CN116483096B - Vehicle formation control method, system, cloud platform and storage medium - Google Patents
Vehicle formation control method, system, cloud platform and storage medium Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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Abstract
The invention discloses a vehicle formation control method, a system, a cloud platform and a storage medium, and belongs to the technical field of automatic driving, wherein the vehicle formation control method comprises the following steps: determining a pilot vehicle and a following vehicle; configuring a target relative distance and a target relative angle between the pilot vehicle and the following vehicle; determining a virtual safety field according to the braking distance of the following vehicle, wherein the virtual safety field is used for representing the range of the safety distance between the following vehicle and the obstacle; responding to the existence of an obstacle in the virtual safety field, and determining an obstacle avoidance angle by utilizing a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and dynamic parameters, wherein the dynamic parameters are used for representing the real-time relationship between the following vehicle and the obstacle; and controlling the following vehicles to follow the piloted vehicles according to the obstacle avoidance angle to form a vehicle formation. The invention solves the technical problem of disordered formation of the vehicle formation when the following vehicles in the vehicle formation avoid the obstacle in the existing formation control method.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a vehicle formation control method, a system, a cloud platform and a storage medium.
Background
With the development and progress of intelligent driving technology, the functions of the intelligent driving vehicle are more perfect. Under specific environments, the intelligent vehicle can be subjected to formation control, so that a driving scheme can be reasonably planned, the driving complexity is simplified, the sudden acceleration and sudden braking of the vehicle are reduced, the consumption of energy is reduced, and the driving safety of the vehicle is effectively improved. In order to ensure stable operation of vehicle formation, a large amount of information needs to be collected by sensors such as a laser radar, a millimeter wave radar and the like and analyzed so as to determine the next movement plan of the formation.
In the existing vehicle formation control method, since the following vehicles need to follow the piloting vehicles according to the following algorithm, the following vehicles do not have complete freedom of movement, the conventional path planning algorithm is used on the following vehicles, control signals of the path planning algorithm and control signals of the following algorithm can collide, and therefore the following vehicles are disordered in formation of the vehicles during obstacle avoidance.
Disclosure of Invention
The embodiment of the invention provides a vehicle formation control method, a system, a cloud platform and a storage medium, which at least solve the technical problem that in the existing formation control method, the formation of a vehicle is disordered when following vehicles in the vehicle formation avoid obstacles.
According to a first aspect of an embodiment of the present invention, there is provided a vehicle formation control method including: determining a pilot vehicle and a following vehicle; configuring a target relative distance and a target relative angle between the pilot vehicle and the following vehicle; determining a virtual safety field according to the braking distance of the following vehicle, wherein the virtual safety field is used for representing the range of the safety distance between the following vehicle and the obstacle; responding to the existence of an obstacle in the virtual safety field, and determining an obstacle avoidance angle by utilizing a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and dynamic parameters, wherein the dynamic parameters are used for representing the real-time relationship between the following vehicle and the obstacle; and controlling the following vehicles to follow the piloted vehicles according to the obstacle avoidance angle to form a vehicle formation.
Optionally, determining the virtual safety field according to the braking distance of the following vehicle includes: determining a safety distance according to the braking distance of the following vehicle; and taking the safety distance as a radius, taking the geometric center of the following vehicle as a circle center, and determining a circular area as a virtual safety field.
Optionally, the virtual security field comprises a first partition and a second partition, wherein the first partition is a circular area with a radius smaller than the security distance and a circle center being the circle center of the virtual security field, and the second partition and the first partition together form the virtual security field; responding to the existence of an obstacle in the virtual safety field, and determining the obstacle avoidance angle by utilizing a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and the dynamic parameters comprises the following steps: determining a partition to which an obstacle belongs in response to the existence of the obstacle in the virtual security field; determining an angle adjustment value according to the belonging subarea of the obstacle; and determining the obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the angle adjustment value, the target relative distance, the target relative angle and the dynamic parameters.
Optionally, in response to the existence of an obstacle in the virtual security field, determining the obstacle avoidance angle according to the target relative distance, the target relative angle, and the dynamic parameter using a preset obstacle avoidance angle formula includes: determining a current distance between the obstacle and the following vehicle in response to the existence of the obstacle in the virtual safety field, and determining a current included angle between the obstacle and the running direction of the following vehicle; and determining the obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the current distance, the current included angle, the target relative distance and the target relative angle.
Optionally, controlling the following vehicle to follow the pilot vehicle according to the obstacle avoidance angle includes: determining a target line speed and a target angular speed of the following vehicle according to the obstacle avoidance angle; determining an accelerator pedal opening signal, a brake pedal opening signal and a steering wheel angle signal of the following vehicle according to the target linear velocity and the target angular velocity; and controlling the piloting vehicle according to the accelerator pedal opening signal, the brake pedal opening signal and the steering wheel rotation angle signal.
