a detailed description is provided below with reference to the accompanying drawings. The embodiments illustrated in these drawings are for illustrative purposes only and are not intended to limit the scope of the invention.

[0028] As a first embodiment of the present invention, such as Figure 1 As shown, this invention provides a multi-unmanned target vehicle control system based on multi-machine collaboration, including a command center 1 and multiple unmanned target vehicles 2. The command center 1 establishes electrical and signal connections with the multiple unmanned target vehicles 2. The command center 1 is used to designate any one of the unmanned target vehicles 2 as the leader target vehicle L, and the remaining unmanned target vehicles 2 are automatically designated as follower target vehicles S.

[0029] like Figure 2 As shown, the unmanned target vehicle 2 includes an onboard controller 21, an onboard communication unit 22, a role switching actuator 23, a path processing unit 24, a cooperative communication unit 25, a positioning and navigation unit 26, a perception and obstacle avoidance unit 27, and a motion control unit 28 (model TI C2000 series TMS320F28379D).

[0030] The vehicle-mounted communication unit 22 is electrically and signal-connected to the vehicle-mounted controller 21. The vehicle-mounted controller 21 is electrically and signal-connected to the role switching actuator 23. The role switching actuator 23 is electrically and signal-connected to the path processing unit 24 and the collaborative communication unit 25, respectively, so that the role instructions of the command center 1 can be received through the vehicle-mounted communication unit 22, and then the role switching actuator 23 can switch the working mode of the unmanned target vehicle 2.

[0031] The vehicle controller 21 is electrically and signal-connected to the path processing unit 24, the positioning and navigation unit 26 is electrically and signal-connected to the path processing unit 24, and the path processing unit 24 is electrically and signal-connected to the motion control unit 28, so that the path processing unit 24 receives target point information from the command center 1 and vehicle positioning information from the positioning and navigation unit 26, and generates a global path, and then the motion control unit 28 performs movement according to the global path.

[0032] The path processing unit 24 is electrically and signal-connected to the cooperative communication unit 25 so that when the unmanned target vehicle 2 is in the working mode of the leader target vehicle L, the leader ID, target point information and leader positioning information are broadcast to the following target vehicle S through the cooperative communication unit 25; when the unmanned target vehicle 2 is in the working mode of the following target vehicle S, the leader ID, target point information and leader positioning information of the leader target vehicle L are received through the cooperative communication unit 25, and then the path processing unit 24 generates the following path.

[0033] The obstacle perception and avoidance unit 27 is electrically and signal connected to the motion control unit 28 so that the obstacle perception and avoidance unit 27 can acquire environmental information during the movement of the unmanned target vehicle 2, and then the motion control unit 28 can perform obstacle avoidance movement according to the environmental information.

[0034] This implementation uses a role-switching actuator and a collaborative communication unit to achieve a distributed collaborative architecture of "leader-follower". The command center only needs to designate one leader target vehicle and its target point. The leader target vehicle broadcasts its ID, target point, and positioning information to all following target vehicles through the collaborative communication unit, reducing the communication and control burden on the command center and significantly enhancing scalability. The path processing unit of the following target vehicles can simultaneously receive target points from the command center, vehicle positioning information from the positioning and navigation unit, and leader positioning information and target point information from the leader target vehicle. This allows the path processing unit to generate specific following paths. The following vehicles can dynamically adjust their own paths based on the leader's position and target to maintain their relative positional relationship with the leader or the desired formation, achieving stable and coordinated group movement. This effectively solves the problems of low efficiency and poor coordination in traditional centralized control, achieving efficient, flexible, and scalable autonomous collaborative movement of multiple target vehicles, and significantly improving the ability to simulate combat targets in complex environments.

[0035] In a second embodiment of the present invention, the path processing unit 24 includes an FPGA path generator (model XilinxArtix-7 XC7A100T) and a ROM chip (Micron MT25QU series). The FPGA path generator is used to receive target point information from the command center 1 and the vehicle's own positioning information from the positioning and navigation unit 26, and generate a global path, when the unmanned target vehicle 2 is in the following target vehicle S operating mode. The ROM chip is used to receive target point information and leader positioning information from the leader target vehicle L, and generate a following path, when the unmanned target vehicle 2 is in the following target vehicle S operating mode.

