A two-wheeled vehicle automatic following method based on a cooperative control system

Abstract

The application discloses a two-wheeled vehicle automatic following method based on a cooperative control system and belongs to the technical field of two-wheeled vehicle control. The method comprises the following steps: collecting target related information by a perception module and outputting pose data of the target relative to the vehicle. The application sets the perception module, the cooperative control module, the steering module, the driving module and the auxiliary support execution mechanism, constructs a control system with multiple modules working cooperatively, defines the control priority and the stable constraint condition, establishes a multi-closed-loop feedback control link and dynamically updates the control parameters, realizes the accurate perception, the cooperative control and the stable operation of the two-wheeled vehicle automatic following, effectively avoids the stable risks in the following process, adapts to different driving conditions and road environments, and greatly improves the continuity and practicality of the automatic following.

Description

Technical Field

[0001] This invention belongs to the field of two-wheeled vehicle control technology, specifically referring to an automatic following method for two-wheeled vehicles based on a cooperative control system. Background Technology

[0002] With the acceleration of urbanization and the popularization of green travel concepts, two-wheeled vehicles have become an important means of transportation for short-distance commuting and leisure travel in cities due to their advantages of flexibility, convenience, small space occupation, and low travel costs. At the same time, with the development of intelligent driving and vehicle networking technologies, intelligent two-wheeled vehicles are ushering in a period of rapid development. As one of the core functions of intelligent two-wheeled vehicles, the automatic following function enables the vehicle to automatically follow pedestrians and other vehicles, greatly improving the convenience and intelligence of use, and has extremely high application value in many scenarios such as shared mobility, personal transportation, and industrial inspection.

[0003] However, existing methods for automatic following of two-wheeled vehicles still have certain shortcomings. Current technologies struggle to guarantee the accuracy, coordination, and safety of automatic following under all operating conditions. They suffer from a single perception dimension, failing to achieve high-precision target pose perception through multi-sensor fusion. Furthermore, the triggering conditions for the following mode lack rigor, leading to false triggers. Moreover, once in following mode, a relative motion model between the vehicle and the target is not established; only a single state of the vehicle or target is analyzed, making it impossible to formulate control strategies based on their relative motion relationship. This results in a disconnect between control decisions and the actual following state. Additionally, the method's transition... The lack of effective linkage and coordination between the steering module and the drive module makes it impossible to achieve precise matching and output of steering and speed control commands. The coordination, consistency and synergy of the entire control system are poor. Stability assurance has not been integrated into the entire automatic following process. There is a lack of multi-means stability protection measures under abnormal conditions, and stability assurance is in a state of absence. In addition, the matching degree between its control decisions and the actual driving state of the vehicle is low. It is impossible to dynamically adjust the control logic according to the actual driving conditions. Ultimately, this greatly reduces the engineering practicality and environmental adaptability of the method, making it difficult to adapt to complex driving conditions. Therefore, a two-wheeled vehicle automatic following method based on a cooperative control system is proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a method for automatic following of two-wheeled vehicles based on a cooperative control system, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a method for automatic following of two-wheeled vehicles based on a cooperative control system, comprising the following steps: S1. The perception module collects relevant target information and outputs the target's pose data relative to the vehicle; S2. After determining that the target pose data meets the preset validity conditions, the collaborative control module enters the automatic following mode and establishes a relative motion model between the vehicle and the target. S3. The cooperative control module generates steering cooperative requirements and drive cooperative requirements based on the relative motion model, and arbitrates the cooperative requirements according to the preset stability priority rules. S4. If the arbitration result meets the vehicle stability constraint conditions, output steering control command to the steering module and speed control command to the drive module to achieve automatic vehicle following of the target. S5. During automatic following, the cooperative control module monitors the vehicle speed and attitude parameters in real time. When it detects that the vehicle has stability risks or abnormal conditions, it prioritizes the implementation of stability control strategies and restricts, interrupts or adjusts steering control commands and drive control commands.

[0006] Preferably, the sensing module includes a near-range high-precision positioning unit for acquiring the relative pose of the target, wherein the near-range high-precision positioning unit includes at least one of an ultra-wideband (UWB) positioning module, a visual sensor, a millimeter-wave radar, and a lidar, or a combination of multiple sensors. The target pose data includes at least two-dimensional or three-dimensional relative position, relative direction and relative motion state information of the target relative to the vehicle, and the target pose output frequency of the sensing module is not lower than a preset threshold.