Optionally, the vehicle formation control method further includes: and controlling the following vehicle to run according to the target relative distance and the target relative angle in response to the absence of the obstacle in the virtual safety field.
Optionally, the vehicle formation control method further includes: planning a driving path for the piloting vehicle by using an artificial potential field algorithm; and controlling the pilot vehicle to run according to the driving path.
According to a second aspect of the embodiment of the present invention, there is also provided a vehicle formation control system including: a first determination module for determining a pilot vehicle and a following vehicle; a configuration module for configuring a target relative distance and a target relative angle between the lead vehicle and the following vehicle; a second determination module for determining a virtual safety field from a braking distance of the following vehicle, wherein the virtual safety field is used for characterizing a range of safety distances between the following vehicle and the obstacle; the third determining module is used for determining an obstacle avoidance angle by utilizing a preset obstacle avoidance angle formula according to the relative distance of the target, the relative angle of the target and dynamic parameters in response to the existence of the obstacle in the virtual safety field, wherein the dynamic parameters are used for representing the real-time relationship between the following vehicle and the obstacle; and the control module is used for controlling the following vehicles to follow the piloting vehicles to form a vehicle formation according to the obstacle avoidance angle.
Optionally, the second determining module is further configured to: determining a safety distance according to the braking distance of the following vehicle; and taking the safety distance as a radius, taking the geometric center of the following vehicle as a circle center, and determining a circular area as a virtual safety field.
Optionally, the virtual security field comprises a first partition and a second partition, wherein the first partition is a circular area with a radius smaller than the security distance and a circle center being the circle center of the virtual security field, and the second partition and the first partition together form the virtual security field; the third determination module is further configured to: determining a partition to which an obstacle belongs in response to the existence of the obstacle in the virtual security field; determining an angle adjustment value according to the belonging subarea of the obstacle; and determining the obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the angle adjustment value, the target relative distance, the target relative angle and the dynamic parameters.
Optionally, the third determining module is further configured to: determining a current distance between the obstacle and the following vehicle in response to the existence of the obstacle in the virtual safety field, and determining a current included angle between the obstacle and the running direction of the following vehicle; and determining the obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the current distance, the current included angle, the target relative distance and the target relative angle.
Optionally, the control module is further configured to: determining a target line speed and a target angular speed of the following vehicle according to the obstacle avoidance angle; determining an accelerator pedal opening signal, a brake pedal opening signal and a steering wheel angle signal of the following vehicle according to the target linear velocity and the target angular velocity; and controlling the piloting vehicle according to the accelerator pedal opening signal, the brake pedal opening signal and the steering wheel rotation angle signal.
Optionally, the control module is further configured to: and controlling the following vehicle to run according to the target relative distance and the target relative angle in response to the absence of the obstacle in the virtual safety field.
Optionally, the control module is further configured to: planning a driving path for the piloting vehicle by using an artificial potential field algorithm; and controlling the pilot vehicle to run according to the driving path.
According to a third aspect of embodiments of the present invention, there is also provided a cloud platform comprising a memory in which a computer program is stored, and a processor arranged to run the computer program to perform the vehicle fleet control method as described in any of the embodiments of the first aspect above.
According to a fourth aspect of embodiments of the present invention, there is also provided a non-volatile storage medium having a computer program stored therein, wherein the computer program is arranged to perform the vehicle fleet control method as described in any of the embodiments of the first aspect above, when run on a computer or processor.
In the embodiment of the invention, a pilot vehicle and a following vehicle are determined; configuring a target relative distance and a target relative angle between the pilot vehicle and the following vehicle; determining a virtual safety field according to the braking distance of the following vehicle, wherein the virtual safety field is used for representing the range of the safety distance between the following vehicle and the obstacle; responding to the existence of an obstacle in the virtual safety field, and determining an obstacle avoidance angle by utilizing a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and dynamic parameters, wherein the dynamic parameters are used for representing the real-time relationship between the following vehicle and the obstacle; and controlling the following vehicles to follow the piloted vehicles according to the obstacle avoidance angle to form a vehicle formation. By constructing the virtual security field and detecting whether an obstacle exists in the virtual security field, when the obstacle exists, the obstacle avoidance angle is determined by considering the target relative angle and the target relative distance, and the running of the following vehicle is controlled according to the obstacle avoidance angle, so that the following vehicle can avoid the obstacle and avoid collision, and meanwhile, the formation can be kept to a certain extent, and further, the technical problem that the formation of the following vehicle in the vehicle formation is disordered when the following vehicle avoids the obstacle in the existing formation control method can be solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of a vehicle fleet control method according to one embodiment of the present application;
FIG. 2 is an exemplary diagram of a first vehicle motion model according to one embodiment of the application;
FIG. 3 is an exemplary diagram of a second vehicle motion model according to one embodiment of the present application;
FIG. 4 is a schematic diagram of an artificial potential field method according to one embodiment of the application;
FIG. 5 is a schematic diagram of a following vehicle obstacle avoidance principle according to one embodiment of the present application;
FIG. 6 is a schematic diagram of a communication flow according to one embodiment of the application;
fig. 7 is a block diagram of a vehicle formation control system according to one embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present invention, there is provided an embodiment of a vehicle formation control method, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system containing at least one set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order different from that shown or described herein.
