CN117915291A - Vehicle following method, system, equipment and readable medium based on V2X communication - Google Patents
Vehicle following method, system, equipment and readable medium based on V2X communication Download PDFInfo
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Abstract
The application provides a vehicle following method, a system, equipment and a medium based on V2X communication, wherein the method comprises the steps of obtaining first vehicle position information and second vehicle position information, and converting the first vehicle position information and the second vehicle position information into a Cartesian plane coordinate system; obtaining a track reference line of the second vehicle according to the second vehicle position information, and constructing a track curve equation according to the track reference line; acquiring first vehicle running information, and establishing a vehicle kinematics equation according to the first vehicle running information; based on the trajectory curve equation and the vehicle kinematics equation, converting the first vehicle position information and the first vehicle running information into a Frenet coordinate system to obtain following control information; and controlling the first vehicle to follow the second vehicle according to the following control information.
Description
Technical Field
The application relates to the technical field of vehicle driving, in particular to a vehicle following method, a system, equipment and a readable medium based on V2X communication.
Background
With the rapid development of automatic driving technology, the communication mode between vehicles and the perception capability of the vehicles to the environment become key to promote the development of intelligent traffic systems. Conventional vehicle following techniques rely primarily on sensors of the vehicle itself, such as radar, cameras or lidar, to detect the condition of the vehicle in front, and thus adjust the speed and position of the vehicle to maintain a safe distance. However, the effectiveness of these techniques in view-obstructed or severe weather conditions is limited. In addition, the perceived range and accuracy of the sensor also limits the performance of the vehicle following system.
Currently, vehicle following algorithms focus primarily on motion control using vehicle own sensor data, with less consideration for extensive environmental information enhanced with V2X communications. The existing methods have limitations in handling complex traffic scenarios and predicting forward vehicle behavior, especially in multi-vehicle, dynamically changing traffic environments.
Disclosure of Invention
An object of the present application is to provide a vehicle following method, system, device and readable medium based on V2X communication, at least to enable the method to realize vehicle following based on V2X communication technology, without the technical problem that vehicle tracking cannot be performed accurately.
To achieve the above object, some embodiments of the present application provide a vehicle following method based on V2X communication, the method including acquiring first vehicle position information and second vehicle position information, converting the first vehicle position information and the second vehicle position information into a cartesian plane coordinate system; obtaining a track reference line of the second vehicle according to the second vehicle position information, and constructing a track curve equation according to the track reference line; acquiring first vehicle running information, and establishing a vehicle kinematics equation according to the first vehicle running information; based on the trajectory curve equation and the vehicle kinematics equation, converting the first vehicle position information and the first vehicle running information into a Frenet coordinate system to obtain following control information; and controlling the first vehicle to follow the second vehicle according to the following control information.
Further, the acquiring the first vehicle position information and the second vehicle position information includes: the first vehicle sends position information to the second vehicle through V2X communication; the first vehicle acquires the position information of the second vehicle through V2X communication; the location information includes longitude information, latitude information, and altitude information.
Further, the acquiring the first vehicle driving information includes: acquiring the first vehicle running information through a built-in sensor of the first vehicle; the first vehicle travel information includes heading angle, speed, acceleration, and radius of curvature.
Further, the obtaining the following control information includes: according to the track reference line, converting the first vehicle position information, the course angle, the speed, the acceleration and the curvature radius of the first vehicle in a Cartesian coordinate system into a Frenet coordinate system to obtain the longitudinal distance of the first vehicle along the track reference line, the longitudinal speed of the first vehicle along the track reference line, the longitudinal acceleration of the first vehicle along the track reference line, the transverse distance of the first vehicle along the track reference line, the transverse speed of the first vehicle along the track reference line and the transverse acceleration of the first vehicle along the track reference line.
Further, the method further comprises: obtaining a target track point according to the longitudinal distance of the first vehicle along the track reference line and the transverse distance of the first vehicle along the track reference line; and controlling the first vehicle to run on the track reference line according to the target track point.
Further, the establishing a vehicle kinematics equation according to the first vehicle driving information includes: and introducing a vehicle rigid body factor and a wheel corner factor, and mapping the motion state of the vehicle to a vehicle kinematics equation.
Further, the method further comprises: the speed of the first vehicle is controlled to maintain a safe distance from the second vehicle while the first vehicle is traveling on the trajectory reference line.
Some embodiments of the present application also provide a V2X communication-based vehicle following system, the system comprising: the V2X communication module is used for acquiring first vehicle position information, second vehicle position information and first vehicle running information; a vehicle following module for translating the first and second vehicle position information to a cartesian planar coordinate system; obtaining a track reference line of the second vehicle according to the second vehicle position information, and constructing a track curve equation according to the track reference line; establishing a vehicle kinematics equation according to the first vehicle running information; based on the trajectory curve equation and the vehicle kinematics equation, converting the first vehicle position information and the first vehicle running information into a Frenet coordinate system to obtain following control information; and the vehicle control module is used for controlling the vehicle to follow according to the following control information.
Some embodiments of the present application also provide a V2X communication-based vehicle following apparatus, the apparatus comprising: one or more processors; and a memory storing computer program instructions that, when executed, cause the processor to perform the method as described above.
Some embodiments of the present application also provide a computer readable medium having stored thereon computer program instructions executable by a processor to implement the V2X communication based vehicle following method.