[0036] Existing following strategies (such as pure software calculation) are insufficient to meet the ultra-low latency following path generation requirements of high-speed moving target vehicles in dynamic environments, resulting in delayed response and unstable formation of following vehicles. This embodiment addresses this by setting an FPGA path generator to calculate the global path of the lead target vehicle L, and a ROM chip to calculate the following path of the following target vehicle S. This hardware division of labor improves the overall efficiency and real-time performance of the path processing unit. The ROM chip typically pre-stores optimized and fixed following algorithms from existing technologies, enabling direct and rapid invocation of the stored algorithms. Combined with the received dynamic information of the lead vehicle, it outputs following path instructions in real time, thus solving the efficiency and latency bottlenecks in existing path calculation technologies (especially high real-time following paths).

[0037] As a third embodiment of the present invention, such as Figure 3 As shown, the positioning and navigation unit 26 includes a dual-frequency RTK positioning module 261 (u-blox ZED-F9P), an inertial measurement unit 262 (ADIS16470), a wheel speed detection subunit 263 (AMS AS5048A magnetic encoder), and a navigation processor 264 (TI TDA4VM). The dual-frequency RTK positioning module 261 is electrically and signal-connected to the navigation processor 264 via an RS422 interface to obtain the centimeter-level absolute positioning and heading angle of the unmanned target vehicle 2. The inertial measurement unit 262 and the wheel speed detection subunit 263 are electrically and signal-connected to the navigation processor 264 via an SPI bus and a PWM interface, respectively, to obtain the attitude information of the unmanned target vehicle 2. The navigation processor 264 is electrically and signal-connected to the path processing unit 24 via a CAN bus to output fused positioning data.

[0038] In this embodiment, the navigation processor receives and fuses data from the dual-frequency RTK positioning module, the inertial measurement unit, and the wheel speed detection unit in real time, avoiding the risk of collaborative interruption or loss of control due to signal interruption. The dual-frequency RTK positioning module utilizes L1 / L2 dual-frequency signals to effectively suppress ionospheric errors. Combined with RTK (Real-Time Dynamic Differential) technology, it provides stable centimeter-level (2-5cm) absolute positioning and heading angle in open environments. The inertial measurement unit transmits three-axis acceleration and angular velocity data to the navigation processor at high speed via a high-bandwidth SPI interface. Combined with PWM pulses from the wheel speed detection unit, the navigation processor can calculate high-precision attitude angles (pitch, roll, yaw) and short-term displacement changes in real time, ensuring that the system can still accurately perceive its own state during high-speed maneuvers and drastic attitude changes.

[0039] As a fourth embodiment of the present invention, such as Figure 4 As shown, the obstacle avoidance unit 27 includes a lidar sensor 271 (Velodyne VLP-16Lite), a millimeter-wave radar sensor 272 (Continental ARS548), a binocular vision module 273 (Intel RealSense D455), and an obstacle avoidance processor 274 (NVIDIA Jetson AGXOrin). The lidar sensor 271 is mounted on the top of the unmanned target vehicle 2, allowing for 360° horizontal rotation and ±30° adjustable pitch. The millimeter-wave radar sensor 272 is positioned at the four corners of the unmanned target vehicle 2, enabling omnidirectional tracking of moving targets. The binocular vision module 273 is positioned at the front and rear of the unmanned target vehicle 2.

[0040] The lidar sensor 271 is electrically and signal-connected to the obstacle avoidance processor 274 via an Ethernet interface to acquire 3D point cloud data of the environment surrounding the unmanned target vehicle 2. The millimeter-wave radar sensor 272 is electrically and signal-connected to the obstacle avoidance processor 274 via a CAN FD bus to detect the relative velocity and azimuth of moving targets. The binocular vision module 273 is electrically and signal-connected to the obstacle avoidance processor 274 via a MIPICSI-2 interface to identify obstacle types and texture features. The obstacle avoidance processor 274 is electrically and signal-connected to the motion control unit 28 via a GMSL2 high-speed serial link to output real-time obstacle avoidance vector commands.

