Longitudinal following control method, system, vehicle and device for platooning vehicles

Abstract

The application discloses a longitudinal following control method, system, vehicle and equipment of a platoon vehicle. The longitudinal following control method of the platoon vehicle comprises the following steps: defining a desired acceleration model of the vehicle and a vehicle-to-vehicle distance deviation function of the vehicle according to vehicle state information of a front vehicle and a leading vehicle, a delay of an execution mechanism of the vehicle and a communication delay between vehicles; determining a desired acceleration function of longitudinal control of the vehicle according to the vehicle-to-vehicle distance deviation function, the delay of the execution mechanism of the vehicle and the communication delay between vehicles; obtaining a constraint condition of the vehicle-to-vehicle distance deviation function of the vehicle, and solving the vehicle-to-vehicle distance deviation function according to the constraint condition to obtain a vehicle-to-vehicle distance deviation between the vehicle and the front vehicle; and obtaining a longitudinal acceleration of the vehicle when the vehicle follows the front vehicle longitudinally through the desired acceleration function of longitudinal control of the vehicle according to the vehicle-to-vehicle distance deviation between the vehicle and the front vehicle. The application improves the accuracy of longitudinal control of the vehicle, and the vehicle can quickly respond to changes in the motion state of the vehicle platoon.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a longitudinal following control method, system, vehicle, and device for platooned vehicles. Background Technology

[0002] Pulleyed autonomous driving (platooning) refers to the process of one vehicle leading multiple vehicles in a platoon, while balancing road safety and traffic efficiency, and making full use of existing road conditions. Current research focuses on maintaining and reducing vehicle spacing, including fixed-space control strategies and equal-distance control strategies, with a greater emphasis on performance optimization and less consideration for latency issues.

[0003] Existing technical solutions generally do not fully consider the time delay of vehicle actuators and vehicle-to-vehicle (V2V) communication; the control strategy indicators are insufficient, often failing to consider the impact of vehicle-to-vehicle spacing error, relative speed error, and relative acceleration error on the longitudinal following of the vehicle, as well as the impact of the lead vehicle's status information on the vehicle, thus affecting the performance of platooning. Summary of the Invention

[0004] Therefore, it is necessary to address the aforementioned technical problems by providing a longitudinal following control method, system, vehicle, and equipment for platooning vehicles. Considering the motion state information of adjacent preceding vehicles and the lead vehicle in the platoon, a cooperative platoon structure model is established. Simultaneously, considering the time delay factor in vehicle actuators and V2V communication, a platoon longitudinal PID controller is designed to measure the longitudinal acceleration of the vehicle when longitudinally following the preceding vehicle. This improves the accuracy of longitudinal vehicle control, enabling vehicles to quickly respond to changes in the platoon's motion state, thereby enhancing the overall operational performance of the platoon.

[0005] Firstly, a longitudinal following control method for platooned vehicles is provided, including: Based on the vehicle status information of the preceding and lead vehicles, the actuator delay of this vehicle, and the communication delay between vehicles, the expected acceleration model of this vehicle and the vehicle spacing deviation function of this vehicle are defined. Based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles, the desired acceleration function for the longitudinal control of the vehicle is determined. Obtain the constraint conditions of the vehicle spacing deviation function, and solve the vehicle spacing deviation function according to the constraint conditions to obtain the vehicle spacing deviation between the vehicle and the vehicle in front. Based on the distance deviation between the vehicle and the vehicle in front, the longitudinal acceleration of the vehicle when longitudinally following the vehicle in front is obtained through the desired acceleration function of the longitudinal control of the vehicle.

[0006] In some examples, defining the desired acceleration model of the vehicle based on the vehicle state information of the preceding and lead vehicles, the actuator delay of the vehicle itself, and the communication delay between vehicles includes: Based on the vehicle status information of the preceding and lead vehicles, define the dynamic model of this vehicle; Based on the delay of the vehicle's actuators and the communication delay between vehicles, the desired acceleration model in the dynamic model is adjusted to obtain the desired acceleration model of the vehicle.

