Method for controlling running unmanned vehicle to join / exit formation

Abstract

The invention relates to the technical field of marshalling driving of unmanned vehicles, and particularly discloses a control method for joining / quitting formation of a driving unmanned vehicle, and the method comprises the steps: enabling a target unmanned vehicle to transmit a vehicle team joining request to an unmanned vehicle team in the marshalling process of the unmanned vehicle team; the unmanned vehicle formation determines the joining position of the target unmanned vehicle; the position of the target unmanned vehicle is adjusted until the target unmanned vehicle is within the safe lane changing vehicle distance range; controlling the target unmanned vehicle to change lanes; the flexible intelligent connector is used for butt joint between the unmanned vehicles; the formation exiting control method comprises the step of disconnecting the flexible intelligent connector between the target unmanned vehicle and the formation front vehicle. After the unmanned vehicle formation joins in and quits from the unmanned vehicles in the advancing process, a wired network can be quickly established, networking is carried out on a plurality of isomorphic unmanned vehicles through flexible wired connection, delay is reduced, and the safety of intelligent driving of the vehicle formation is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned vehicle platooning technology, and in particular to a control method for unmanned vehicles joining / leaving a platoon while in motion. Background Technology

[0002] A platoon of connected, autonomous vehicles can significantly improve road capacity and reduce energy consumption by shortening distances, reducing aerodynamic drag, and minimizing unnecessary speed fluctuations. However, for the system to be widely adopted, it needs to be resilient to unreliable communication or operational changes. Unreliable communication (typically manifested as time lag) severely degrades platoon consistency performance, leading to insufficient distance maintenance accuracy, increased energy consumption, and a higher risk of accidents. Therefore, reliable vehicle-to-vehicle connectivity has become a core technological bottleneck.

[0003] Wired communication is a viable solution for connecting vehicles within a convoy. While existing rigid tow hooks can achieve information exchange, they have the following drawbacks: (1) Complex structure and heavy weight; (2) High-precision alignment is required; collisions are likely to occur in low-speed scenes. (3) Without flexible buffer, the longitudinal impact inside the train is large; (4) Exiting the formation requires stopping the vehicle or manual intervention. Summary of the Invention

[0004] This invention aims to solve the aforementioned problems. To this end, this invention provides a control method for unmanned vehicles joining / leaving a platoon while in motion. This invention utilizes flexible smart connectors to achieve flexible wired connections, networking multiple homogeneous unmanned vehicles to enable real-time communication and information exchange, thereby reducing latency and improving the safety of intelligent driving within the platoon; furthermore, the unmanned vehicle platoon can quickly establish a wired network after vehicles join or leave during transit.

[0005] This invention provides a control method for an unmanned vehicle joining / leaving a platoon while in motion. The technical solution adopted is as follows: it includes a control method for an unmanned vehicle joining a platoon and a control method for an unmanned vehicle leaving a platoon. The control method for adding unmanned vehicles to a platoon includes the following steps: S11: During the platooning of autonomous vehicles, the target autonomous vehicle sends a request to join the platoon. S12: The unmanned vehicle formation determines the joining position of the target unmanned vehicle and verifies the operating data in the request of the target unmanned vehicle. After the verification is successful, proceed to step S13. S13: The target unmanned vehicle adjusts its position until it is within the safe lane-changing distance range; in real time, based on the position of the target unmanned vehicle, its initial longitudinal speed, and the position of the vehicle in front of the formation, the lateral speed of the target unmanned vehicle and the same-phase turning angle of each wheel are calculated, and the target unmanned vehicle is controlled to change lanes until the real-time lateral relative position offset distance between the target unmanned vehicle and the vehicle in front of the formation becomes zero. S14: Determine the safe joining distance based on the real-time road conditions, and then calculate the longitudinal safe docking speed; after adjusting the speed of the target unmanned vehicle and the unmanned vehicle platoon to the longitudinal safe docking speed, use the flexible smart connector to dock between the unmanned vehicles; The control method for unmanned vehicles to leave a formation includes the following steps: S21: During the platooning of unmanned vehicles, identify the target unmanned vehicle that needs to leave the platoon; determine the safe exit distance based on the real-time road conditions, and then calculate the safe exit speed of the unmanned vehicle; the platoon adjusts its speed to the safe exit speed of the unmanned vehicle. S22: Disconnect the flexible smart connector between the target unmanned vehicle and the vehicle in front of the formation.

[0006] Furthermore, the flexible smart connector includes a socket assembly and a plug assembly for use together, which are respectively installed on different autonomous vehicles; The disconnection process for the flexible smart connector is as follows: S1231: The telescopic rod of the plug assembly extends, causing the mechanical gripper to approach the target; S1232: The locking mechanism and saddle of the socket assembly unlock automatically at the same time. Under the tension of the communication cable and rope, the plug is separated from the socket and springs back onto the mechanical gripper. 1233: The telescopic rod retracts, causing the mechanical grabber and plug to retract into the box.

[0007] Furthermore, the docking process for the flexible smart connector is as follows: S1421: The mechanical claw of the plug assembly grips the plug, the telescopic rod extends, and the plug moves closer to the socket; S1422: The camera photographs the target, and adjusts the camera position according to the target position in the image through the attitude adjustment docking mechanism, so that the target position is continuously closer to the center point of the image; until the distance between the target position and the center point is less than the threshold, the telescopic rod extends, so that the probe on the plug falls into the cone of the socket and slowly slides into the center hole of the cone. The positioning pin on the plug enters the positioning pin hole on the socket, and the traction hook locks with the saddle; the locking mechanism locks the positioning pin. S1424: The mechanical gripper releases and separates from the plug, the telescopic rod retracts, and the mechanical gripper is retracted into the box.

[0008] Furthermore, in step S2, if the target unmanned vehicle joins at the middle of the unmanned vehicle formation, after verification, the connection of the flexible smart connector between the front vehicle and the rear vehicle in the formation is first disconnected, and then the process proceeds to step S13; the front vehicle in the formation is the unmanned vehicle in front of the target unmanned vehicle after it joins the unmanned vehicle formation; the rear vehicle in the formation is the unmanned vehicle behind the target unmanned vehicle after it joins the unmanned vehicle formation. If the target unmanned vehicle joins at the end of the unmanned vehicle platoon, then after verification, proceed directly to step S13.

[0009] Furthermore, the specific process of step S12 includes: S121: Autonomous vehicle formation parsing request, obtain the current position of the target autonomous vehicle, and determine the joining position of the target autonomous vehicle based on the current position of the target autonomous vehicle; S122: The unmanned vehicle formation measures the operating data of the target unmanned vehicle and compares it with the operating data in the request. If the error is less than the threshold, the verification is passed. S123: Disconnect the flexible smart connector between the leading vehicle and the trailing vehicle in the formation.