[0007] Preferably, the sensing module uses an ultra-wideband (UWB) positioning module to obtain the target's relative pose information. By setting UWB communication nodes at the vehicle end and the target end respectively, the relative distance and relative orientation between the vehicle and the target are calculated based on bidirectional ranging or multi-base station ranging methods. The target pose data output by the UWB positioning module is used to maintain the stability and continuity of the automatic following mode under conditions such as low-speed driving, close-range following, or visual obstruction.

[0008] Preferably, the triggering conditions for the automatic following mode include the continuous output of valid target pose data by the sensing module, and the target pose data meeting preset judgment criteria in terms of continuity, stability or reliability. In automatic following mode, the cooperative control module updates the relative position, relative speed, and relative direction parameters between the vehicle and the target in real time.

[0009] Preferably, the steering module calculates the relative position of the target based on the vehicle's own positioning data and the target's pose data, and outputs a front wheel steering angle control command; The amplitude of the steering control command is dynamically adjusted based on the vehicle's current speed, the target's relative position, and preset safety steering constraints.

[0010] Preferably, the drive module generates speed control commands based on the relative distance and relative speed between the vehicle and the target, as well as a preset following safety distance; The speed control command includes at least three control modes: constant speed following, acceleration approach, and deceleration to maintain distance, and the output value of the speed control command does not exceed the vehicle's preset safe driving speed limit.

[0011] Preferably, the collaborative control module collects vehicle speed data through wheel speed sensors and vehicle attitude parameters through an inertial measurement unit; When the deviation between the actual vehicle speed and the speed control command exceeds a preset threshold, or when the vehicle attitude parameters exceed a preset stability threshold, the vehicle is determined to be in a stable risk state.

[0012] Preferably, when the vehicle is determined to be in a stable risk state, the collaborative control module prioritizes sending control commands to the vehicle's auxiliary support actuator to deploy the auxiliary support actuator and provide physical stability support. After the vehicle's posture returns to the preset stable range, the auxiliary support actuator gradually retracts according to the preset strategy.

[0013] Preferably, under stable risk conditions, the collaborative control module performs dynamic amplitude limiting processing on the steering control command, and the amplitude of the steering control command after limiting is smaller than the amplitude of the steering control command in normal following mode; The amplitude limiting process is performed according to a preset smoothing function to avoid new stability risks caused by sudden changes in the direction of change.

[0014] Preferably, in automatic follow mode, the control priority rule is set as follows: auxiliary support control has a higher priority than steering control, and steering control has a higher priority than drive speed control; Under stable risk conditions, the drive module suspends the output of acceleration-type speed control commands.

[0015] Preferably, the collaborative control system establishes multiple closed-loop control links to provide real-time feedback on the actual outputs of the steering module, drive module, and auxiliary support actuators; The collaborative control module dynamically adjusts control parameters based on the deviation between feedback data and corresponding control commands to improve stability and response consistency during automatic following.

[0016] Preferably, the collaborative control module updates the steering control parameters, speed control parameters, and stability threshold parameters in automatic following mode periodically based on historical following data, changes in road conditions, and vehicle operating status, in order to adapt to different road environments and driving conditions.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. To address the shortcomings of existing two-wheeled vehicle automatic following technology, such as insufficient perception accuracy, poor control coordination, weak following stability, inadequate ability to handle abnormal conditions, and low adaptability to different driving scenarios, and to improve the reliability, safety, and intelligence of two-wheeled vehicle automatic following, this invention constructs a multi-module collaborative control system by setting up a perception module, a collaborative control module, a steering module, a drive module, and auxiliary support actuators. It clarifies control priorities and stability constraints, establishes a multi-closed-loop feedback control link, and dynamically updates control parameters. This achieves accurate perception, collaborative control, and stable operation of two-wheeled vehicle automatic following, effectively avoiding stability risks during the following process, adapting to different driving conditions and road environments, significantly improving the continuity and practicality of automatic following, and reducing the need for manual intervention. 2. This invention, through clearly defined triggering conditions, requires the sensing module to continuously output valid pose data and meet preset judgment criteria. This avoids triggering the automatic following mode due to a single valid or abnormal data, ensuring the reliability of the automatic following mode startup and reducing safety hazards and resource waste caused by false startup. In automatic following mode, the cooperative control module updates the relative parameters between the vehicle and the target in real time, which can promptly capture changes in the target's motion state and the vehicle's own state. This allows the relative motion model and subsequent control commands to quickly adapt to these changes. Real-time parameter updates improve the dynamic adaptability of automatic following, ensuring that the vehicle can still accurately follow the target even in dynamic scenarios such as target acceleration, deceleration, and steering, reducing following lag and deviation, and improving the smoothness and accuracy of automatic following. Attached Figure Description