[0007] In some examples, defining the vehicle spacing deviation function based on the vehicle status information of the preceding and lead vehicles, the actuator delay of the vehicle itself, and the communication delay between vehicles includes: Define the distance deviation between this vehicle and the vehicle in front, and the distance deviation between this vehicle and the lead vehicle; Based on the distance deviation between the vehicle and the vehicle in front, and the distance deviation between the vehicle and the lead vehicle, the distance deviation function of the vehicle is obtained.

[0008] In some examples, determining the desired acceleration function for longitudinal control of the vehicle based on the vehicle spacing deviation function, the delay of the vehicle's actuators, and the communication delay between vehicles includes: Obtain the desired acceleration function for the default longitudinal control; Based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles, the expected acceleration function of the default longitudinal control is adjusted to obtain the expected acceleration function of the vehicle's longitudinal control.

[0009] In some examples, obtaining the constraints of the vehicle spacing deviation function and solving the vehicle spacing deviation function based on the constraints to obtain the vehicle spacing deviation between the vehicle and the vehicle in front includes: Obtain the constraints for the vehicle's spacing deviation function; The Laplace transform is applied to the constraints, and the vehicle spacing deviation function is solved based on the transformation result to obtain the vehicle spacing deviation between the current vehicle and the vehicle in front.

[0010] In some examples, after obtaining the longitudinal acceleration of the vehicle when longitudinally following the vehicle ahead based on the vehicle-to-vehicle distance deviation using the desired acceleration function of the vehicle's longitudinal control, the method further includes: Based on the longitudinal acceleration of the vehicle following the vehicle in front, the vehicle's acceleration is controlled.

[0011] Secondly, a longitudinal following control system for platooned vehicles is provided, including: The definition module is used to define the desired acceleration model and the vehicle spacing deviation function of the vehicle based on the vehicle status information of the preceding and lead vehicles, the actuator delay of the vehicle, and the communication delay between vehicles. The determination module is used to determine the desired acceleration function for longitudinal control of the vehicle based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles; The acquisition module is used to obtain the constraint conditions of the vehicle spacing deviation function of the current vehicle, and solve the vehicle spacing deviation function according to the constraint conditions to obtain the vehicle spacing deviation between the current vehicle and the vehicle in front. The control module is used to obtain the longitudinal acceleration of the vehicle when it follows the vehicle ahead by means of the desired acceleration function of the longitudinal control of the vehicle ahead, based on the distance deviation between the vehicle ahead and the vehicle ahead.

[0012] Thirdly, a vehicle is provided, comprising: a longitudinal following control system for platooning vehicles as described in the second aspect above.

[0013] Fourthly, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the steps of the longitudinal following control method for platooned vehicles described in the first aspect and any possible implementation thereof.

[0014] Fifthly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the longitudinal following control method for platooned vehicles described in the first aspect and any possible implementation thereof.

[0015] Sixthly, a computer program product is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the longitudinal following control method for platooned vehicles described in the first aspect and any possible implementation thereof.

[0016] The embodiments of this application first define the desired acceleration model and the vehicle spacing deviation function of the vehicle based on the vehicle status information of the preceding and lead vehicles, the actuator delay of the vehicle, and the communication delay between vehicles. Then, based on the vehicle spacing deviation function, the actuator delay, and the communication delay between vehicles, the desired acceleration function for longitudinal control of the vehicle is determined. Next, the constraints of the vehicle spacing deviation function are obtained, and the vehicle spacing deviation function is solved based on the constraints to obtain the vehicle spacing deviation between the vehicle and the preceding vehicle. Finally, based on the vehicle spacing deviation between the vehicle and the preceding vehicle, the longitudinal acceleration of the vehicle when longitudinally following the preceding vehicle is obtained through the desired acceleration function for longitudinal control. Considering the motion state information of adjacent preceding vehicles and the lead vehicle in the convoy, a cooperative convoy structure model is established. Simultaneously, considering the time delay factor of vehicle actuators and V2V communication, a convoy longitudinal PID controller is designed to measure the longitudinal acceleration of the vehicle when longitudinally following the preceding vehicle. This improves the accuracy of vehicle longitudinal control, enabling vehicles to quickly respond to changes in the convoy's motion state, thereby improving the overall operational performance of the convoy. Attached Figure Description