[0010] Furthermore, the formula for calculating lateral velocity is: in, Let t be the lateral velocity of the unmanned vehicle. Let be the lateral position deviation at time t; The integral term of the deviation from the start of control to time t; Let be the differential term of the deviation at time t; The proportional coefficient in a PID controller. The integral coefficient in a PID controller. These are the derivative coefficients in a PID controller; The formula for calculating the rotation angle of each wheel in the same phase is: in, For each wheel of the autonomous vehicle to have the same phase of rotation angle, The initial longitudinal velocity of the autonomous vehicle is given.

[0011] Furthermore, in step S13, when the target unmanned vehicle joins at the middle of the unmanned vehicle formation, the method further includes: adjusting the distance between the vehicle in front of the formation and the vehicle behind the formation to achieve the target distance, which is greater than the safe lane change distance range.

[0012] Furthermore, in step S14, the formula for calculating the longitudinal safe docking speed is: in, For longitudinal safe docking speed, To allow for safe driving, a safe distance should be added. For safety margin coefficient, The time required for the flexible smart connector to autonomously dock.

[0013] Furthermore, in step S14, the longitudinal relative position offset distance between the two unmanned vehicles is adjusted to the docking range of the flexible smart connector, and then the flexible smart connector is used to dock the unmanned vehicles.

[0014] Furthermore, when the target autonomous vehicle is located in the middle of the autonomous vehicle formation, the control method for the autonomous vehicle to leave the formation also includes the following steps: S23: Disconnect the flexible smart connector between the target unmanned vehicle and the following vehicles in the platoon; S24: The target driverless vehicle changes lanes and leaves the platoon's driving trajectory; S25: The leading and trailing vehicles in the formation dock using flexible smart connectors.

[0015] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: 1. This invention utilizes flexible smart connectors to achieve flexible wired connections in unmanned workshops, networking multiple isomorphic unmanned vehicles to enable real-time communication and information exchange, thereby reducing latency and improving the safety of intelligent driving in a fleet. The docking and disconnection processes of this invention can be completed during the unmanned vehicle's driving phase, allowing target vehicles to join or leave without stopping, avoiding disruption to traffic flow and significantly improving the response speed and overall traffic efficiency of platooning scheduling.

[0016] 2. This invention employs multiple verification processes during the entry process, including identity verification, operational data verification, and safe lane-changing distance adjustment. During the exit process, it calculates the safe exit speed and controls wheel angle and lateral speed throughout the process using a PID algorithm, effectively preventing collision accidents.

[0017] 3. This invention supports the addition of target vehicles in the middle or at the end of a platoon, as well as the flexible removal of vehicles in the middle or at the end of the platoon, adapting to different traffic scenarios and task requirements.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a flowchart of the unmanned vehicle joining a formation provided by the present invention.

[0021] Figure 2 This is the first schematic diagram of the process of an unmanned vehicle joining a formation provided by the present invention.

[0022] Figure 3 This is a second schematic diagram of the process of unmanned vehicles joining a formation provided by the present invention.

[0023] Figure 4 This is the third schematic diagram of the process of unmanned vehicles joining a formation provided by the present invention.

[0024] Figure 5 This is the fourth schematic diagram of the process of unmanned vehicles joining a formation provided by the present invention.

[0025] Figure 6 This is the fifth schematic diagram of the process of unmanned vehicles joining a formation provided by the present invention.

[0026] Figure 7 This is the sixth schematic diagram of the process of unmanned vehicles joining a formation provided by the present invention.

[0027] Figure 8 This is a flowchart of the unmanned vehicle leaving the formation provided by the present invention.

[0028] Figure 9 This is the first schematic diagram of the process of an unmanned vehicle leaving a formation provided by the present invention.

[0029] Figure 10 This is a second schematic diagram of the process of an unmanned vehicle leaving a formation provided by the present invention.

[0030] Figure 11 This is the third schematic diagram of the process of unmanned vehicles leaving the formation provided by the present invention.

[0031] Figure 12 This is the fourth schematic diagram of the unmanned vehicle leaving the formation process provided by the present invention.

[0032] Figure 13 This is a structural schematic diagram of the flexible smart connector provided by the present invention.

[0033] Figure 14 This is a schematic diagram of the plug assembly provided by the present invention.

[0034] Figure 15 This is a first schematic diagram of the docking process provided by the present invention.

[0035] Figure 16 This is a second schematic diagram of the docking process provided by the present invention.

[0036] Figure 17 This is the third schematic diagram of the docking process provided by the present invention.

[0037] Figure 18 This is the fourth schematic diagram of the docking process provided by the present invention.

[0038] Figure label: 1. Target; 2. Saddle; 3. Socket; 4. Locking mechanism; 5. Positioning pin; 6. Plug; 7. Traction hook; 8. Cable; 9. Camera; 10. Attitude adjustment docking mechanism; 11. Telescopic rod; 12. Cable winch; 13. Cable reel; 14. Communication cable; 15. Support ring; 16. Lifting ring; 17. Angle measuring device; 18. Length measuring device; 19. Housing; 20. Cable outlet mechanism; 21. Mechanical gripper. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. The following embodiments are used to illustrate this invention but should not be used to limit the scope of this invention.

[0040] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0041] The following is combined Figures 1 to 18 The present invention will be further described in detail below, including a control method for an unmanned vehicle joining / leaving a platoon while in motion: This embodiment first defines an autonomous vehicle platoon and a target autonomous vehicle to join / leave the platoon. The target vehicle is named C. There are two scenarios for joining the platoon: 1. The target vehicle joins the middle of the platoon; 2. The target vehicle joins the tail of the platoon. For ease of description, for the scenario where the target vehicle joins the middle of the platoon, the platoon is defined as a group of four vehicles, from the tail to the head: A (tail vehicle), B, D, and E (head vehicle). C joins between B and D, as shown below. Figure 2 As shown; for the case where the target autonomous vehicle joins the rear of the autonomous vehicle platoon, the platoon is defined as a two-vehicle formation, from the rear to the front, consisting of vehicles D and E, with vehicle C joining after vehicle D. Similarly, there are two scenarios for leaving the platoon: 1. The target autonomous vehicle is in the middle of the platoon, and the platoon changes from A, B, C, D, E to A, B, D, E, as shown. Figure 7 and Figure 12 As shown; 2. The target unmanned vehicle is located at the rear of the unmanned vehicle formation, and the unmanned vehicle formation changes from vehicles C, D, and E to vehicles D and E.