The method embodiments may also be performed in an electronic device, similar control device, or cloud, including a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and memory for storing data. Optionally, the electronic apparatus may further include a communication device for a communication function and a display device. It will be appreciated by those of ordinary skill in the art that the foregoing structural descriptions are merely illustrative and are not intended to limit the structure of the electronic device. For example, the electronic device may also include more or fewer components than the above structural description, or have a different configuration than the above structural description.
The processor may include one or more processing units. For example: the processor may include a processing device of a central processing unit (central processing unit, CPU), a graphics processor (graphics processing unit, GPU), a digital signal processing (digital signal processing, DSP) chip, a microprocessor (microcontroller unit, MCU), a programmable logic device (field-programmable gate array, FPGA), a neural network processor (neural-network processing unit, NPU), a tensor processor (tensor processing unit, TPU), an artificial intelligence (artificial intelligent, AI) type processor, or the like. Wherein the different processing units may be separate components or may be integrated in one or more processors. In some examples, the electronic device may also include one or more processors.
The memory may be used to store a computer program, for example, a computer program corresponding to the vehicle formation control method in the embodiment of the present invention, and the processor implements the vehicle formation control method by running the computer program stored in the memory. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory. In some examples, the memory may further include memory remotely located with respect to the processor, which may be connected to the electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication device is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (network interface controller, NIC) that can connect to other network devices through the base station to communicate with the internet. In one example, the communication device may be a Radio Frequency (RF) module for communicating with the internet wirelessly. In some embodiments of the present solution, the communication device is configured to connect to a mobile device such as a mobile phone, a tablet, or the like, and may send an instruction to the electronic apparatus through the mobile device.
The display devices may be touch screen type liquid crystal displays (liquid crystal display, LCD) and touch displays (also referred to as "touch screens" or "touch display screens"). The liquid crystal display may enable a user to interact with a user interface of the electronic device. In some embodiments, the electronic device has a graphical user interface (graphical user interface, GUI) with which a user can human interact by touching finger contacts and/or gestures on the touch-sensitive surface, executable instructions for performing the human interaction functions described above being configured/stored in one or more processor-executable computer program products or readable storage media.
Fig. 1 is a flowchart of a vehicle formation control method according to one embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S101, determining a lead vehicle and a following vehicle.
Specifically, the vehicle formation includes a pilot vehicle and a plurality of following vehicles, the pilot vehicle is used as a head vehicle, and the following vehicles follow the pilot vehicle to run according to a preset formation, so as to form the vehicle formation. Therefore, when constructing a vehicle convoy, it is first necessary to specify a lead vehicle and a following vehicle.
Optionally, when the pilot vehicle and the following vehicle are specified, the pilot vehicle and the following vehicle may be specified randomly, and may also be specified according to a preset specification rule. The preset specified rules can be set by a designer according to actual requirements.
Step S102, configuring a target relative distance and a target relative angle between the lead vehicle and the following vehicle.
Specifically, in order to maintain the formation of the vehicle formation, the relative distance and relative angle between the following vehicle and the lead vehicle need to be maintained as the target relative distance and target relative angle.
It is noted that the configuration of the target relative distance and target relative angle configuration process between the lead vehicle and the following vehicle is performed by the electronic device or other executing entity performing the method.
Alternatively, when the target relative distance and the target relative angle are configured, the target relative distance and the target relative angle can be confirmed and configured according to a preset vehicle formation.
Step S103, determining a virtual safety field according to the braking distance of the following vehicle.
In particular, a virtual safety field is used to characterize the range of safety distances between the following vehicle and the obstacle.
It will be appreciated that the virtual safety field represents a safety range, and that obstacles outside this range have no effect on the following vehicle, and that obstacles in the safety field need to be detected to control the following vehicle to avoid.
It should be noted that a radar is provided on the following vehicle for detecting an obstacle in the virtual security field.
Alternatively, in some embodiments of the invention, the braking distance of the pilot vehicle is the distance required for the pilot vehicle to start braking from maximum speed to stop.
Alternatively, in some embodiments of the invention, the braking distance of the pilot vehicle is the distance required for the pilot vehicle to brake from the current speed to a stop.