[0018] Figure 1 The present invention describes the operation flow of an automatic following method for two-wheeled vehicles based on a cooperative control system. Figure 1 ; Figure 2 The present invention describes the operation flow of an automatic following method for two-wheeled vehicles based on a cooperative control system. Figure 2 ; Figure 3 The present invention describes the operation flow of an automatic following method for two-wheeled vehicles based on a cooperative control system. Figure 3 . Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example Please see Figures 1-3 As shown, the present invention provides a technical solution comprising the following steps: S1. The perception module collects relevant target information and outputs the target's pose data relative to the vehicle; S2. After determining that the target pose data meets the preset validity conditions, the collaborative control module enters the automatic following mode and establishes a relative motion model between the vehicle and the target. S3. The cooperative control module generates steering cooperative requirements and drive cooperative requirements based on the relative motion model, and arbitrates the cooperative requirements according to the preset stability priority rules. S4. If the arbitration result meets the vehicle stability constraint conditions, output steering control command to the steering module and speed control command to the drive module to achieve automatic vehicle following of the target. S5. During automatic following, the cooperative control module monitors the vehicle speed and attitude parameters in real time. When it detects that the vehicle has stability risks or abnormal conditions, it prioritizes the implementation of stability control strategies and restricts, interrupts or adjusts steering control commands and drive control commands.

[0021] In this embodiment, the sensing module includes a near-range high-precision positioning unit for acquiring the relative pose of the target. The near-range high-precision positioning unit includes at least one of an ultra-wideband (UWB) positioning module, a visual sensor, a millimeter-wave radar, and a lidar, or a combination of the above sensors. The target pose data includes at least two-dimensional or three-dimensional relative position, relative direction and relative motion state information of the target relative to the vehicle, and the target pose output frequency of the sensing module is not lower than a preset threshold.

[0022] The selection of the close-range high-precision positioning unit can be flexibly determined according to the needs of the actual application scenario. The combination of different sensors can achieve complementary advantages. For example, in well-lit scenarios, visual sensors can be mainly used to obtain rich environmental and target information, while in low-light or visually obstructed scenarios, millimeter-wave radar or lidar can be switched to ensure stable acquisition of target pose data in any scenario. The relative motion state information contained in the target pose data can reflect the target's motion trend, providing support for the collaborative control module to predict changes in the target's motion direction and speed, adjust the control strategy in advance, and improve the predictability and smoothness of automatic following. The pose output frequency of the sensing module reaches the preset requirements, which can avoid the collaborative control module's inability to respond to changes in the target or vehicle's state in a timely manner due to data output lag, ensuring the timeliness and accuracy of control commands, and providing data transmission layer guarantee for the stability of the entire automatic following process. In this embodiment, the sensing module uses an ultra-wideband (UWB) positioning module to obtain the target's relative pose information. By setting UWB communication nodes at the vehicle end and the target end respectively, the relative distance and relative orientation between the vehicle and the target are calculated based on bidirectional ranging or multi-base station ranging. The target pose data output by the UWB positioning module is used to maintain the stability and continuity of the automatic following mode under conditions such as low-speed driving, close-range following, or visual obstruction.

[0023] The UWB communication nodes on both the vehicle and target sides must maintain a normal communication connection to ensure stable transmission of ranging signals. Two-way ranging can verify ranging results through signal interaction between the vehicle and target sides, reducing ranging errors. Multi-base station ranging can further improve ranging and direction-finding accuracy by deploying multiple auxiliary base stations, making it suitable for scenarios with high positioning accuracy requirements. The core advantages of the ultra-wideband positioning module lie in its strong anti-interference capability and high positioning accuracy. Even in complex environments, it can effectively avoid external interference and stably output pose data. In low-speed driving conditions, while the real-time requirements for positioning data are relatively lower, the accuracy requirements are higher. The ultra-wideband positioning module can accurately capture subtle changes in the target's position. In close-range following conditions, it can effectively avoid the vehicle being too close or too far from the target due to positioning errors. In visual occlusion conditions, it can compensate for the limitations of visual sensors, ensuring uninterrupted perception and preventing accidental termination of the automatic following mode.