[0042] Each autonomous vehicle is equipped with an intelligent connectivity system, including a main controller, flexible intelligent connectors, and the vehicle's own perception system. The autonomous vehicles in the platoon are connected via flexible wired connections through the flexible intelligent connectors, networking multiple homogeneous vehicles to achieve real-time communication and information exchange, thereby reducing latency and improving the safety of autonomous driving in the platoon.

[0043] The main controller is a microprocessor with a single-chip microcomputer as its core. Its main function is to process data from various sensors, determine the operating status of the autonomous vehicle fleet, and then complete the autonomous vehicle platooning and separation through flexible intelligent connectors. The main controller includes a microprocessor, a storage module, input circuits, a communication module, a power supply module, and output circuits. The microprocessor is connected to the storage module, input circuits, communication module, and output circuits, respectively, while the power supply module provides power.

[0044] 1. The microprocessor is the core of the system's computation, potentially integrating an application processor (AP), microcontroller unit (MCU), digital signal processor (DSP), neural network processor (NPU), etc., supporting complex algorithms (such as obstacle detection and lane alignment calculation) and real-time control. It is responsible for tasks such as connecting and disconnecting the flexible intelligent connectors during vehicle platooning, vehicle platooning control logic (such as calculating target platooning schemes and generating driving commands), environmental information processing, and multi-vehicle collaborative scheduling.

[0045] 2. The storage module includes internal memory and an external memory interface. Internal memory stores executable program code (for interfacing with control algorithms and platooning control algorithms), real-time traffic data, vehicle status information, etc., and typically consists of high-speed random access memory (RAM) plus non-volatile memory (such as flash memory) to ensure fast data read / write speeds and data retention even when power is off. The external memory interface supports connecting external storage cards (such as Micro SD cards) to expand storage capacity, and can be used to store historical traffic logs, high-definition map data, etc.

[0046] 3. The main function of the power module is to provide stable and reliable power to the microprocessor, input circuit and other modules inside the main controller, so as to ensure that the main controller can continue to work normally in complex power supply environments.

[0047] 4. The communication module is responsible for information interaction between the main controller and other unmanned vehicle main controllers and unmanned vehicle hardware, building a multi-device local area network to reduce data transmission latency. The core components include short-range local area network communication, long-range communication, and on-board high-frequency signal transceivers.

[0048] Near-field local area network communication: such as Wi-Fi hotspot / direct connection, Bluetooth, Zigbee, near-field communication (NFC), etc., to enable real-time data sharing (such as road condition information, driving instructions, execution feedback) among multiple terminal devices in the fleet.

[0049] Wide Area / Remote Communication: The communication module may integrate a mobile communication module (2G / 3G / 4G / 5G) to obtain remote traffic updates (such as real-time traffic congestion data) or to collaborate with the cloud in special scenarios.

[0050] 5. The main function of the input circuit is to realize the information transmission between the external sensor and the microprocessor, that is, to preprocess the signal input by the sensor so that the input signal becomes a signal that the microprocessor can accept.

[0051] 6. The main function of the output circuit is to handle signal changes and processing between the CPU and the actuator. It transforms the digital signal instructions issued by the CPU into various control signals that can drive the actuator's actions.

[0052] like Figure 13 and Figure 14 As shown, the flexible smart connector includes a plug assembly and a socket assembly. The plug assembly and socket assembly are respectively installed on two autonomous vehicles. In this embodiment, the socket assembly is installed at the rear of the front vehicle, and the plug assembly is installed at the front of the rear vehicle.

[0053] The plug assembly includes a housing 19, a communication cable 14, a cable winch 13, a plug 6, a mechanical gripper 21, a camera 9, a telescopic rod 11, a cable 8, and a cable winch 12. The telescopic rod 11 and the cable winch 12 are both fixed to the inner wall of the housing 19, and the cable winch 13 is fixed to the bottom of the housing 19 via a support frame. The housing 19 is fixed to the unmanned vehicle. The socket assembly includes a target 1 used in conjunction with the camera 9, a socket 3 used in conjunction with the plug 6, and a saddle 2 used in conjunction with the tow hook 7. The socket 3 is fixedly connected to the target 1 and the saddle 2 respectively. The socket 3 is fixed to the unmanned vehicle.

[0054] One end of the communication cable 14 is connected to the plug 6, and the other end of the communication cable 14 is connected to the cable winch 13. The communication cable 14 is wound around the cable winch 13. In this embodiment, the communication cable 14 is made of optical fiber, which is used for wired connection between the front and rear vehicles to ensure effective, real-time, and stable wired communication in the unmanned workshop and to achieve synchronous control between the fleet. The cable winch 13 has a spring tension, so that the optical fiber is always taut when extended and retracted.

[0055] The plug 6 is equipped with a support ring 15. One end of the cable 8 passes through the support ring 15 and is connected to the traction hook 7. The other end of the cable 8 is connected to the cable winch 12. The cable winch 12 has a rebound tension to ensure that the extended cable 8 is always taut. The cable winch 12 also has a speed limiting function, retracting at a certain speed during the recovery process to ensure that the cable 8 does not rebound too violently in case of emergency disconnection. In this embodiment, the cable 8 is made of steel wire, and the length of the cable 8 is no more than 3 meters. Generally, the length of the cable 8 is 1-3 meters to control the distance between the two unmanned vehicles within 1-3 meters. The length of the communication cable 14 is no less than the length of the cable 8, and the cable 8 protects the optical fiber. The size of the traction hook 7 is larger than the size of the support ring 15, meaning that the traction hook 7 cannot pass through the support ring 15.

[0056] The mechanical gripper 21 holds the plug 6, and a camera 9 is fixed to the mechanical gripper 21. The camera 9 is an optical navigation camera. The mechanical gripper 21 is connected to the front end of the telescopic rod 11 via an attitude adjustment docking mechanism 10. The telescopic rod 11 is used to control the movement of the mechanical gripper 21, thereby moving the plug 6 closer to or away from the socket 3. In this embodiment, the attitude adjustment docking mechanism 10 is a soft docking ring. The attitude adjustment docking mechanism 10 is used to adjust the position of the mechanical gripper 21, thereby achieving synchronous adjustment of the positions of the camera 9 and the plug 6.

[0057] The plug 6 is a probe-type plug, and the socket 3 is a cone-type socket. The probe-type plug and cone-type socket work together to provide a large tolerance for mating errors; once the probe enters the cone's range, it can slide into the center hole of the cone. To ensure stability after the plug 6 and socket 3 are mated, in this embodiment, the plug 6 is provided with a positioning pin 5, and the socket 3 is provided with a locking mechanism 4 (with a positioning pin hole) that cooperates with the positioning pin 5.