Step S104, in response to the existence of the obstacle in the virtual safety field, determining the obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and the dynamic parameters.
In particular, dynamic parameters are used to represent the real-time relationship between the following vehicle and the obstacle. The preset obstacle avoidance angle formula can determine the obstacle avoidance angle according to the target relative distance, the target relative angle and the dynamic parameters.
Optionally, the real-time relationship between the following vehicle and the obstacle comprises a relative distance and a relative angle between the following vehicle and the obstacle.
Step S105, the following vehicles are controlled to follow the piloted vehicles according to the obstacle avoidance angle to form a vehicle formation.
It can be understood that the obstacle avoidance angle is a course angle that needs to be adjusted for the pilot vehicle to avoid an obstacle, and the calculation of the obstacle avoidance angle considers the target relative angle and the target relative distance. According to the obstacle avoidance angle control following vehicles taking the relative angle and the relative distance of the targets into consideration, the vehicles can be ensured to form tidier formation while avoiding obstacles.
In the embodiment of the invention, a pilot vehicle and a following vehicle are determined; configuring a target relative distance and a target relative angle between the pilot vehicle and the following vehicle; determining a virtual safety field according to the braking distance of the following vehicle, wherein the virtual safety field is used for representing the range of the safety distance between the following vehicle and the obstacle; responding to the existence of an obstacle in the virtual safety field, and determining an obstacle avoidance angle by utilizing a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and dynamic parameters, wherein the dynamic parameters are used for representing the real-time relationship between the following vehicle and the obstacle; and controlling the following vehicles to follow the piloted vehicles according to the obstacle avoidance angle to form a vehicle formation. By constructing the virtual security field and detecting whether an obstacle exists in the virtual security field, when the obstacle exists, the obstacle avoidance angle is determined by considering the target relative angle and the target relative distance, and the running of the following vehicle is controlled according to the obstacle avoidance angle, so that the following vehicle can avoid the obstacle and avoid collision, and meanwhile, the formation can be kept to a certain extent, and further, the technical problem that the formation of the following vehicle in the vehicle formation is disordered when the following vehicle avoids the obstacle in the existing formation control method can be solved.
It should be noted that, when the piloting vehicle and the following vehicle do not need to avoid the obstacle, a preset formation control algorithm is adopted to control the piloting vehicle and the following vehicle, specifically as follows:
referring to fig. 2, fig. 2 is an example of a motion model of a single vehicle when it is moving, the current pose of the vehicle beingWherein->Is the origin of the vehicle coordinate system; />The current course angle of the vehicle; />And->The linear and angular speeds of the vehicle, respectively. The motion model of the vehicle is described as: />Formula (1)
Wherein,,for vehicle speed +.>The pose of the vehicle.
It should be noted that when a preset formation control algorithm is adopted to control the pilot vehicle and the following vehicles, the pilot vehicle is determined first, then the position coordinates and the course angles of the vehicles are obtained according to the inertial navigation system configured by the pilot vehicle, and the following vehicles are dynamically tracked according to the pose changes of the pilot vehicle under the control of the preset formation control algorithm to adjust the relative positions and the relative angles between the pilot vehicles.
It will be appreciated that the piloted vehicle serves as a reference point for formation, and no adjustment is made, the task of formation retention being accomplished by the following vehicle.
Optionally, the position coordinates and heading angle information of the piloting vehicle can be uploaded to a preset cloud platform, and other following vehicles acquire the pose change of the piloting vehicle through the preset cloud platform, so that the relative position and the relative angle between the piloting vehicle and the position and the heading angle of the piloting vehicle are adjusted according to the pose change of the piloting vehicle.
Referring to FIG. 3, FIG. 3 is a vehicle motion model between a lead vehicle and a following vehicle, whereinFor piloting the vehicle, < > for the vehicle>For following the vehicle, their pose is +.>、/>；/>And->The linear speed and the angular speed of the piloted vehicle are respectively; />And->The linear speed and the angular speed of the following vehicle, respectively; the distance from the origin of the vehicle coordinate system to the rotation center of the vehicle is；/>And->The target relative distance and the target relative angle between the piloting vehicle and the following vehicle respectively; />And->The actual relative distance and the actual relative angle of the two; />And->The rate of change of the relative distance and the relative angle of the two, respectively, wherein>The relative distance change rate of +.>The relative angle change rate is->；/>The relative distance change rate of +.>The relative angle change rate is->The method comprises the steps of carrying out a first treatment on the surface of the From fig. 3, the dynamic model of the formation can be deduced as:
formula (2)
Wherein the method comprises the steps of；
The purpose of adopting the preset formation control algorithm is thatWhen in use, let->，/>。
This closed loop control law is described as:
formula (3)
Wherein the method comprises the steps ofAnd->Is a constant gain coefficient. Substituting the formula (3) into the formula (2) to obtain the following vehicle control law:
formula (4)
Wherein,,。
it can be understood that the pose and the motion state of the piloted vehicle are obtained through a preset cloud platform, and the motion control strategy in the formula (4) can be executed after the vehicle is followed, so that the task of formation holding is completed.