[0017] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A flowchart of a longitudinal following control method for platooned vehicles provided in an embodiment of this application; Figure 2 This is a structural block diagram of a longitudinal following control system for platooning vehicles provided in an embodiment of this application; Figure 3 This is a structural block diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0018] The present application will now be described in further detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the application. Furthermore, it should be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings.

[0019] It should be noted that, unless otherwise specified, the embodiments and features of the embodiments in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] The following describes in detail, with reference to the accompanying drawings, a longitudinal following control method, system, vehicle, and device for platooning vehicles according to embodiments of this application.

[0021] Figure 1 This is a flowchart of a longitudinal following control method for platooned vehicles according to an embodiment of this application. Figure 1As shown, the longitudinal following control method for platooned vehicles according to an embodiment of this application includes the following steps: S101: Based on the vehicle status information of the preceding and lead vehicles, the actuator delay of this vehicle, and the communication delay between vehicles, define the expected acceleration model of this vehicle and the vehicle spacing deviation function of this vehicle.

[0022] In one embodiment of this application, defining the desired acceleration model of the vehicle based on the vehicle state information of the preceding vehicle and the lead vehicle, the actuator delay of the vehicle itself, and the communication delay between vehicles includes: defining the dynamic model of the vehicle based on the vehicle state information of the preceding vehicle and the lead vehicle; and adjusting the desired acceleration model in the dynamic model based on the actuator delay of the vehicle itself and the communication delay between vehicles to obtain the desired acceleration model of the vehicle itself.

[0023] In one embodiment of this application, a vehicle spacing deviation function is defined based on the vehicle status information of the preceding vehicle and the lead vehicle, the actuator delay of the vehicle, and the communication delay between vehicles. This includes: defining the vehicle spacing deviation between the vehicle and the preceding vehicle and the vehicle spacing deviation between the vehicle and the lead vehicle; and obtaining the vehicle spacing deviation function based on the vehicle spacing deviation between the vehicle and the preceding vehicle and the vehicle spacing deviation between the vehicle and the lead vehicle.

[0024] Specifically, platooning vehicles (fleets) refer to autonomous vehicles in a platoon. Placing autonomous driving means making full use of existing road conditions and relying on autonomous driving technology, V2V short-range communication technology, etc., to achieve vehicle platooning with one vehicle leading multiple vehicles, while taking into account both road traffic safety and traffic efficiency. It usually includes a lead vehicle and multiple following vehicles.

[0025] The defined expected acceleration model and vehicle spacing deviation function of this vehicle belong to the definition of fleet structure. Specifically, the defined fleet structure includes: when all vehicles in the fleet are identical, the following model can be used to describe the dynamic characteristics of each vehicle:

[0026] in: x i (t) , v i (t) , a i (t) They represent the first i The vehicle's position, speed, and acceleration. u i (t) This represents the control input, i.e., the desired acceleration.

[0027] When considering the delay of vehicle actuators and the delay of vehicle-to-vehicle communication, in formula (1) a' i (t) It should then be expressed as follows:

[0028] in: Δt This indicates the time delay caused by communication and vehicle actuators. τ Let be the time constant of the ideal lower-level controller of the first-order inertial element.

[0029] Using a fixed vehicle spacing strategy, the first i The distance deviation between the vehicle and the adjacent vehicle in front, the first i The distance deviation between a vehicle and the lead vehicle in the convoy is defined as follows:

[0030] in: L To maintain a fixed distance and ensure convoy safety, L The value is generally greater than the vehicle length. Generally speaking, as long as the deviation between the actual vehicle distance and the safe vehicle distance is controlled, that is, controlled... e i (t) This ensures the safety of the convoy and avoids collisions. i = 2, 3,…, n .