[0058] Both the telescopic rod 11 and the mechanical grab 21 are equipped with lifting rings 16, and the cable 8 passes through the lifting rings 16.

[0059] Flexible smart connectors can be disconnected and reconnected during the driving phase of an autonomous vehicle.

[0060] The docking process during the driving phase includes: The initial positions of the plug assembly and socket assembly are as follows: Figure 15 As shown, at this time, the mechanical gripper 21 is in the retracted state and clamps the plug 6. To achieve centimeter-level docking, based on the distance information between the two vehicles, the telescopic rod 11 extends, moving the plug 6 to a distance of approximately 10 centimeters from the socket 3, as shown. Figure 16 As shown. In this embodiment, the approximately 10 cm range is 5-15 cm. Because the plug 6 is far from the socket 3 during this process, the telescopic rod 11 can extend quickly. The communication cable 14 and the cable 8 extend as the plug 6 moves.

[0061] Camera 9 captures an image of target 1, and based on the target's position in the image, the attitude adjustment and docking mechanism 10 adjusts the position of camera 9 to continuously bring the target closer to the center point of the image. When the distance between the target and the center point is less than a threshold, telescopic rod 11 slowly extends, causing the probe on plug 6 to fall into the conical barrel of socket 3 and slowly slide into the center hole of the conical barrel, achieving centimeter-level docking. The threshold needs to be less than the inner diameter of the circular base of the conical barrel; in this embodiment, the threshold is 0.6 times the inner radius of the circular base of the conical barrel. As telescopic rod 11 continues to extend, camera 9 and attitude adjustment and docking mechanism 10 continue to operate, bringing the target closer to the center point. Plug 6 docks with socket 3, and the positioning pin 5 on plug 6 enters the positioning pin hole on socket 3. Telescopic rod 11 and camera 9 stop operating. Positioning pin 5 and positioning pin hole achieve millimeter-level precise docking. Simultaneously with successful docking of plug 6 and socket 3, traction hook 7 touches saddle 2, locking traction hook 7 to saddle 2; the second controller controls locking mechanism 4 to lock positioning pin 5, as... Figure 17 As shown. This embodiment simultaneously completes the double connection of communication cable 14 and cable 8.

[0062] Mechanical gripper 21 releases and separates from plug 6, telescopic rod 11 retracts, causing mechanical gripper 21 to automatically retract into housing 19. Figure 18As shown, the docking process of the plug assembly and socket assembly of the flexible smart connector has now been completed.

[0063] The disconnection process during the driving phase includes: After receiving the autonomous disconnection command, the two electric vehicles connected by the flexible smart connector extend the telescopic rod 11 according to the distance between the two vehicles at this time, driving the mechanical grabber 21 to move to within 10 centimeters of the target 1; preferably, 5-8 centimeters.

[0064] The locking mechanism 4 and saddle 2 are automatically and simultaneously unlocked under the control of the second controller. The positioning pin 5 is disconnected from the locking mechanism 4, and the traction hook 7 is automatically disconnected from the saddle 2. Under the tension of the communication cable 14 and the cable 8 (provided by the cable winch 13 and the cable winch 12), the plug 6 is disengaged from the socket 3 and springs back onto the mechanical gripper 21. Due to the close distance between the plug 6 and the mechanical gripper 21, and the guiding effect of the lifting ring 16, the plug 6 can smoothly spring back to its original position on the mechanical gripper 21, allowing the mechanical gripper 21 to successfully clamp the plug 6.

[0065] After the mechanical gripper 21 clamps the plug 6, the telescopic rod 11 retracts, driving the mechanical gripper 21 and the plug 6 back to their initial positions inside the housing 19, thus completing the entire autonomous disconnection operation.

[0066] To achieve the aforementioned docking and disconnection processes, a first controller is installed within the plug assembly. This first controller is connected to the camera 9, mechanical gripper 21, telescopic rod 11, and attitude adjustment docking mechanism 10, and incorporates image analysis software to determine the positional relationship between the target position and the center point in the image captured by the camera 9. In this embodiment, the locking mechanism 4 and saddle 2 have an automatic unlocking function, controlled by a second controller installed within the socket assembly. On each unmanned vehicle, the first and second controllers are integrated into the main controller, which controls the operation of each component of the plug assembly and socket assembly during the docking and disconnection processes.

[0067] The plug assembly also includes an angle measuring device 17 and a length measuring device 18, both of which are connected to the communication cable 14. The length measuring device 17 and the length measuring device 18 are located in front of the cable winch 13. The communication cable 14 passes through the length measuring device 18 and the angle measuring device 17. The length measuring device 18 and the angle measuring device 17 can respectively measure the length and angle of the extended communication cable 14 in real time. The length and angle can be used to calculate information such as the distance between two vehicles and the steering angle, providing perception information for subsequent vehicle speed, steering, and braking control, and providing information support for fleet trajectory planning.

[0068] The length measuring device 18 includes a length measuring element, which in this embodiment is an encoder. When the optical fiber is pulled out from the cable reel 13, it drives the coaxial encoder to rotate, generating a pulse signal. The optical fiber length information of the front and rear vehicles can be obtained through a conversion formula.

[0069] In this embodiment, a cable outlet mechanism 20 is provided in front of the length measuring device 18, and the cable outlet mechanism 20 is connected to the angle measuring device 17. The angle measuring device 17 includes a swing shaft and an angle measuring element. The swing shaft is connected to the angle measuring element, which is typically an encoder or a potentiometer. One end of the swing shaft is fixed between the optical fiber outlet and the winch, and the other end extends out of the cable outlet mechanism 20 along with the optical fiber. The cable outlet mechanism 20 includes a 360° rotatable swing track for the optical fiber to swing. The optical fiber can swing and stretch within the swing track, allowing the angle measuring device 17 to measure the angle.

[0070] The outlet mechanism 20 is arranged on a flexible, compressible, 360° rotatable disk. The outlet mechanism 20 is initially positioned horizontally. When the optical fiber is pulled out, the disk will rotate at a corresponding angle according to the extension angle of the optical fiber, ensuring that the angle measured by the angle measuring device 17 is always the angle between the optical fiber and the vertical plane.