Optionally, in step S103, determining the virtual safety field according to the braking distance of the following vehicle includes the steps of:
step S1031, determining a safe distance according to the braking distance of the following vehicle.
Specifically, when the safety distance is determined according to the braking distance, the product obtained by multiplying the braking distance by a preset coefficient is used as the safety distance. The preset coefficient is a positive number greater than or equal to 1 set according to actual requirements.
Alternatively, in some embodiments of the present invention, the preset coefficient is 1, and the braking distance is directly used as the safety distance.
In step S1032, the circular area is determined as a virtual safe field with the safe distance as a radius and the geometric center of the following vehicle as a center.
It will be appreciated that the virtual safety field is a circular region centered around the geometric center of the following vehicle with the safety distance as a radius.
Alternatively, in some embodiments of the present invention, the virtual security farm may be other shapes, and illustratively, the shape of the virtual security farm may be square or oval.
Optionally, the virtual security field comprises a first partition and a second partition, wherein the first partition is a circular area with a radius smaller than the security distance and a circle center being the circle center of the virtual security field, and the second partition and the first partition together form the virtual security field; responding to the existence of an obstacle in the virtual safety field, and determining the obstacle avoidance angle by utilizing a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and the dynamic parameters comprises the following steps: determining a partition to which an obstacle belongs in response to the existence of the obstacle in the virtual security field; determining an angle adjustment value according to the belonging subarea of the obstacle; and determining the obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the angle adjustment value, the target relative distance, the target relative angle and the dynamic parameters.
It is understood that when the virtual security field is a circular area, the first partition is a circular area, and the area corresponding to the second partition is a circular ring.
Specifically, when an obstacle exists in the virtual safety field, determining the partition of the obstacle in the virtual safety field, and then determining an angle adjustment value according to the partition of the obstacle. The angle adjusting value is a preset value, and the first partition and the second partition respectively correspond to one preset angle adjusting value.
It should be noted that, the angle adjustment value corresponding to the first partition is greater than the angle adjustment value corresponding to the second partition.
When an obstacle exists in the first partition, an initial obstacle avoidance angle is determined according to a target relative distance, a target relative angle and dynamic parameters by using a preset obstacle avoidance angle formula, and then the initial obstacle avoidance angle and an angle adjustment value corresponding to the first partition are added to determine the obstacle avoidance angle. When the obstacle exists in the second partition, determining an initial obstacle avoidance angle by utilizing a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and the dynamic parameters, and then adding the initial obstacle avoidance angle and an angle adjustment value corresponding to the second partition to determine the obstacle avoidance angle.
Alternatively, in some embodiments of the present invention, the virtual security farm may be divided into three, four, or even more partitions.
Optionally, in step S104, in response to the existence of an obstacle in the virtual safety field, determining the obstacle avoidance angle according to the target relative distance, the target relative angle, and the dynamic parameter by using the preset obstacle avoidance angle formula may include the following steps:
step S1041, determining a current distance between the obstacle and the following vehicle, and determining a current angle between the obstacle and a traveling direction of the following vehicle in response to the obstacle existing in the virtual safety field.
Step S1042, determining the obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the current distance, the current included angle, the target relative distance and the target relative angle.
Specifically, as shown in fig. 5, the area in the protective shell is the virtual safety field corresponding area, when the following vehicle detects that an obstacle enters the virtual safety field, the following vehicle will adjust the advancing direction, and combine the angle to be adjusted with the angle for keeping the formation, that is, the angle to be rotated by the following vehicle is obtained by using a preset obstacle avoidance angle formula，/>Namely, the obstacle avoidance angle is obtained by presetting the obstacle avoidance angle formula as follows:
Formula (5)
Wherein,,radius of the virtual security field; />The distance between the nearest obstacle in the virtual security field and the following vehicle; />An angle between the direction of the nearest obstacle and the positive direction of the following vehicle is represented; />And->The target relative distance and target relative angle between the lead vehicle and the following vehicle, respectively.
Optionally, controlling the following vehicle to follow the pilot vehicle according to the obstacle avoidance angle includes: determining a target line speed and a target angular speed of the following vehicle according to the obstacle avoidance angle; determining an accelerator pedal opening signal, a brake pedal opening signal and a steering wheel angle signal of the following vehicle according to the target linear velocity and the target angular velocity; and controlling the piloting vehicle according to the accelerator pedal opening signal, the brake pedal opening signal and the steering wheel rotation angle signal.