[0024] In this embodiment, the triggering conditions for the automatic following mode include the continuous output of valid target pose data by the sensing module, and the target pose data meeting the preset judgment criteria in terms of continuity, stability or reliability. In automatic following mode, the cooperative control module updates the relative position, relative speed, and relative direction parameters between the vehicle and the target in real time.

[0025] The automatic follow mode triggering conditions require continuous output of valid target pose data. This avoids false mode activation due to a single valid data point or momentary interference, ensuring that automatic follow is only initiated when the perception module can stably capture the target pose, thus improving the reliability of mode activation. The data continuity judgment mainly checks the consistency of pose data in the time dimension to avoid abrupt changes in data. The stability judgment mainly checks whether the fluctuation range of pose data is within the preset range to ensure data stability. The credibility judgment mainly verifies the authenticity of the data through built-in algorithms and eliminates abnormal data. During the operation of automatic follow mode, the cooperative control module continuously collects and updates relative position, relative speed, and relative direction parameters according to the preset update frequency, tracking the motion state of the target and the vehicle in real time. When the target accelerates, decelerates, or turns, or when the vehicle's own motion state changes, the parameters can be updated in a timely manner, enabling subsequent control commands to quickly adapt to these changes, avoiding following deviations caused by parameter lag, and ensuring the smoothness and accuracy of automatic follow.

[0026] In this embodiment, the steering module calculates the relative position of the target based on the vehicle's own positioning data and the target's pose data, and outputs a front wheel steering angle control command. The amplitude of the steering control command is dynamically adjusted based on the vehicle's current speed, the target's relative position, and preset safety steering constraints.

[0027] Vehicle self-positioning data is primarily used to determine the vehicle's position and attitude in space. Combined with target pose data, it effectively eliminates potential errors from a single data source, making the target's relative orientation calculation more accurate and ensuring the steering direction is precisely aligned with the target. The internal calculation process of the steering module incorporates the vehicle's structural parameters, converting the target's relative orientation into an executable front wheel steering angle, ensuring that steering commands directly drive the steering mechanism. Dynamic adjustment of the steering control command amplitude is crucial for steering stability. When the vehicle speed is high, the steering command amplitude is appropriately reduced to prevent excessive steering that could shift the vehicle's center of gravity and cause roll risks. When the target's relative orientation deviates significantly, the steering command amplitude is appropriately increased within safety constraints to ensure the vehicle can quickly adjust its direction to align with the target. Preset safety steering constraints define the upper limit of the steering amplitude and the adjustment rate under different operating conditions, preventing steering actions from exceeding the vehicle's stability limits and ensuring a smooth and safe steering process.

[0028] In this embodiment, the drive module generates speed control commands based on the relative distance and relative speed between the vehicle and the target, as well as a preset following safety distance; The speed control command includes at least three control modes: constant speed following, acceleration approach, and deceleration to maintain distance, and the output value of the speed control command does not exceed the vehicle's preset safe driving speed limit.

[0029] In this embodiment, the cooperative control module collects vehicle speed data through wheel speed sensors and vehicle attitude parameters through an inertial measurement unit. When the deviation between the actual vehicle speed and the speed control command exceeds a preset threshold, or when the vehicle attitude parameters exceed a preset stability threshold, the vehicle is determined to be in a stable risk state.

[0030] In this embodiment, when the vehicle is determined to be in a stable risk state, the cooperative control module first sends a control command to the vehicle auxiliary support actuator to make the auxiliary support actuator deploy and provide physical stability support. After the vehicle's posture returns to the preset stable range, the auxiliary support actuator gradually retracts according to the preset strategy.

[0031] In this embodiment, under stable risk conditions, the cooperative control module performs dynamic amplitude limiting processing on the steering control command, and the amplitude of the steering control command after amplitude limiting is smaller than the amplitude of the steering control command in normal follow mode. The amplitude limiting process is performed according to a preset smoothing function to avoid new stability risks caused by sudden changes in the direction of change.