[0071] This invention uses optical fiber as the communication cable, ensuring effective, real-time, and stable communication in the unmanned workshop through wired connections, providing a foundation for synchronized control of the vehicle fleet. Simultaneously, it incorporates steel wire cables for physical traction, and the dual-connection design balances communication transmission with the physical connection between vehicles. This invention constructs a three-level positioning and docking system: first, meter-level positioning between the two vehicles (1-2.5 meters) is achieved through rear vehicle navigation sensors (LiDAR, BeiDou positioning, etc.); then, a telescopic rod brings the plug closer to the socket within 5-15 centimeters to enter the centimeter-level docking stage; finally, a camera captures a cross-shaped target, and the plug position is adjusted using an attitude adjustment docking mechanism. The large tolerance space of the probe-type plug and cone-type socket allows the probe to slide into the center hole of the cone. Finally, millimeter-level precise docking is achieved through the cooperation of the positioning pin and the positioning pin hole of the locking mechanism, significantly reducing the failure rate caused by docking deviations. This invention employs a design that combines a camera with a cross-shaped target. When the cross-shaped intersection of the target coincides with the center point of the image, it corresponds to the optimal docking position. Combined with the attitude adjustment docking mechanism, the mechanical gripper position can be adjusted up, down, left, and right, simultaneously calibrating the positions of the camera and the plug. This allows for real-time correction of plug position deviations during the docking process.

[0072] During the convoy's movement, only the perception system of vehicle E is active. The other vehicles rely on length and angle data provided by length and angle measuring devices, as well as the real-time position and direction of the preceding vehicle, to generate multiple trajectory points at the far end of the guide line for local path planning, thus enabling the convoy to drive normally.

[0073] In this embodiment, as Figure 1 and Figure 8 As shown, a control method for an unmanned vehicle joining / leaving a platoon is provided, including a control method for an unmanned vehicle joining a platoon and a control method for an unmanned vehicle leaving a platoon.

[0074] The control method for adding unmanned vehicles to a platoon includes the following steps, such as: Figure 1 As shown: S11: During the platooning of unmanned vehicles, the target unmanned vehicle sends a request to join the platoon.

[0075] During the convoy's movement, vehicle E's wireless network remains active. This wireless network includes Wi-Fi hotspots and 5G communication networks. When vehicle C is far from the convoy, it can send information to the convoy via the 5G communication network. When vehicle C is closer to the convoy, it can communicate with the convoy via the Wi-Fi hotspot.

[0076] When the target autonomous vehicle approaches the vicinity of the platoon, it sends a request to join the platoon. Specifically, the main controller of vehicle C sends a platoon-joining request to vehicle E via the communication module. The request includes vehicle C's identity information (such as vehicle length, width, position, longitudinal speed, etc.), current location, mission content, and destination.

[0077] S12: The unmanned vehicle formation determines the joining position of the target unmanned vehicle and verifies the operating data in the request of the target unmanned vehicle. After the verification is successful, proceed to step S13.

[0078] In step S12, if the target unmanned vehicle joins at the middle of the unmanned vehicle formation, after verification, the connection between the flexible smart connector between the front vehicle (D vehicle) and the rear vehicle (B vehicle) in the formation is first disconnected, and then step S13 is entered; the front vehicle is the unmanned vehicle in front of the target unmanned vehicle after it joins the unmanned vehicle formation; the rear vehicle is the unmanned vehicle behind the target unmanned vehicle after it joins the unmanned vehicle formation.

[0079] If the target unmanned vehicle joins at the rear of the unmanned vehicle platoon, after successful verification, proceed directly to step S13. In this case, only the vehicle at the front of the platoon exists; no vehicle at the rear exists.

[0080] The specific process of step S12 includes: S121: Autonomous vehicle formation parsing request, obtain the current position of the target autonomous vehicle, and determine the joining position of the target autonomous vehicle based on the current position of the target autonomous vehicle.

[0081] After receiving the request from car C, car E parses the request and obtains the current identity information of car C. Once the identity information of car C is confirmed to be correct, car E determines the joining position of car C based on the current location of car C.

[0082] S122: The unmanned vehicle formation measures the operating data of the target unmanned vehicle and compares it with the operating data in the request. If the error is less than the threshold, the verification is passed.

[0083] The target autonomous vehicle joins the formation in the middle, such as... Figure 2 As shown, the unmanned vehicle platoon includes vehicle A, vehicle B, vehicle D, and vehicle E; vehicle C will join vehicle B and vehicle D.

[0084] Vehicle E, via a fleet ad-hoc network (wired network), activates the side-facing cameras and millimeter-wave radars of vehicles B and / or D, which are closest to vehicle C, to measure vehicle C's operational data. This data is then compared with the operational data in vehicle C's request message. If the errors in all data points are less than a threshold, the fleet allows vehicle C to join, simultaneously reducing the fleet speed to a safe speed and feeding this safe speed back to vehicle C. In this embodiment, the threshold is 0.05%, meaning the verification standard is that all data errors between the operational data of the target unmanned vehicle in the request and the operational data of the target unmanned vehicle measured by the unmanned vehicle fleet are less than the threshold.

[0085] The operational data is part of the identity information, including longitudinal linear velocity, acceleration, and rotation angle. If the verification fails, the target autonomous vehicle resends the operational data and returns to step S1.

[0086] S123: Disconnect the flexible smart connector between the leading vehicle and the trailing vehicle in the formation, such as Figure 3 As shown.

[0087] Car E's main controller sends a message to Car B through the fleet's self-organizing network, requesting Car B to disconnect from the wired connection, activate the autonomous driving function, and join Car E's WIFI hotspot for real-time communication.

[0088] The flexible smart connector includes a socket assembly and a plug assembly that work together, and the socket assembly and plug assembly are installed on different autonomous vehicles.

[0089] The disconnection process for the flexible smart connector is as follows: S1231: The telescopic rod of the plug assembly of vehicle B extends, driving the mechanical grabber to approach the target and move to within 10 centimeters of target 1.

[0090] S1232: After vehicle B responds correctly, vehicle D's main controller sends a disconnect signal to its flexible intelligent connector. The locking mechanism and saddle of the socket assembly automatically unlock simultaneously. The positioning pin disconnects from the locking mechanism, and the traction hook automatically disconnects from the saddle. Under the tension of the communication cable and rope (provided by the cable winch and rope winch), the plug detaches from the socket and springs back onto the mechanical gripper. The mechanical gripper clamps the plug.

[0091] S1233: After the mechanical gripper clamps the plug, the telescopic rod retracts, driving the mechanical gripper and the plug back to their initial position inside the housing, thus completing the entire autonomous disconnection operation.

[0092] After car B successfully disconnects from car D, car B sends a disconnection success signal to car E.