Specifically, after the target angle is obtained, the target line speed and the target angular speed of the following vehicle can be determined according to a preset formation control algorithm, then an accelerator pedal opening signal, a brake pedal opening signal and a steering wheel rotation angle signal of the following vehicle are determined according to the target line speed and the target angular speed, and finally the piloting vehicle is controlled according to the accelerator pedal opening signal, the brake pedal opening signal and the steering wheel rotation angle signal.
Optionally, the vehicle formation control method further includes: and controlling the following vehicle to run according to the target relative distance and the target relative angle in response to the absence of the obstacle in the virtual safety field.
Specifically, if no obstacle is detected in the virtual security field, a preset formation control algorithm is adopted according to the target relative distance and the target relative angle to control the operation of the following vehicle.
Optionally, the vehicle formation control method further includes: planning a driving path for the piloting vehicle by using an artificial potential field algorithm; and controlling the pilot vehicle to run according to the driving path.
Specifically, when the vehicle formation adopts a preset formation control algorithm, the piloted vehicle independently bears the task of planning the motion trail of the whole system, so that the advantage and the disadvantage of the obstacle avoidance capability have very important significance. Considering that the piloted vehicle is a leader of formation, high flexibility is required, so that an artificial potential field method is adopted as a navigation algorithm of the piloted vehicle, and the piloted vehicle is endowed with the capability of avoiding barriers and driving to target points.
The artificial potential field method has the characteristics of real time, flexibility and rapidness, takes potential field theory as a theoretical basis, and assumes that a potential field exists in the environment. As shown in fig. 4, the pilot vehicle is subjected to both the potential field of the obstacle and the target point, wherein the direction is directed in the opposite direction to the obstacle by repulsive force in the vicinity of the obstacle; and simultaneously, the attractive force generated by the target point points, the direction points to the target point, and the vectors of the attractive force and the target point are added, and the resultant force direction is the movement direction of the piloting vehicle.
The principle of the artificial potential field method is as follows:
force potential functionThe potential energy is determined by the distance between the piloting vehicle and the target point, and is larger when the distance between the piloting vehicle and the target point is longer, and is smaller otherwise; />Is the attraction force received by the pilot vehicle. The force potential function is->And (2) gravitational force->Respectively defined as:
formula (6)
Formula (7)
Wherein,,is a proportional gain coefficient; />、/>The positions of the piloting vehicle and the target point are respectively; />Representing the distance of the piloted vehicle to the target point.
Repulsive force functionFor the repulsive force of the obstacle to the piloting vehicle, the closer the distance between the two is, the +.>The larger, vice versa>The smaller. We will repulsive potential function->And repulsive force->Respectively defined as:
formula (8)
Formula (9)
Wherein,,is a proportional adjustment coefficient; />The radius of the influence range of the repulsive force field represents the maximum range of influence of the obstacle on the motion behavior of the piloting vehicle; />Is the distance between the piloting vehicle and the obstacle.
The gravitation function and the repulsive force function vector are added to obtain a total potential function, so the total potential functionThe method comprises the following steps:
formula (10)
Resultant force applied by pilot vehicleThe method comprises the following steps:
formula (11)
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus a necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
In this embodiment, a vehicle formation control system is further provided, and the system is used to implement the foregoing embodiments and preferred embodiments, and will not be described in detail. As used below, the term "module" is a combination of software and/or hardware that can implement a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
Fig. 7 is a block diagram of a vehicle formation control system 200 according to one embodiment of the present invention, as shown in fig. 7, exemplified by the vehicle formation control system 200, including: a first determining module 201 for determining a lead vehicle and a following vehicle; a configuration module 202 for configuring a target relative distance and a target relative angle between the lead vehicle and the following vehicle; a second determination module 203 for determining a virtual safety field from the braking distance of the following vehicle, wherein the virtual safety field is used to characterize a range of safety distances between the following vehicle and the obstacle; a third determining module 204, configured to determine an obstacle avoidance angle according to a preset obstacle avoidance angle formula according to a target relative distance, a target relative angle, and dynamic parameters in response to the presence of an obstacle in the virtual safety field, where the dynamic parameters are used to represent a real-time relationship between the following vehicle and the obstacle; the control module 205 is configured to control the following vehicle to follow the piloted vehicle to form a vehicle formation according to the obstacle avoidance angle.
Optionally, the second determining module 203 is further configured to: determining a safety distance according to the braking distance of the following vehicle; and taking the safety distance as a radius, taking the geometric center of the following vehicle as a circle center, and determining a circular area as a virtual safety field.
Optionally, the virtual security field comprises a first partition and a second partition, wherein the first partition is a circular area with a radius smaller than the security distance and a circle center being the circle center of the virtual security field, and the second partition and the first partition together form the virtual security field; the third determination module 204 is further configured to: determining a partition to which an obstacle belongs in response to the existence of the obstacle in the virtual security field; determining an angle adjustment value according to the belonging subarea of the obstacle; and determining the obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the angle adjustment value, the target relative distance, the target relative angle and the dynamic parameters.