[0041] Because high-speed moving target vehicles (and potential simulated threats) require real-time acquisition of the precise relative speed and orientation of moving targets, existing solutions (such as pure vision-based speed measurement) suffer a sharp decline in accuracy and reliability under high-speed, obstructed, or inclement weather conditions. Multi-sensor data, due to mixed interfaces (such as UART and USB) or insufficient bandwidth, struggles to achieve precise spatiotemporal synchronization and efficient fusion, resulting in large delays and low confidence levels in perception results, making it impossible to support real-time obstacle avoidance under high-speed maneuvers. If the transmission path from perception results to motion control uses a conventional bus (such as CAN 2.0), the bandwidth is insufficient to handle high-dimensional perception data (such as 3D point clouds and images), leading to delayed obstacle avoidance response. In this embodiment, the lidar sensor provides a high-resolution 3D point cloud via Ethernet, accurately constructing the environmental geometry (distance, shape) unaffected by lighting conditions; the millimeter-wave radar sensor penetrates rain, fog, and dust via CAN FD (high-bandwidth version of CAN) to directly measure the relative radial velocity and azimuth of moving targets, providing extremely fast response to dynamic threats; the binocular vision module acquires rich texture and color information via MIPI CSI-2 (high-speed camera interface) to achieve obstacle semantic recognition (classification) and feature understanding; these three complement each other, ensuring reliable perception in complex scenarios such as strong light, darkness, rain, fog, dust, and mixed dynamic / static conditions, significantly reducing the false detection / missed detection rate. Finally, the obstacle avoidance processor achieves deep fusion and outputs obstacle avoidance commands through the GMSL2 ultra-high-speed link, solving the core bottlenecks of existing systems in terms of moving target tracking accuracy in complex environments, intelligent obstacle understanding, and real-time obstacle avoidance.

[0042] As a fifth embodiment of the present invention, the cooperative communication unit 25 includes a V2X communication module (model AutotalksCRATON2) and an ad hoc network processor (model NXP Layerscape LX2160A); wherein, the V2X communication module is electrically and signal-connected to the ad hoc network processor through a MIPI CSI-2 interface to broadcast / receive formation cooperative data; the ad hoc network processor is electrically and signal-connected to the role switching actuator 23 through an RS422 interface to switch communication strategies according to the working mode.

[0043] Existing systems often rely on WiFi or 4G / 5G public network communication, resulting in issues such as high latency, significant bandwidth fluctuations, and numerous coverage blind spots. This makes it difficult to support millisecond-level, highly reliable synchronization of formation data (position, target, status) between high-speed mobile target workshops, leading to formation instability and delayed coordination. In this implementation, the V2X communication module provides a high-bandwidth data link with millisecond-level latency between vehicles and the workshop. The lead target vehicle L broadcasts target points and positioning information via V2X, which is directly received by the following target vehicles S. The path processing unit can generate the following path in near real-time, significantly improving formation synchronization accuracy and response speed. Through the collaborative communication unit 25, the communication strategy is switched in real-time according to the role switching actuator's instructions to the self-organizing network processor. The lead target vehicle L initiates high-frequency broadcasting (leader ID, target point, positioning information) and stops receiving broadcasts from other vehicles. The following target vehicles S only listen to the lead vehicle's broadcast, stop broadcasting themselves, and only send status reports to the command center, maximizing bandwidth utilization and solving the problems of real-time performance, strategy flexibility, anti-interference, and energy efficiency in existing systems for high-dynamic collaborative communication.

[0044] As a sixth embodiment of the present invention, such as Figure 5 As shown, the unmanned target vehicle 2 also includes a status monitoring unit 29 (TI Sitara AM5708). The positioning and navigation unit 26 and the perception and obstacle avoidance unit 27 are electrically and signal-connected to the status monitoring unit 29, respectively. The status monitoring unit 29 is electrically and signal-connected to the vehicle-mounted communication unit 22 to upload the status information of the unmanned target vehicle 2 to the command center 1. The status monitoring unit 29 is electrically and signal-connected to the cooperative communication unit 25 so that when the unmanned target vehicle 2 is in the following target vehicle S operating mode, the status information is broadcast to the leader target vehicle L through the cooperative communication unit 25. In this embodiment, by introducing a status monitoring unit and constructing a closed-loop architecture of positioning / obstacle avoidance, monitoring unit, and communication unit, the problems of existing systems in terms of full vehicle status visualization, formation coordination transparency, leader decision-making information completeness, and fault response speed are solved.