[0031] According to formulas (3) and (4), the first is defined as follows: i The vehicle spacing deviation function is:

[0032] in: λ 1. λ 2 represents the weight value, indicating the magnitude of the influence of the adjacent vehicle and the leading vehicle on the vehicle itself. λ 1. λ 2. Satisfy λ 1+ λ 2 = 1, obviously, according to the definition, e 1 (t) , e i0 (t) Does not exist S102: Determine the desired acceleration function for longitudinal control of this vehicle based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles.

[0033] In a specific example, the desired acceleration function for longitudinal control of the vehicle is determined based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles. This includes: obtaining a default desired acceleration function for longitudinal control; and adjusting the default desired acceleration function for longitudinal control based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles to obtain the desired acceleration function for longitudinal control of the vehicle.

[0034] Specifically, when neglecting the delays in vehicle actuators and vehicle-to-vehicle communication, the PID controller can be designed to achieve the desired acceleration function for longitudinal control of the vehicle as follows:

[0035] in: δ i (t) It is the deviation of the vehicle spacing, i.e., formula (5); k 1. k 2. k 3 is a non-negative controller parameter.

[0036] When considering actuator delay and vehicle-to-vehicle delay, the vehicle spacing deviation is: δ i (t - Δt) Therefore, the desired acceleration function for the longitudinal control of this vehicle, considering the PID controller design with regard to time delay and hysteresis, is:

[0037] S103: Obtain the constraint conditions of the vehicle spacing deviation function, and solve the vehicle spacing deviation function according to the constraint conditions to obtain the vehicle spacing deviation between the vehicle and the vehicle in front.

[0038] In one embodiment of this application, obtaining the constraint conditions of the vehicle spacing deviation function of the vehicle itself, and solving the vehicle spacing deviation function according to the constraint conditions to obtain the vehicle spacing deviation between the vehicle and the preceding vehicle, includes: obtaining the constraint conditions of the vehicle spacing deviation function of the vehicle itself; performing a Laplace transform on the constraint conditions, and solving the vehicle spacing deviation function according to the transform result to obtain the vehicle spacing deviation between the vehicle and the preceding vehicle.

[0039] Specifically, substituting formula (7) into formula (2), we get... a ' i ( t The expression is:

[0040] According to formula (8), we can obtain:

[0041] According to formula (3), we can obtain:

[0042] Substituting equations (4), (5), (8), and (9) into equation (10), we can obtain the following: The vehicle distance deviation function between the current vehicle and the preceding vehicle in the time domain satisfies:

[0043] Applying a Laplace transform to both sides of equation (11), the distance deviation between the vehicle and the preceding vehicle in the frequency domain is obtained as follows:

[0044] S104: Based on the distance deviation between the vehicle and the vehicle in front, the longitudinal acceleration of the vehicle when it follows the vehicle in front is obtained through the desired acceleration function of the longitudinal control of the vehicle.

[0045] The method further includes, after obtaining the longitudinal acceleration of the vehicle when it follows the vehicle in the longitudinal direction based on the deviation between the vehicle distance and the vehicle in front, through the desired acceleration function of the longitudinal control of the vehicle, the method also includes: performing acceleration control on the vehicle based on the longitudinal acceleration of the vehicle when it follows the vehicle in the longitudinal direction.

[0046] The longitudinal following control method for platooning vehicles according to embodiments of this application first defines the desired acceleration model and the vehicle spacing deviation function of the vehicle based on the vehicle state information of the preceding vehicle and the lead vehicle, the actuator delay of the vehicle itself, and the communication delay between vehicles. Then, based on the vehicle spacing deviation function, the actuator delay of the vehicle itself, and the communication delay between vehicles, the desired acceleration function for longitudinal control of the vehicle is determined. Next, the constraints of the vehicle spacing deviation function are obtained, and the vehicle spacing deviation function is solved based on the constraints to obtain the vehicle spacing deviation between the vehicle and the preceding vehicle. Finally, based on the vehicle spacing deviation between the vehicle and the preceding vehicle, the longitudinal acceleration of the vehicle when longitudinally following the preceding vehicle is obtained through the desired acceleration function for longitudinal control of the vehicle itself. Considering the motion state information of adjacent preceding vehicles and the lead vehicle of the platoon, a cooperative platoon structure model is established. Simultaneously, considering the time delay factor of vehicle actuators and V2V communication, a platoon longitudinal PID controller is designed to measure the longitudinal acceleration of the vehicle when longitudinally following the preceding vehicle. This improves the accuracy of vehicle longitudinal control, enabling vehicles to quickly respond to changes in the platoon's motion state, thereby improving the overall operational performance of the platoon.