Optionally, the third determining module 204 is further configured to: determining a current distance between the obstacle and the following vehicle in response to the existence of the obstacle in the virtual safety field, and determining a current included angle between the obstacle and the running direction of the following vehicle; and determining the obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the current distance, the current included angle, the target relative distance and the target relative angle.
Optionally, the control module 205 is further configured to: determining a target line speed and a target angular speed of the following vehicle according to the obstacle avoidance angle; determining an accelerator pedal opening signal, a brake pedal opening signal and a steering wheel angle signal of the following vehicle according to the target linear velocity and the target angular velocity; and controlling the piloting vehicle according to the accelerator pedal opening signal, the brake pedal opening signal and the steering wheel rotation angle signal.
Optionally, the control module 205 is further configured to: and controlling the following vehicle to run according to the target relative distance and the target relative angle in response to the absence of the obstacle in the virtual safety field.
Optionally, the control module 205 is further configured to: planning a driving path for the piloting vehicle by using an artificial potential field algorithm; and controlling the pilot vehicle to run according to the driving path.
The embodiment of the invention also provides a cloud platform, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the vehicle formation control method in any embodiment.
Alternatively, in this embodiment, the processor in the cloud platform may be configured to execute a computer program to perform the steps of:
step S101, determining a lead vehicle and a following vehicle.
Step S102, configuring a target relative distance and a target relative angle between the lead vehicle and the following vehicle.
Step S103, determining a virtual safety field according to the braking distance of the following vehicle.
Step S104, in response to the existence of the obstacle in the virtual safety field, determining the obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and the dynamic parameters.
Step S105, the following vehicles are controlled to follow the piloted vehicles according to the obstacle avoidance angle to form a vehicle formation.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.
It can be understood that the cloud platform is used for controlling the vehicle, and the cloud computing resource can be used for operating the data processing part, so that the vehicle can avoid a short board with weaker computing capability of the controller, concentrate on environment information acquisition and task execution, and quickly respond to environment and task changes. The cloud has a huge resource pool, and cloud computing and cloud storage services can be provided as required. The cloud platform runs in an isolated computer system by adopting a virtualization technology, has the operation capability of a large server and the data transmission capability of high-quality network bandwidth, comprises complete hardware, network functions and an independent operating system, and has strong resolving power.
Optionally, referring to fig. 6, the cloud platform is used to communicate with and control the operation of the lead vehicle or the following vehicle. Specifically, a piloting vehicle or a following vehicle is used as a client, and a cloud platform is used as a server. On the client side: creating a client Socket initiation connection; judging whether the connection is successful, if so, enabling the client Socket to enter a connection state; if the connection fails, the step of creating the connection initiated by the client Socket is re-executed; when the client is in a connected state, the active disconnection can be selected. On the server side, a monitoring Socket is established to enter a monitoring state; continuously monitoring whether a connection request exists or not; after monitoring a connection request, creating service Socket receiving information; and judging whether the client is disconnected or not at all, if so, continuing to monitor the connection request, and if not, continuing to receive the information.
Embodiments of the present invention also provide a non-volatile storage medium in which a computer program is stored, wherein the computer program is arranged to perform the vehicle fleet control method described in any of the embodiments above, when run on a computer or processor.
Alternatively, in the present embodiment, the above-described computer program may be configured to store a computer program for performing the steps of:
Step S101, determining a lead vehicle and a following vehicle.
Step S102, configuring a target relative distance and a target relative angle between the lead vehicle and the following vehicle.
Step S103, determining a virtual safety field according to the braking distance of the following vehicle.
Step S104, in response to the existence of the obstacle in the virtual safety field, determining the obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and the dynamic parameters.