[0045] As a seventh embodiment of the present invention, such as Figure 6As shown, the command center 1 includes a mission planning unit 11, a dynamic grouping unit 12, a role assignment unit 13, a command and communication unit 14, and a status monitoring unit 15. The mission planning unit 11 is electrically and signal-connected to the dynamic grouping unit 12, and is used to parse the input mission objectives and generate mission parameters. The dynamic grouping unit 12 is electrically and signal-connected to the role assignment unit 13, and is used to select target vehicles that meet availability conditions from all unmanned target vehicles 2 to form a mission group based on mission parameters and the real-time battlefield environment. The role assignment unit 13 is electrically and signal-connected to the command and communication unit 14, and is used to designate the lead target vehicle L and follower target vehicles S in the mission group, and to issue role instructions containing identification identifiers to the corresponding unmanned target vehicles 2 in the mission group via a communication link. The command and communication unit 14 is wirelessly connected to the unmanned target vehicles 2, and is used to establish a two-way communication link with all unmanned target vehicles 2. The status monitoring unit 15 is electrically and signal connected to the command and communication unit 14. The status monitoring unit 15 is used to receive status information uploaded by all unmanned target vehicles 2. In this embodiment, the deep collaborative architecture of the five units in the command center solves the problems of existing multi-target vehicle systems in terms of dynamic task adaptation, intelligent resource scheduling, closed-loop control response, and large-scale management efficiency. The task planning unit 11 uses an Intel Xeon W-3375 to parse the input task objectives and generate task parameters. The dynamic grouping unit 12 and the role assignment unit 13 are implemented using an AI edge computing module (Atlas 500Pro). The command and communication unit 14 uses a DT-MESH9000 wireless self-organizing network base station, which supports MESH / 5G / satellite multi-mode fusion, and a Rohde & Schwarz M3TR tactical radio. The status monitoring unit 15 uses an Advantech industrial control computer TPC-3150H to monitor the status information of each target vehicle in real time.

[0046] As an eighth embodiment of the present invention, such as Figure 6 As shown, the status monitoring unit 15 is electrically and signal-connected to the dynamic grouping unit 12. The dynamic grouping unit 12 is also used to dynamically replace the designated leader target vehicle L and follower target vehicles S in the task group based on the status information uploaded by all unmanned target vehicles 2 monitored by the status monitoring unit 15. In this embodiment, when the leader vehicle fails or the follower vehicle fails, the system can autonomously reconfigure the grouping and dynamically optimize the allocation of group roles based on real-time battlefield threat data, enabling the target vehicle group to possess environmental adaptability intelligence similar to that of a biological group.

[0047] This invention provides a multi-unmanned target vehicle control system based on multi-machine collaboration, the working process of which is as follows: the mission planning unit 11 of the command center 1 analyzes the input parameters (such as target range coordinates, speed requirements, and tactical paths); the dynamic grouping unit 12 selects unmanned target vehicles that meet the conditions, such as... Figure 1Unmanned target vehicles b2, b3, b4, and b5 are selected based on the following conditions: battery level > 60%, positioning error < 0.3m, and communication signal strength > -90dBm. A task team list is generated. Role assignment unit 13 designates unmanned target vehicle b3 as the leader vehicle L and unmanned target vehicles b2, b4, and b5 as follower vehicles S. Command and communication unit 14 issues instructions to the corresponding unmanned target vehicles.

[0048] The workflow of the lead target vehicle L is as follows: the dual-frequency RTK positioning module 261 acquires centimeter-level positioning (horizontal accuracy ±1cm); the inertial measurement subunit 262 compensates for high-speed maneuvering attitude angle errors; the navigation processor 264 outputs the fused pose (WGS84 coordinates + heading angle 0.1° accuracy). The FPGA path generator of the path processing unit 24 executes and outputs a global path point sequence (updated at 100Hz). The cooperative communication unit 25 broadcasts data packets (10Hz) through the V2X module. The motion control unit 28 tracks the movement of path points, while the obstacle avoidance unit 27 performs obstacle avoidance through multi-sensor fusion.

[0049] The workflow of the following target vehicle S is as follows: the cooperative communication unit 25 receives the leader's broadcast data, the ROM chip of the path processing unit 24 stores the leader's path and calculates and generates the following path, and the motion control unit 28 executes the following movement (distance error ±0.2m). The status monitoring unit 29 collects the status monitoring of the vehicle itself, the real-time pose / speed of the positioning and navigation unit 26, the sensor health status of the obstacle avoidance unit 27, and the remaining power / temperature of the battery management system, and reports the data. The data is reported to the leader target vehicle L through the V2X link (5Hz) of the cooperative communication unit 25, and transmitted back to the command center through the vehicle communication unit 22 5G / radio (1Hz).