[0047] Figure 2 This is a structural block diagram of a longitudinal following control system for platooning vehicles according to an embodiment of this application. Figure 2As shown, a longitudinal following control system for platooning vehicles according to an embodiment of this application includes: a definition module 210, a determination module 220, an acquisition module 230, and a control module 240, wherein: The definition module 210 is used to define the desired acceleration model of the vehicle and the vehicle spacing deviation function of the vehicle based on the vehicle status information of the preceding vehicle and the lead vehicle, the actuator delay of the vehicle and the communication delay between vehicles. The determination module 220 is used to determine the desired acceleration function for longitudinal control of the vehicle based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles. The acquisition module 230 is used to obtain the constraint conditions of the vehicle spacing deviation function of the vehicle, and solve the vehicle spacing deviation function according to the constraint conditions to obtain the vehicle spacing deviation between the vehicle and the vehicle in front. The control module 240 is used to obtain the longitudinal acceleration of the vehicle when it follows the vehicle ahead by means of the desired acceleration function of the longitudinal control of the vehicle ahead, based on the vehicle distance deviation between the vehicle and the vehicle ahead.

[0048] According to the longitudinal following control system of platooning vehicles in this application embodiment, firstly, based on the vehicle state information of the preceding vehicle and the lead vehicle, the actuator delay of the current vehicle, and the communication delay between vehicles, the desired acceleration model and the vehicle spacing deviation function of the current vehicle are defined. Then, based on the vehicle spacing deviation function, the actuator delay of the current vehicle, and the communication delay between vehicles, the desired acceleration function for longitudinal control of the current vehicle is determined. Secondly, the constraints of the vehicle spacing deviation function of the current vehicle are obtained, and the vehicle spacing deviation function is solved according to the constraints to obtain the vehicle spacing deviation between the current vehicle and the preceding vehicle. Finally, based on the vehicle spacing deviation between the current vehicle and the preceding vehicle, the longitudinal acceleration of the current vehicle when longitudinally following the preceding vehicle is obtained through the desired acceleration function for longitudinal control of the current vehicle. Considering the motion state information of adjacent preceding vehicles and the lead vehicle of the platoon, a cooperative platoon structure model is established. Simultaneously, considering the time delay factor of vehicle actuators and V2V communication, a platoon longitudinal PID controller is designed, which is the longitudinal acceleration of the current vehicle when longitudinally following the preceding vehicle. This improves the accuracy of vehicle longitudinal control, enabling vehicles to quickly respond to changes in the platoon's motion state, thereby improving the overall operational performance of the platoon.