[0093] If the target autonomous vehicle joins at the middle of the platoon, steps S121-S123 should be executed; if the target autonomous vehicle joins at the end of the platoon, steps S121-S122 should be executed. Step S123 is not required when the target autonomous vehicle joins at the end of the platoon.

[0094] S13: The target unmanned vehicle adjusts its position until it is within the safe lane-changing distance range; in real time, based on the target unmanned vehicle's position, initial longitudinal speed, and the position of the vehicle in front of the formation, the lateral speed of the target unmanned vehicle and the same-phase turning angle of each wheel are calculated, and the target unmanned vehicle is controlled to change lanes until the real-time lateral relative position offset distance between the target unmanned vehicle and the vehicle in front of the formation becomes zero.

[0095] S130: Adjust the distance between the vehicle in front and the vehicle behind in the formation to achieve the target distance. Step S130 only exists when the target unmanned vehicle joins the formation at the middle position.

[0096] The specific process is as follows: Car E obtains the real-time road conditions (such as traffic density) based on the perception system, and combines this with the current longitudinal speed and length of Car C to determine the spacing adjustment strategy and the spacing ratio that matches the longitudinal speed of Car C, thereby determining the target spacing between Car B and Car D.

[0097] The main controller of vehicle E sends the target distance to vehicle B and a following signal to vehicle C via the communication module. Simultaneously, it sends an acceleration signal to its own (vehicle E's) drive controller via the communication module. When vehicle B's sensing system detects that the distance to vehicle D has reached the target distance, vehicle B sends a target distance achieved signal to vehicle E. Vehicle E then stops accelerating and maintains its speed. Vehicle B then follows. Achieving the target distance can also be achieved by vehicle B decelerating, or by vehicle E accelerating while vehicle B decelerates. The target distance must be greater than the safe lane-changing distance range.

[0098] S131: The target unmanned vehicle adjusts its position until it is within a safe lane-changing distance range.

[0099] like Figure 4 As shown, vehicle E sends lane change information to vehicle C. Upon receiving the signal, vehicle C actively adjusts its speed to match the speed of the unmanned vehicle platoon and uses its perception system to determine if it is within the safe lane change distance range in the longitudinal direction. The safe lane change distance range is a distance following the vehicle in front of the platoon (vehicle D). This distance range ensures that the target unmanned vehicle will not collide with the vehicle in front of the platoon or any vehicles behind the platoon (if any) when changing lanes, and after the lane change, the distance between the target unmanned vehicle and the vehicle in front of the platoon is kept within the docking range of the flexible intelligent connector as much as possible. In this embodiment, the docking range is 1-3 meters. If vehicle C is not within the safe lane change distance range, its longitudinal speed is adjusted until vehicle C is within the safe lane change distance range.

[0100] S132: Based on the target unmanned vehicle's position, initial longitudinal speed, and the position of the vehicle in front of the formation, calculate the target unmanned vehicle's lateral speed and the same-phase turning angle of each wheel in real time, and control the target unmanned vehicle to change lanes until the real-time lateral relative position offset distance between the target unmanned vehicle and the vehicle in front of the formation becomes zero.

[0101] After vehicle C is within the safe lane-changing distance range, vehicle C calculates the lateral relative position offset distance based on its own position and the position of vehicle D, that is, the horizontal deviation of the docking axis between vehicle C and vehicle D; then, combined with the initial longitudinal speed of vehicle C, it calculates the lateral speed (lateral movement speed) of vehicle C and the same-phase turning angle of each wheel (controlling the steering angle to ensure that the four wheels turn synchronously).

[0102] The calculation formula is: in, Let t be the lateral velocity (control variable) of the unmanned vehicle at time t, in m / s, used by vehicle C to adjust its lateral position; The lateral position deviation (controlled deviation) at time t. The integral term of the deviation from the control start time (0) to time t is used to accumulate historical deviations; The differential term of the deviation at time t reflects the rate of change of the deviation; The proportional coefficient in a PID controller. The integral coefficient in a PID controller. These are the derivative coefficients in a PID controller.

[0103] in, For each wheel of the autonomous vehicle to have the same phase of rotation angle, The initial longitudinal velocity of the autonomous vehicle is given.

[0104] The main controller of car C sends the lateral speed of car C, the in-phase rotation angle of each wheel, and the initial longitudinal speed to the drive controller of car C, and the drive controller of car C executes the corresponding operation.

[0105] like Figure 5 As shown, as car C gradually enters the convoy, the lateral relative position offset between car C and car D gradually decreases, resulting in a gradual decrease in the in-phase steering angle of each wheel of car C, while maintaining the same initial longitudinal speed as car D. Car C's sensing system acquires the real-time lateral relative position offset distance with car D. Subsequently, combining car C's initial longitudinal speed and the aforementioned real-time lateral relative position offset distance, it calculates the real-time in-phase steering angle of each wheel of car C and the real-time lateral speed of car C, and sends these parameters to car C's drive controller. Upon receiving car C's initial longitudinal speed, real-time in-phase steering angle of the wheels, and real-time lateral speed, car C's drive controller executes corresponding operations until the real-time lateral relative position offset distance between car C and car D becomes zero.

[0106] Car B followed Car C.

[0107] S14: Determine the safe joining distance based on the real-time road conditions, and then calculate the longitudinal safe docking speed; after adjusting the speed of the target unmanned vehicle and the unmanned vehicle convoy to the longitudinal safe docking speed, use the flexible smart connector to dock between the unmanned vehicles.

[0108] S141: Vehicle C sends a docking request to Vehicle E. Vehicle E determines the safe joining distance based on the real-time road conditions (such as traffic density) obtained by its perception system. The safe joining distance is the distance that the autonomous vehicle platoon can safely travel at its current speed and direction. This is then combined with a safety margin coefficient. Time required for flexible smart connectors to autonomously dock The longitudinal safe docking speed is calculated using the following formula. : .

[0109] S142: Vehicle E sends the longitudinal safety docking speed to Vehicle C; Vehicle E adjusts its speed to... After receiving the vehicle, vehicle C is first adjusted to align its longitudinal relative position with vehicle D within the docking range of the flexible smart connector, and then its speed is adjusted to... And then follow suit.

[0110] After receiving the longitudinal safety docking speed, if the longitudinal relative position offset between vehicle C and vehicle D is already within the docking range of the flexible intelligent connector, then vehicle C will directly adjust its speed to [the specified speed]. And then follow suit.

[0111] The docking process for flexible smart connectors is as follows: S1421: The main controller of vehicle C sends a docking command through the output circuit. The mechanical claw of the plug assembly on vehicle C grips the plug, the telescopic rod extends, and the plug moves closer to the socket, moving to a distance of about 10 centimeters from the socket.