[0050] Based on the above workflow, the system implements a distributed collaborative architecture of "leader-follower". The command center only needs to designate one leader target vehicle and its target point. The leader target vehicle broadcasts its ID, target point and positioning information to all following target vehicles through the collaborative communication unit, which reduces the communication and control burden of the command center and significantly enhances scalability. The path processing unit of the following target vehicles can simultaneously receive target points from the command center, vehicle positioning information from the positioning and navigation unit, and leader positioning information and target point information from the leader target vehicle. This allows the path processing unit to generate specific following paths. The following vehicles can dynamically adjust their own paths based on the leader's position and target to maintain the relative positional relationship with the leader or the desired formation, achieving stable and coordinated group movement. This effectively solves the problems of low efficiency and poor coordination in traditional centralized control, and realizes efficient, flexible and scalable autonomous collaborative movement of multiple target vehicles, significantly improving the ability to simulate combat targets in complex environments.

[0051] It should be stated that the above-described invention content and specific embodiments are intended to demonstrate the practical application of the technical solution provided by this invention and should not be construed as limiting the scope of protection of this invention. Those skilled in the art can make various modifications, equivalent substitutions, or improvements within the spirit and principles of this invention. The scope of protection of this invention is defined by the appended claims.

Claims

1. A control system for multiple unmanned target vehicles based on multi-machine collaboration, characterized in that, This includes a command center (1) and multiple unmanned target vehicles (2), with the command center (1) connected to the multiple unmanned target vehicles (2); among them, The command center (1) is used to designate any one unmanned target vehicle (2) as the leader target vehicle (L), and the other unmanned target vehicles (2) are automatically designated as follower target vehicles (S); The unmanned target vehicle (2) includes an on-board controller (21), an on-board communication unit (22), a role switching actuator (23), a path processing unit (24), a cooperative communication unit (25), a positioning and navigation unit (26), a perception and obstacle avoidance unit (27), and a motion control unit (28); The vehicle-mounted communication unit (22) is electrically and signal-connected to the vehicle-mounted controller (21), the vehicle-mounted controller (21) is electrically and signal-connected to the role switching actuator (23), and the role switching actuator (23) is electrically and signal-connected to the path processing unit (24) and the cooperative communication unit (25) respectively, so that the role instructions of the command center (1) can be received through the vehicle-mounted communication unit (22), and then the role switching actuator (23) switches the working mode of the unmanned target vehicle (2); The vehicle controller (21) is electrically and signal-connected to the path processing unit (24), the positioning and navigation unit (26) is electrically and signal-connected to the path processing unit (24), and the path processing unit (24) is electrically and signal-connected to the motion control unit (28), so that the path processing unit (24) receives target point information from the command center (1) and vehicle positioning information from the positioning and navigation unit (26), and generates a global path, and then the motion control unit (28) performs movement according to the global path; The path processing unit (24) is electrically and signal-connected with the cooperative communication unit (25) so that when the unmanned target vehicle (2) is in the working mode of the leader target vehicle (L), the leader ID, target point information and leader positioning information are broadcast to the following target vehicle (S) through the cooperative communication unit (25); when the unmanned target vehicle (2) is in the working mode of the following target vehicle (S), the leader ID, target point information and leader positioning information of the leader target vehicle (L) are received through the cooperative communication unit (25), and then the path processing unit (24) generates the following path; The obstacle avoidance unit (27) is electrically and signal connected to the motion control unit (28) so that the obstacle avoidance unit (27) can obtain environmental information during the movement of the unmanned target vehicle (2), and then the motion control unit (28) can perform obstacle avoidance movement according to the environmental information.

2. The control system for multiple unmanned target vehicles as described in claim 1, characterized in that, The path processing unit (24) includes an FPGA path generator and a ROM chip; wherein, The FPGA path generator is used to receive target point information from the command center (1) and vehicle positioning information from the positioning and navigation unit (26) when the unmanned target vehicle (2) is in the following target vehicle (S) working mode, and to generate a global path; The ROM chip is used to receive target point information and leader positioning information from the leader target vehicle (L) when the working mode of the unmanned target vehicle (2) is following the target vehicle (S), and to generate a following path.