[0049] Specific limitations regarding the longitudinal following control system for platooned vehicles can be found in the limitations on the longitudinal following control method for platooned vehicles described above, and will not be repeated here. Each module of the aforementioned longitudinal following control system for platooned vehicles can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0050] Furthermore, a vehicle is provided, comprising: a longitudinal following control system for platooning vehicles according to any of the above embodiments. The vehicle first defines its desired acceleration model and its vehicle spacing deviation function based on the vehicle state information of the preceding vehicle and the lead vehicle, the vehicle's actuator delay, and the communication delay between vehicles. Then, based on the vehicle spacing deviation function, the vehicle's actuator delay, and the communication delay between vehicles, it determines the desired acceleration function for longitudinal control. Next, it obtains the constraints of the vehicle spacing deviation function and solves the vehicle spacing deviation function based on the constraints to obtain the vehicle spacing deviation between the vehicle and the preceding vehicle. Finally, based on the vehicle spacing deviation between the vehicle and the preceding vehicle, it obtains the longitudinal acceleration of the vehicle when longitudinally following the preceding vehicle through the desired acceleration function for longitudinal control. Considering the motion state information of adjacent preceding vehicles and the lead vehicle in the platoon, a cooperative platoon structure model is established. Meanwhile, considering the time delay factor of vehicle actuators and V2V communication, a platoon longitudinal PID controller was designed, which is the longitudinal acceleration of the vehicle when it follows the vehicle in front. This improves the accuracy of vehicle longitudinal control, and the vehicle can quickly respond to changes in the platoon's motion state, thereby improving the overall operating performance of the platoon.

[0051] Furthermore, other components and functions of the vehicle according to the embodiments of this application are known to those skilled in the art and will not be described in detail here.

[0052] In one embodiment, a computer device is provided. Figure 3 This is a structural block diagram of the computer device provided in the embodiments of this application, with reference to... Figure 3 The computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned embodiment of the longitudinal following control method for platooned vehicles. For example, it executes: defining the desired acceleration model of the vehicle and the vehicle spacing deviation function of the vehicle based on the vehicle status information of the preceding vehicle and the lead vehicle, the actuator delay of the vehicle, and the communication delay between vehicles; Based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles, the desired acceleration function for the longitudinal control of the vehicle is determined. Obtain the constraint conditions of the vehicle spacing deviation function, and solve the vehicle spacing deviation function according to the constraint conditions to obtain the vehicle spacing deviation between the vehicle and the vehicle in front. Based on the distance deviation between the vehicle and the vehicle in front, the longitudinal acceleration of the vehicle when longitudinally following the vehicle in front is obtained through the desired acceleration function of the longitudinal control of the vehicle.

[0053] This application also provides a computer-readable storage medium storing a computer program. When the processor executes the computer program, it implements the aforementioned embodiment of the longitudinal following control method for platooned vehicles. For example, it executes: defining the desired acceleration model of the vehicle and the vehicle spacing deviation function of the vehicle based on the vehicle status information of the preceding vehicle and the lead vehicle, the actuator delay of the vehicle, and the communication delay between vehicles; Based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles, the desired acceleration function for the longitudinal control of the vehicle is determined. Obtain the constraint conditions of the vehicle spacing deviation function, and solve the vehicle spacing deviation function according to the constraint conditions to obtain the vehicle spacing deviation between the vehicle and the vehicle in front. Based on the distance deviation between the vehicle and the vehicle in front, the longitudinal acceleration of the vehicle when longitudinally following the vehicle in front is obtained through the desired acceleration function of the longitudinal control of the vehicle.

[0054] This application provides a computer program product including instructions that, when executed, cause the method described in this application embodiment to be performed. For example, it can execute... Figure 1 The steps of the longitudinal following control method for platooned vehicles shown include, for example, defining the desired acceleration model and the vehicle spacing deviation function of the vehicle based on the vehicle status information of the preceding and lead vehicles, the actuator delay of the vehicle, and the communication delay between vehicles. Based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles, the desired acceleration function for the longitudinal control of the vehicle is determined. Obtain the constraint conditions of the vehicle spacing deviation function, and solve the vehicle spacing deviation function according to the constraint conditions to obtain the vehicle spacing deviation between the vehicle and the vehicle in front. Based on the distance deviation between the vehicle and the vehicle in front, the longitudinal acceleration of the vehicle when longitudinally following the vehicle in front is obtained through the desired acceleration function of the longitudinal control of the vehicle.