[0032] In this embodiment, in the automatic following mode, the control priority rule is set as follows: the auxiliary support control has a higher priority than the steering control, and the steering control has a higher priority than the drive speed control. Under stable risk conditions, the drive module suspends the output of acceleration-type speed control commands.

[0033] In this embodiment, the collaborative control system establishes multiple closed-loop control links to provide real-time feedback on the actual outputs of the steering module, drive module, and auxiliary support actuator. The collaborative control module dynamically adjusts control parameters based on the deviation between feedback data and corresponding control commands to improve stability and response consistency during automatic following.

[0034] In this embodiment, the cooperative control module periodically updates the steering control parameters, speed control parameters, and stability threshold parameters in automatic following mode based on historical following data, changes in road conditions, and vehicle operating status, in order to adapt to different road environments and driving conditions.

[0035] Working Principle: The perception module continuously captures various types of information related to the target. After internal processing, it filters and outputs key data reflecting the target's pose relative to the vehicle, providing raw data support for the subsequent decision-making of the collaborative control module. After receiving the target pose data output by the perception module, the collaborative control module first determines the validity of the data. Only when the data meets preset validity conditions is the automatic following mode activated, avoiding control decisions based on invalid data. Once in automatic following mode, the collaborative control module combines the relative pose relationship between the target and the vehicle to construct a relative motion model that accurately describes their relative motion, transforming abstract pose data into a model basis that can be used for control decisions. The collaborative control module uses the constructed relative motion model... Based on the model and combined with the core requirements of automatic vehicle following, steering coordination requirements and drive coordination requirements are generated respectively. The steering coordination requirements are used to guide the vehicle to adjust its direction to align with the target, and the drive coordination requirements are used to guide the vehicle to adjust its speed to maintain a reasonable following distance. At the same time, according to the preset stability priority rules, the two generated coordination requirements are arbitrated. The coordination control module verifies the arbitration result of step S3 to determine whether it meets the vehicle stability constraints. Only if the arbitration result meets the constraints and will not cause vehicle stability risks will the corresponding control commands be output to the steering module and the drive module respectively. After receiving the steering control command, the steering module adjusts the vehicle direction, and after receiving the speed control command, the drive module adjusts the vehicle speed. During automatic vehicle following, the cooperative control module continuously monitors the vehicle's speed and attitude parameters, and judges in real time whether there is any stability risk or other abnormal state. When a stability risk or abnormality is detected, the cooperative control module prioritizes vehicle stability, executes stability control strategies first, and restricts, interrupts, or adjusts the steering control and drive control commands being output according to the degree of risk and the abnormal situation to curb the expansion of risk. After the vehicle recovers stability, normal following control is resumed according to the actual situation. The perception module includes a near-range high-precision positioning unit for acquiring the relative pose of the target. This positioning unit can use multiple sensors or a combination of multiple sensors, leveraging the complementary advantages of different sensors to improve accuracy. To improve the accuracy and anti-interference capability of target pose information acquisition, the target pose data must cover key information such as the relative position, relative direction, and relative motion state between the target and the vehicle. Furthermore, the pose output frequency of the sensing module must meet preset requirements. When the sensing module uses an ultra-wideband positioning module to acquire the target's relative pose information, communication nodes are deployed at both the vehicle and target ends. Using bidirectional ranging or multi-base station ranging, the relative distance and relative orientation between the vehicle and the target are accurately calculated, improving the accuracy of pose acquisition. Simultaneously, this positioning module is primarily used in special conditions such as low-speed driving, close-range following, or visual occlusion. Under these conditions, it continuously outputs stable and effective target pose data, avoiding interference from other sensors. Failure causes perception interruption, ensuring the continuity