[0112] S1422: The camera captures the target image, and based on the target's position in the image, the camera position is adjusted via an attitude adjustment docking mechanism to continuously bring the target closer to the center point of the image. When the distance between the target and the center point is less than a threshold, the telescopic rod extends, causing the probe on the plug to fall into the cone of the socket and slowly slide into the center hole of the cone. The positioning pin on the plug enters the positioning pin hole on the socket, locking the traction hook and saddle. After detecting the fiber optic signal, the main controller of vehicle D sends a locking signal, and the locking motor drives the mechanical lock to automatically lock the positioning pin. The locking mechanism includes a locking motor and a mechanical lock connected to it.

[0113] S1424: After locking is complete, vehicle D sends a docking completion message to vehicle C. Vehicle C, via its main controller, releases the mechanical gripper, separating it from the plug. The telescopic rod retracts, causing the mechanical gripper to automatically return to the housing, thus completing the entire autonomous docking process. Figure 6 As shown.

[0114] S143: For the case where the target unmanned vehicle joins at the middle of the unmanned vehicle formation, after vehicle C and vehicle D complete docking, the above process must be repeated to achieve docking between vehicle B and vehicle C. Specifically: after vehicle C and vehicle D complete docking, vehicle E sends a docking completion signal to vehicle B. Vehicle B adjusts its longitudinal relative position offset distance with vehicle C to within the docking range of the flexible intelligent connector and performs follow-car behavior. Then, vehicle B sends a docking request to vehicle E. Then, following the process of S141-S142, the connection between vehicle B and vehicle C is completed, as follows... Figure 7 As shown.

[0115] like Figure 8 As shown, the control method for unmanned vehicles to leave a formation includes the following steps: S21: During the platooning of unmanned vehicles, identify the target unmanned vehicle that needs to leave the platoon; determine the safe exit distance based on the real-time road conditions, and then calculate the safe exit speed of the unmanned vehicle; the platoon adjusts its speed to the safe exit speed of the unmanned vehicle.

[0116] Unmanned vehicle platooning Figure 7 As shown, when vehicle E detects that the road ahead requires a change of formation to pass or that a certain unmanned vehicle is going to its destination, vehicle E obtains the real-time situation of the current road (such as traffic density, safe exit distance, etc.) based on the perception system or looks up the destinations of each vehicle in the memory to determine the vehicle that needs to leave the convoy.

[0117] Assuming that car C is the target unmanned vehicle that needs to leave the convoy, car E sends a wake-up signal to the car behind in the convoy (car B) and the target unmanned vehicle (car C). After receiving the wake-up signal, the main controllers of cars B and C activate their own perception systems.

[0118] The E-vehicle main controller determines the safe exit distance based on real-time road conditions. and exit safety margin coefficient Combined with the time required for the flexible smart connector to autonomously disconnect The current safe exit speed of the autonomous vehicle is calculated using the following formula. : .

[0119] E-Car sends the safe exit speed of the autonomous vehicle to each following vehicle through the fleet's self-organizing network. Each following vehicle then adjusts its speed according to its drive controller. .

[0120] S22: Disconnect the flexible smart connector between the target unmanned vehicle and the vehicle in front of the formation.

[0121] After the fleet speed is synchronized, the main controller of vehicle E sends a message to vehicles B and C through the fleet's self-organizing network, requesting vehicles B and C to disconnect their wired connections, activate the autonomous driving function, and join vehicle E's WIFI hotspot for real-time communication.

[0122] If the target unmanned vehicle is at the tail of the unmanned vehicle formation, then steps S21 and S22 are executed to allow the target unmanned vehicle to exit the unmanned vehicle formation.

[0123] If the target autonomous vehicle is located in the middle of the autonomous vehicle platoon, it is also necessary to disconnect the target vehicle from the vehicles following it in the platoon and reconnect the vehicles following it to the vehicles in front of it. Therefore, the control method for an autonomous vehicle to leave the platoon when the target vehicle is located in the middle of the platoon also includes the following steps: S23: Disconnect the flexible smart connector between the target unmanned vehicle and the following vehicles in the platoon.

[0124] After vehicles B and C responded correctly (the flexible smart connectors in both workshops disconnected), vehicle D and vehicle C disconnected their wired connections. At this point, the fiber optic cables and cables between vehicle C and vehicles B and D were all disconnected. Figure 9 As shown.

[0125] S24: The target driverless vehicle changes lanes and leaves the platoon's driving trajectory.

[0126] Vehicles B and C send a message to vehicle E indicating that the flexible smart connector has been successfully unlocked. After receiving the signal that vehicles B and C have successfully unlocked, vehicle E uses its perception system to obtain the real-time road conditions (such as traffic density) and, in conjunction with the autonomous vehicle's safe exit speed and the length of vehicle C, determines the spacing ratio that matches the autonomous vehicle's safe exit speed.

[0127] The main controller of vehicle E sends the target distance to vehicle B via the communication module. After vehicle B completes its adjustment, it sends a signal indicating that the target distance has been achieved to vehicles C and E. Upon receiving the signal, vehicle C adjusts its distance to vehicle D according to the distance ratio, and then sends lane change information to vehicles E and B. After receiving the lane change information, vehicles E and B maintain a safe exit speed for the autonomous vehicle, such as... Figure 10 As shown.

[0128] like Figure 11 As shown, vehicle C obtains the road conditions on both sides through its own perception system and determines the target lane for lane changing based on its own task situation; in this embodiment, it is the right lane. Vehicle C executes an exit strategy: the main controller of vehicle C obtains the road conditions on the right side (right lane width, traffic flow, etc.) through the perception system, determines the safe exit time and the lateral relative position offset distance (horizontal deviation of vehicle C from the centerline of the right lane); then, combined with the current longitudinal speed of vehicle C, it determines the lateral exit speed of vehicle C and the phase-out exit angle of each wheel of vehicle C. The main controller of vehicle C sends the lateral exit speed and the phase-out exit angle of each wheel of vehicle C to the drive controller. The drive controller obtains the data and executes corresponding operations, controlling vehicle C to increase and then decrease its lateral speed within the safe exit time until it completely leaves the queuing trajectory, finally reducing the lateral speed to 0, completing the lane change.

[0129] S25: The leading and trailing vehicles in the formation dock using flexible smart connectors.