[0055] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0056] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0057] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A longitudinal following control method for platooned vehicles, characterized in that, include: Based on the vehicle status information of the preceding and lead vehicles, the actuator delay of this vehicle, and the communication delay between vehicles, the expected acceleration model of this vehicle and the vehicle spacing deviation function of this vehicle are defined. Based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles, the desired acceleration function for the longitudinal control of the vehicle is determined. Obtain the constraint conditions of the vehicle spacing deviation function, and solve the vehicle spacing deviation function according to the constraint conditions to obtain the vehicle spacing deviation between the vehicle and the vehicle in front. Based on the distance deviation between the vehicle and the vehicle in front, the longitudinal acceleration of the vehicle when longitudinally following the vehicle in front is obtained through the desired acceleration function of the longitudinal control of the vehicle.

2. The longitudinal following control method for platooned vehicles according to claim 1, characterized in that, The method for defining the desired acceleration model of the vehicle based on the vehicle status information of the preceding and lead vehicles, the actuator delay of the vehicle itself, and the communication delay between vehicles includes: Based on the vehicle status information of the preceding and lead vehicles, define the dynamic model of this vehicle; Based on the delay of the vehicle's actuators and the communication delay between vehicles, the desired acceleration model in the dynamic model is adjusted to obtain the desired acceleration model of the vehicle.

3. The longitudinal following control method for platooned vehicles according to claim 1, characterized in that, The method for defining the vehicle spacing deviation function based on the vehicle status information of the preceding and lead vehicles, the actuator delay of this vehicle, and the communication delay between vehicles includes: Define the distance deviation between this vehicle and the vehicle in front, and the distance deviation between this vehicle and the lead vehicle; Based on the distance deviation between the vehicle and the vehicle in front, and the distance deviation between the vehicle and the lead vehicle, the distance deviation function of the vehicle is obtained.

4. The longitudinal following control method for platooned vehicles according to claim 1, characterized in that, The step of determining the desired acceleration function for longitudinal control of the vehicle based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles includes: Obtain the desired acceleration function for the default longitudinal control; Based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles, the expected acceleration function of the default longitudinal control is adjusted to obtain the expected acceleration function of the vehicle's longitudinal control.

5. The longitudinal following control method for platooned vehicles according to claim 1, characterized in that, The constraint conditions for obtaining the vehicle spacing deviation function, and the solution of the vehicle spacing deviation function based on the constraint conditions to obtain the vehicle spacing deviation between the vehicle and the vehicle in front, include: Obtain the constraints for the vehicle's spacing deviation function; The Laplace transform is applied to the constraints, and the vehicle spacing deviation function is solved based on the transformation result to obtain the vehicle spacing deviation between the current vehicle and the vehicle in front.

6. The longitudinal following control method for platooned vehicles according to claim 1, characterized in that, After obtaining the longitudinal acceleration of the vehicle when longitudinally following the vehicle ahead based on the vehicle-to-vehicle distance deviation and the desired acceleration function of the vehicle's longitudinal control, the method further includes: Based on the longitudinal acceleration of the vehicle following the vehicle in front, the vehicle's acceleration is controlled.

7. A longitudinal following control system for platooned vehicles, characterized in that, include: The definition module is used to define the desired acceleration model and the vehicle spacing deviation function of the vehicle based on the vehicle status information of the preceding and lead vehicles, the actuator delay of the vehicle, and the communication delay between vehicles. The determination module is used to determine the desired acceleration function for longitudinal control of the vehicle based on the vehicle spacing deviation function, the delay of the vehicle's actuator, and the communication delay between vehicles; The acquisition module is used to obtain the constraint conditions of the vehicle spacing deviation function of the current vehicle, and solve the vehicle spacing deviation function according to the constraint conditions to obtain the vehicle spacing deviation between the current vehicle and the vehicle in front. The control module is used to obtain the longitudinal acceleration of the vehicle when it follows the vehicle ahead by means of the desired acceleration function of the longitudinal control of the vehicle ahead, based on the vehicle distance deviation between the vehicle and the vehicle ahead.

8. A vehicle, characterized in that, include: The longitudinal following control system for platooning vehicles according to claim 7.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the longitudinal following control method for platooned vehicles according to any one of claims 1-6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the longitudinal following control method for platooned vehicles according to any one of claims 1-6.

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