3. The control system for multiple unmanned target vehicles as described in claim 1, characterized in that, The positioning and navigation unit (26) includes a dual-frequency RTK positioning module (261), an inertial measurement subunit (262), a wheel speed detection subunit (263), and a navigation processor (264); among which, The dual-frequency RTK positioning module (261) is electrically and signal-connected to the navigation processor (264) via an RS422 interface to obtain the centimeter-level absolute positioning and heading angle of the unmanned target vehicle (2); The inertial measurement subunit (262) and the wheel speed detection subunit (263) are electrically and signal connected to the navigation processor (264) through the SPI bus and PWM interface, respectively, to obtain the attitude information of the unmanned target vehicle (2); The navigation processor (264) is electrically and signal-connected to the path processing unit (24) via a CAN bus to output fused positioning data.

4. The control system for multiple unmanned target vehicles as described in claim 1, characterized in that, The obstacle avoidance unit (27) includes a lidar sensor (271), a millimeter-wave radar sensor (272), a binocular vision module (273), and an obstacle avoidance processor (274); among which, The lidar sensor (271) is electrically and signal-connected to the obstacle avoidance processor (274) via an Ethernet interface to acquire 3D point cloud data of the environment surrounding the unmanned target vehicle (2); The millimeter-wave radar sensor (272) is electrically and signal-connected to the obstacle avoidance processor (274) via a CAN FD bus to detect the relative speed and azimuth of moving targets; The binocular vision module (273) is electrically and signal-connected to the obstacle avoidance processor (274) via the MIPI CSI-2 interface to identify obstacle types and texture features; The obstacle avoidance processor (274) is electrically and signal-connected to the motion control unit (28) via a GMSL2 high-speed serial link to output real-time obstacle avoidance vector commands.

5. The control system for multiple unmanned target vehicles as described in claim 1, characterized in that, The collaborative communication unit (25) includes a V2X communication module and an ad hoc network processor; wherein, The V2X communication module is electrically and signal-connected to the ad hoc network processor via the MIPI CSI-2 interface to broadcast / receive formation coordination data; The self-organizing network processor is electrically and signal-connected to the role switching actuator (23) via an RS422 interface to switch communication strategies according to the working mode.

6. The control system for multiple unmanned target vehicles as described in claim 1, characterized in that, The unmanned target vehicle (2) also includes a status monitoring unit (29), a positioning and navigation unit (26) and a perception and obstacle avoidance unit (27), which are electrically and signal-connected to the status monitoring unit (29) respectively. The status monitoring unit (29) is electrically and signal-connected to the vehicle communication unit (22) to upload the status information of the unmanned target vehicle (2) to the command center (1). The status monitoring unit (29) is electrically and signal connected to the cooperative communication unit (25) so that when the unmanned target vehicle (2) is in the following target vehicle (S) working mode, the status information is broadcast to the leader target vehicle (L) through the cooperative communication unit (25).

7. The control system for multiple unmanned target vehicles as described in claim 1, characterized in that, The command center (1) includes a mission planning unit (11), a dynamic grouping unit (12), a role assignment unit (13), a command and communication unit (14), and a status monitoring unit (15); among which, The task planning unit (11) is electrically and signal connected to the dynamic grouping unit (12). The task planning unit (11) is used to parse the input task target and generate task parameters. The dynamic grouping unit (12) is electrically and signal connected to the role assignment unit (13). The dynamic grouping unit (12) is used to select target vehicles that meet the availability conditions from all unmanned target vehicles (2) to form a task group according to the mission parameters and the real-time battlefield environment. The role assignment unit (13) is electrically and signal connected to the command and communication unit (14). The role assignment unit (13) is used to designate the leader target vehicle (L) and the follower target vehicle (S) in the task group, and to issue role instructions containing identity identifiers to the corresponding unmanned target vehicles (2) in the task group through the communication link. The command and communication unit (14) is wirelessly connected to the unmanned target vehicle (2) to establish a two-way communication link with all unmanned target vehicles (2); The status monitoring unit (15) is electrically and signal connected to the command and communication unit (14). The status monitoring unit (15) is used to receive status information uploaded by all unmanned target vehicles (2).

8. The control system for multiple unmanned target vehicles as described in claim 7, characterized in that, The status monitoring unit (15) is electrically and signal connected to the dynamic grouping unit (12). The dynamic grouping unit (12) is also used to dynamically replace the designated leader target vehicle (L) and follower target vehicle (S) in the task group based on the status information uploaded by all unmanned target vehicles (2) monitored by the status monitoring unit (15).

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