Step S105, the following vehicles are controlled to follow the piloted vehicles according to the obstacle avoidance angle to form a vehicle formation.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In some embodiments provided by the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the modules may be divided into a logic function, and there may be other division manners in actual implementation, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with respect to each other may be through some interface, module or indirect coupling or communication connection of modules, electrical or otherwise.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (9)
1. A vehicle formation control method, characterized by comprising:
determining a pilot vehicle and a following vehicle;
configuring a target relative distance and a target relative angle between the lead vehicle and the following vehicle;
determining a virtual safety field according to the braking distance of the following vehicle, wherein the virtual safety field is used for representing the range of the safety distance between the following vehicle and an obstacle;
determining an obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and dynamic parameters in response to the obstacle existing in the virtual safety field, wherein the dynamic parameters are used for representing a real-time relationship between the following vehicle and the obstacle;
the responding to the existence of the obstacle in the virtual safety field, and the determining the obstacle avoidance angle by utilizing a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and the dynamic parameter comprises the following steps:
Determining a current distance between the obstacle nearest to the following vehicle and the following vehicle in response to the existence of the obstacle in the virtual safety field, and determining a current included angle between the obstacle nearest to the following vehicle and the running direction of the following vehicle;
determining an obstacle avoidance angle by using the preset obstacle avoidance angle formula according to the current distance, the current included angle, the target relative distance and the target relative angle, wherein the preset obstacle avoidance angle formula is as follows:wherein->For the obstacle avoidance angle, < >>For the radius of the virtual security field, +.>For the current distance, i.e./>For the current angle, ++>And->The target relative distance and the target relative angle are respectively;
and controlling the following vehicle to follow the piloting vehicle according to the obstacle avoidance angle to form a vehicle formation.
2. The vehicle formation control method according to claim 1, characterized in that the determining a virtual safety field according to a braking distance of the following vehicle includes:
determining a safety distance according to the braking distance of the following vehicle;
and determining a circular area as the virtual safety field by taking the safety distance as a radius and the geometric center of the following vehicle as a circle center.
3. The vehicle formation control method according to claim 2, characterized in that the virtual security field includes a first partition and a second partition, wherein the first partition is a circular area having a radius smaller than the safety distance and a center of a circle of the virtual security field, and the second partition and the first partition together constitute the virtual security field;
the responding to the existence of the obstacle in the virtual safety field, and the determining the obstacle avoidance angle by utilizing a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and the dynamic parameter comprises the following steps:
responsive to an obstacle existing within the virtual security farm, determining a partition to which the obstacle belongs;
determining an angle adjustment value according to the partition to which the obstacle belongs;
and determining the obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the angle adjustment value, the target relative distance, the target relative angle and the dynamic parameter.
4. The vehicle formation control method according to claim 1, characterized in that the controlling the following vehicle to follow the pilot vehicle according to the obstacle avoidance angle includes:
determining a target line speed and a target angular speed of the following vehicle according to the obstacle avoidance angle;
Determining an accelerator pedal opening signal, a brake pedal opening signal and a steering wheel angle signal of the following vehicle according to the target linear velocity and the target angular velocity;
and controlling the pilot vehicle according to the accelerator pedal opening signal, the brake pedal opening signal and the steering wheel angle signal.
5. The vehicle formation control method according to claim 1, characterized by further comprising:
and controlling the following vehicle to run according to the target relative distance and the target relative angle in response to the absence of the obstacle in the virtual safety field.
6. The vehicle formation control method according to claim 1, characterized by further comprising:
planning a driving path for the piloting vehicle by using an artificial potential field algorithm;
and controlling the pilot vehicle to run according to the running path.
7. A vehicle formation control system, characterized by comprising:
a first determination module for determining a pilot vehicle and a following vehicle;
a configuration module for configuring a target relative distance and a target relative angle between the lead vehicle and the following vehicle;
a second determination module for determining a virtual safety field from a braking distance of the following vehicle, wherein the virtual safety field is used for characterizing a range of safety distances between the following vehicle and an obstacle;
The third determining module is used for determining an obstacle avoidance angle according to the target relative distance, the target relative angle and dynamic parameters in response to the existence of the obstacle in the virtual safety field by utilizing a preset obstacle avoidance angle formula, wherein the dynamic parameters are used for representing the real-time relationship between the following vehicle and the obstacle;
the responding to the existence of the obstacle in the virtual safety field, and the determining the obstacle avoidance angle by utilizing a preset obstacle avoidance angle formula according to the target relative distance, the target relative angle and the dynamic parameter comprises the following steps:
determining a current distance between the obstacle nearest to the following vehicle and the following vehicle in response to the existence of the obstacle in the virtual safety field, and determining a current included angle between the obstacle nearest to the following vehicle and the running direction of the following vehicle;
determining an obstacle avoidance angle by using a preset obstacle avoidance angle formula according to the current distance, the current included angle, the target relative distance and the target relative angle, wherein the preset obstacle avoidance angle formula is as follows:wherein->For the obstacle avoidance angle, < >>For the radius of the virtual security field, +. >For the current distance, i.e./>For the current angle, ++>And->The target relative distance and the target relative angle are respectively;
and the control module is used for controlling the following vehicle to follow the piloting vehicle to form a vehicle formation according to the obstacle avoidance angle.
8. A cloud platform comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the vehicle fleet control method as claimed in any of the preceding claims 1 to 6.
9. A non-volatile storage medium, characterized in that a computer program is stored in the non-volatile storage medium, wherein the computer program is arranged to perform the vehicle fleet control method as claimed in any one of the preceding claims 1 to 6 when run on a computer or processor.
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