and stability of the automatic follow mode. Triggering the automatic follow mode requires specific conditions: the perception module must continuously output valid target pose data, and this data must meet preset judgment standards in terms of continuity, stability, and reliability to ensure the reliability of mode activation and avoid false activation. After the automatic follow mode is activated, the cooperative control module does not use the initial pose parameters but continuously updates key parameters such as the relative position, relative speed, and relative direction between the vehicle and the target in real time. The steering module combines the vehicle's own positioning data and the target pose data to calculate the target's accurate orientation relative to the vehicle through internal calculations, thereby generating front wheel steering angle control commands. Simultaneously, the steering control commands... The amplitude of the steering command is not fixed, but dynamically adjusted according to the vehicle's current speed, the target's relative position, and preset safe steering constraints. This ensures that the steering action can accurately align with the target while maintaining vehicle stability. When the drive module generates speed control commands, it mainly refers to the relative distance and speed between the vehicle and the target, as well as the preset safe following distance. This ensures that the speed adjustment can accurately match the target's motion state and maintain a reasonable following distance. The speed control commands include multiple control modes that can be flexibly switched according to different following scenarios to achieve the needs of uniform speed following, accelerating to approach, or decelerating to maintain distance. At the same time, the output value of the speed control commands is limited to ensure that the vehicle's speed does not exceed the preset safe upper limit.The collaborative control module collects actual vehicle speed data through wheel speed sensors and vehicle attitude parameters through an inertial measurement unit. These two acquisition methods work together to ensure accurate and real-time vehicle operating parameters that accurately reflect the vehicle's driving status. Simultaneously, a clear stability risk assessment standard is established. When the deviation between the actual vehicle speed and the speed control command exceeds a preset range, or when the vehicle attitude parameters exceed a preset stability range, the vehicle is determined to be in a stability risk state. When the collaborative control module determines that the vehicle is in a stability risk state, it prioritizes sending control commands to the auxiliary support actuator, causing the actuator to deploy rapidly to provide physical stability support for the vehicle, effectively curbing the vehicle's tilting and overturning tendencies, creating conditions for vehicle attitude recovery, and ensuring the safety of personnel and the vehicle. Once the vehicle attitude returns to the preset stability range and the stability risk is eliminated, the auxiliary support actuator will gradually retract according to a preset strategy. When the vehicle is in a stable risk state, the cooperative control module dynamically limits the amplitude of steering control commands, reducing the amplitude of the limited steering control commands to prevent excessive steering angles from exacerbating the vehicle's center of gravity shift and further amplifying stability risks. This ensures smooth steering actions and reduces the impact of steering on vehicle stability. Simultaneously, the amplitude limiting process follows a preset smoothing function to prevent abrupt changes in steering control commands, ensuring a smooth transition in steering actions. In automatic follow mode, clear control priority rules are set, placing auxiliary support control with the highest priority, followed by steering control, and then drive speed control with the lowest priority. This ensures that vehicle stability is prioritized under all circumstances, preventing delays in stability control due to confused control priorities. When the vehicle is in... In a stable risk state, the drive module will pause the output of acceleration-type speed control commands; the cooperative control system constructs a multi-closed-loop control link to provide real-time feedback on the actual output effects of the steering module, drive module, and auxiliary support actuators, and transmits the feedback data to the cooperative control module; the cooperative control module compares the deviation between the feedback data and the corresponding control commands, and dynamically adjusts the control parameters according to the deviation; the cooperative control module continuously accumulates historical following data, while monitoring changes in road conditions and vehicle operating status in real time, and combines the information from these three sources to periodically update and optimize the steering control parameters, speed control parameters, and stability threshold parameters in automatic following mode; through parameter updates, the control strategy can dynamically adapt to different road environments and driving conditions.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their likenesses.