[0130] Car B detects that Car C has completed its lane change through its sensing system. Car B then sends a request to Car E to join the convoy. After Car E responds, it executes the convoy joining process, which is consistent with the aforementioned joining and docking process and will not be elaborated upon here. Figure 12 As shown.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for unmanned vehicles joining / leaving a platoon while in motion, characterized in that, include: Control methods for unmanned vehicles joining a formation and control methods for unmanned vehicles leaving a formation; The control method for adding unmanned vehicles to a platoon includes the following steps: S11: During the platooning of autonomous vehicles, the target autonomous vehicle sends a request to join the platoon. S12: The unmanned vehicle formation determines the joining position of the target unmanned vehicle and verifies the operating data in the request of the target unmanned vehicle. After the verification is successful, proceed to step S13. S13: The target unmanned vehicle adjusts its position until it is within the safe lane-changing distance range; in real time, based on the position of the target unmanned vehicle, its initial longitudinal speed, and the position of the vehicle in front of the formation, the lateral speed of the target unmanned vehicle and the same-phase turning angle of each wheel are calculated, and the target unmanned vehicle is controlled to change lanes until the real-time lateral relative position offset distance between the target unmanned vehicle and the vehicle in front of the formation becomes zero. S14: Determine the safe joining distance based on the real-time road conditions, and then calculate the longitudinal safe docking speed; after adjusting the speed of the target unmanned vehicle and the unmanned vehicle platoon to the longitudinal safe docking speed, use the flexible smart connector to dock between the unmanned vehicles; The control method for unmanned vehicles to leave a formation includes the following steps: S21: During the platooning of unmanned vehicles, identify the target unmanned vehicle that needs to leave the platoon; determine the safe exit distance based on the real-time road conditions, and then calculate the safe exit speed of the unmanned vehicle; the platoon adjusts its speed to the safe exit speed of the unmanned vehicle. S22: Disconnect the flexible smart connector between the target unmanned vehicle and the vehicle in front of the formation.

2. The control method for joining / leaving a platoon of unmanned vehicles as described in claim 1, characterized in that, The flexible smart connector includes a socket assembly and a plug assembly that work together, and the socket assembly and plug assembly are installed on different autonomous vehicles respectively; The disconnection process for the flexible smart connector is as follows: S1231: The telescopic rod of the plug assembly extends, causing the mechanical gripper to approach the target; S1232: The locking mechanism and saddle of the socket assembly unlock automatically at the same time. Under the tension of the communication cable and rope, the plug is separated from the socket and springs back onto the mechanical gripper. 1233: The telescopic rod retracts, causing the mechanical grabber and plug to retract into the box.

3. The control method for joining / leaving a platoon of unmanned vehicles as described in claim 2, characterized in that, The docking process for flexible smart connectors is as follows: S1421: The mechanical claw of the plug assembly grips the plug, the telescopic rod extends, and the plug moves closer to the socket; S1422: The camera photographs the target, and adjusts the camera position according to the target position in the image through the attitude adjustment docking mechanism, so that the target position is continuously closer to the center point of the image; until the distance between the target position and the center point is less than the threshold, the telescopic rod extends, so that the probe on the plug falls into the cone of the socket and slowly slides into the center hole of the cone. The positioning pin on the plug enters the positioning pin hole on the socket, and the traction hook locks with the saddle; the locking mechanism locks the positioning pin. S1424: The mechanical gripper releases and separates from the plug, the telescopic rod retracts, and the mechanical gripper is retracted into the box.

4. The control method for joining / leaving a platoon of unmanned vehicles as described in claim 1, characterized in that, In step S12, if the target unmanned vehicle joins at the middle of the unmanned vehicle formation, after verification, the connection of the flexible smart connector between the front vehicle and the rear vehicle in the formation is first disconnected, and then the process proceeds to step S13; the front vehicle in the formation is the unmanned vehicle in front of the target unmanned vehicle after it joins the unmanned vehicle formation; the rear vehicle in the formation is the unmanned vehicle behind the target unmanned vehicle after it joins the unmanned vehicle formation. If the target unmanned vehicle joins at the end of the unmanned vehicle platoon, then after verification, proceed directly to step S13.

5. The control method for joining / leaving a platoon of unmanned vehicles as described in claim 4, characterized in that, The specific process of step S12 includes: S121: Autonomous vehicle formation parsing request, obtain the current position of the target autonomous vehicle, and determine the joining position of the target autonomous vehicle based on the current position of the target autonomous vehicle; S122: The unmanned vehicle formation measures the operating data of the target unmanned vehicle and compares it with the operating data in the request. If the error is less than the threshold, the verification is passed. S123: Disconnect the flexible smart connector between the leading vehicle and the trailing vehicle in the formation.

6. The control method for joining / leaving a platoon of unmanned vehicles as described in claim 1, characterized in that, The formula for calculating lateral velocity is: in, Let t be the lateral velocity of the unmanned vehicle. Let be the lateral position deviation at time t; The integral term of the deviation from the start of control to time t; Let be the differential term of the deviation at time t; The proportional coefficient in a PID controller. The integral coefficient in a PID controller. These are the derivative coefficients in a PID controller; The formula for calculating the rotation angle of each wheel in the same phase is: in, For each wheel of the autonomous vehicle to turn at the same phase angle, The initial longitudinal velocity of the autonomous vehicle is given.

7. A control method for joining / leaving a platoon of unmanned vehicles as described in claim 1 or 6, characterized in that, In step S13, when the target unmanned vehicle joins at the middle of the unmanned vehicle formation, the method further includes: adjusting the distance between the vehicle in front of the formation and the vehicle behind the formation to achieve the target distance, which is greater than the safe lane change distance range.

8. The control method for joining / leaving a platoon of unmanned vehicles as described in claim 1, characterized in that, In step S14, the formula for calculating the longitudinal safe docking speed is: in, For longitudinal safe docking speed, To allow for safe driving, a safe distance should be added. For safety margin coefficient, The time required for the flexible smart connector to autonomously dock.

9. A control method for joining / leaving a platoon of unmanned vehicles as described in claim 1 or 8, characterized in that, In step S14, the longitudinal relative position offset distance of the two unmanned vehicles is adjusted to the docking range of the flexible smart connector, and then the unmanned vehicles are docked using the flexible smart connector.

10. The control method for joining / leaving a platoon of unmanned vehicles as described in claim 1, characterized in that, When the target autonomous vehicle is in the middle of the autonomous vehicle formation, the control method for the autonomous vehicle to leave the formation also includes the following steps: S23: Disconnect the flexible smart connector between the target unmanned vehicle and the following vehicles in the platoon; S24: The target driverless vehicle changes lanes and leaves the platoon's driving trajectory; S25: The leading and trailing vehicles in the formation dock using flexible smart connectors.

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