[0037] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A method for automatic following of two-wheeled vehicles based on a cooperative control system, characterized in that, Includes the following steps: S1. The perception module collects relevant target information and outputs the target's pose data relative to the vehicle; S2. After determining that the target pose data meets the preset validity conditions, the collaborative control module enters the automatic following mode and establishes a relative motion model between the vehicle and the target. S3. The cooperative control module generates steering cooperative requirements and drive cooperative requirements based on the relative motion model, and arbitrates the cooperative requirements according to the preset stability priority rules. S4. If the arbitration result meets the vehicle stability constraint conditions, output steering control command to the steering module and speed control command to the drive module to achieve automatic vehicle following of the target. S5. During automatic following, the cooperative control module monitors the vehicle speed and attitude parameters in real time. When it detects that the vehicle has stability risks or abnormal conditions, it prioritizes the implementation of stability control strategies and restricts, interrupts or adjusts steering control commands and drive control commands.

2. The automatic following method for two-wheeled vehicles based on a cooperative control system according to claim 1, characterized in that: The sensing module includes a near-range high-precision positioning unit for acquiring the relative pose of the target. The near-range high-precision positioning unit includes at least one of an ultra-wideband positioning module, a visual sensor, a millimeter-wave radar, and a lidar, or a combination of multiple sensors. The target pose data includes at least two-dimensional or three-dimensional relative position, relative direction and relative motion state information of the target relative to the vehicle, and the target pose output frequency of the sensing module is not lower than a preset threshold.

3. The automatic following method for two-wheeled vehicles based on a cooperative control system according to claim 2, characterized in that: The perception module uses an ultra-wideband positioning module to obtain the target's relative pose information. By setting up UWB communication nodes at the vehicle end and the target end respectively, the relative distance and relative orientation between the vehicle and the target are calculated based on bidirectional ranging or multi-base station ranging. The target pose data output by the UWB positioning module is used to maintain the stability and continuity of the automatic following mode under conditions such as low-speed driving, close-range following, or visual obstruction.

4. The automatic following method for two-wheeled vehicles based on a cooperative control system according to claim 3, characterized in that: The triggering conditions for the automatic following mode include the continuous output of valid target pose data by the sensing module, and the target pose data meeting the preset judgment criteria in terms of continuity, stability or reliability. In automatic following mode, the cooperative control module updates the relative position, relative speed, and relative direction parameters between the vehicle and the target in real time.

5. The automatic following method for two-wheeled vehicles based on a cooperative control system according to claim 4, characterized in that: The steering module calculates the relative position of the target based on the vehicle's own positioning data and the target's pose data, and outputs a front wheel steering angle control command. The amplitude of the steering control command is dynamically adjusted based on the vehicle's current speed, the target's relative position, and preset safety steering constraints.

6. The automatic following method for two-wheeled vehicles based on a cooperative control system according to claim 5, characterized in that: The drive module generates speed control commands based on the relative distance and speed between the vehicle and the target, as well as a preset following safety distance. The speed control command includes at least three control modes: constant speed following, acceleration approach, and deceleration to maintain distance, and the output value of the speed control command does not exceed the vehicle's preset safe driving speed limit.

7. The automatic following method for two-wheeled vehicles based on a cooperative control system according to claim 6, characterized in that: The collaborative control module collects vehicle speed data through wheel speed sensors and vehicle attitude parameters through an inertial measurement unit. When the deviation between the actual vehicle speed and the speed control command exceeds a preset threshold, or when the vehicle attitude parameters exceed a preset stability threshold, the vehicle is determined to be in a stable risk state.

8. The automatic following method for two-wheeled vehicles based on a cooperative control system according to claim 7, characterized in that: When the vehicle is determined to be in a stable risk state, the cooperative control module prioritizes sending control commands to the vehicle's auxiliary support actuators, causing the auxiliary support actuators to deploy and provide physical stabilization support. After the vehicle's posture returns to the preset stable range, the auxiliary support actuator gradually retracts according to the preset strategy.

9. A method for automatic following of two-wheeled vehicles based on a cooperative control system according to claim 8, characterized in that: Under stable risk conditions, the cooperative control module performs dynamic amplitude limiting on the steering control command, and the amplitude of the steering control command after limiting is smaller than the amplitude of the steering control command in normal follow mode. The amplitude limiting process is performed according to a preset smoothing function to avoid new stability risks caused by sudden changes in the direction of change.

10. The automatic following method for two-wheeled vehicles based on a cooperative control system according to claim 9, characterized in that: In automatic follow mode, the control priority rules are set as follows: auxiliary support control has a higher priority than steering control, and steering control has a higher priority than drive speed control. Under stable risk conditions, the drive module suspends the output of acceleration-type speed control commands.

11. The automatic following method for two-wheeled vehicles based on a cooperative control system according to claim 10, characterized in that: The collaborative control system establishes multiple closed-loop control links to provide real-time feedback on the actual outputs of the steering module, drive module, and auxiliary support actuators. The collaborative control module dynamically adjusts control parameters based on the deviation between feedback data and corresponding control commands to improve stability and response consistency during automatic following.

12. The automatic following method for two-wheeled vehicles based on a cooperative control system according to claim 11, characterized in that: The collaborative control module updates the steering control parameters, speed control parameters, and stability threshold parameters in automatic following mode periodically based on historical following data, changes in road conditions, and vehicle operating status to adapt to different road environments and driving conditions.

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