Compared with the prior art, in the scheme provided by the embodiment of the application, the vehicle following method based on V2X communication utilizes the V2X communication, and the vehicle can exchange key information such as position, speed, acceleration and the like in real time, so that the following vehicle can rapidly respond to the dynamic change of the front vehicle; the dynamic state of the vehicle can be converted from a Cartesian coordinate system to a Frenet coordinate system through an accurate vehicle kinematics equation, so that path planning and control can be more accurately performed, and the following precision is improved; by combining the real-time dynamic data and the environment information of the vehicle, the potential collision can be predicted and avoided more effectively, so that the following safety of the vehicle is improved; being able to adapt to diverse traffic environments, such as in complex traffic flows, the vehicle may adjust the following strategy based on information from the V2X communication.
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Fig. 1 is a schematic flow chart of a vehicle following method based on V2X communication according to an embodiment of the present application;
Fig. 2 is an effect schematic diagram of a vehicle following method based on V2X communication according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating the effect of another vehicle following method based on V2X communication according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle following system based on V2X communication according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a vehicle following device based on V2X communication according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
There are some limitations in the existing solutions for vehicle-to-vehicle communication (V2V) to enable vehicle following. The use of positioning information, i.e., latitude and longitude, obtained based on the Global Positioning System (GPS) geodetic coordinate system is often not suitable for direct use as an input to a vehicle control system. This is because these positioning data do not provide direct information about the dynamic behavior of the vehicle, such as speed, direction and expected movement, and are therefore mainly used for navigation and map display. Although the positioning in the geodetic coordinate system can be converted into the cartesian planar coordinate system for the control system, this cartesian coordinate system-based vehicle following method requires processing of data highly coupled with dynamic variables such as vehicle speed and steering angle, resulting in an increase in calculation amount and a decrease in real-time.
In view of the above technical problems, the present application provides a vehicle following method based on V2X communication, as shown in fig. 1, and the core of the embodiment of the present application is that:
S101, acquiring first vehicle position information and second vehicle position information, and converting the first vehicle position information and the second vehicle position information into a Cartesian plane coordinate system. The first vehicle (following vehicle) and the second vehicle (piloting vehicle) typically acquire current geographic location information, including longitude, latitude, and altitude, using respective global navigation satellite system (e.g., GNSS) devices, all of which are geodetic coordinates based on the geodetic fixed coordinate system (ECEF) or the WGS84 coordinate system. Since the information provided by the geodetic coordinate system is three-dimensional spherical coordinates, the direct use of these data is not friendly to the vehicle control system, and therefore it is necessary to convert it into a planar coordinate system that is more suitable for ground motion analysis. The present application uses a UTM coordinate system (cartesian plane coordinate system) for conversion, which is a plane coordinate system for representing the location of points on the earth's surface. The UTM coordinate system is based on the earth and divides the earth's surface into 60 bands, each band being 6 degrees wide and totaling 120 bands. Each belt has a central meridian, the surface of the earth is divided into a plane grid based on the central meridian, and the position of each point is represented by a northeast coordinate system. The UTM coordinate system usually uses meters as a unit, and can be used in the fields of measurement, navigation, map making, aviation and the like. And converting longitude and latitude coordinates of the two vehicles into UTM coordinates by using a standard coordinate conversion algorithm, such as a coordinate conversion tool or map software provided by a GPS. This process involves a mapping from the geodetic coordinate system to the UTM coordinate system, which converts the spherical coordinates of the earth into planar coordinates, simplifying the subsequent calculation and vehicle control processes. Through V2X communication, the first vehicle can receive UTM coordinate position information of the second vehicle in real time, and the accurate position and movement trend of the second vehicle are determined according to the information.
S102, obtaining a track reference line of the second vehicle according to the second vehicle position information, and constructing a track curve equation according to the track reference line. Position information of the second vehicle is continuously collected using V2X communication technology. The information may include successive UTM coordinate points reflecting a motion profile of the second vehicle over a period of time. A smoothed trajectory reference line is generated by data interpolation or fitting techniques using the collected second vehicle position information sequence. For example, a polynomial fit, spline (e.g., bezier curve or B-spline) or other curve fitting method may be used to generate the trajectory reference line. From the generated trajectory reference line, one or a set of mathematical equations is constructed to describe the geometry of this line. These equations can output UTM coordinates of any point on the curve based on the input path parameters (e.g., arc length or parameterized variables). The construction of the equations may be by analytical methods, such as analytical geometry or computational geometry techniques, to ensure that the mathematical representation of the trajectory is accurate. The trajectory curve equation is used to predict the position of the second vehicle at some point in the future or to calculate at which point on the trajectory the first vehicle should follow. These equations can also be used to dynamically adjust the driving state of the first vehicle in real time to match the trajectory changes of the second vehicle, maintaining the proper distance and speed. If the real-time data shows that the actual trajectory of the second vehicle deviates from the predicted trajectory reference line, a feedback control mechanism will be used to adjust the curve equation, ensuring the accuracy of said second vehicle trajectory reference line.
S103, acquiring first vehicle running information, and establishing a vehicle kinematics equation according to the first vehicle running information. First, a first vehicle (a following vehicle) uses its onboard sensor system to collect travel information, which may include, but is not limited to, speed, acceleration, steering wheel angle, heading angle of the vehicle. The collected data may need to be filtered and noise suppressed to ensure accuracy of the information. The processed data are then integrated to form a comprehensive data set that provides the necessary input parameters for the establishment of the kinematic equations. Using the integrated driving information, an equation describing the state of motion of the first vehicle is established, which generally includes newton's law of motion and a vehicle dynamics model, capable of describing the longitudinal and lateral motion of the vehicle. For example, the lateral movement of the vehicle may be modeled by a bicycle model, wherein the lateral displacement and curvature of the path are calculated taking into account the speed, wheelbase, steering angle, etc. of the vehicle. Parameters in the kinematic equations are determined according to actual measurement data of the vehicle, such as wheelbase, vehicle weight, vehicle mass center position and the like, and are important to ensure that the model accurately reflects actual vehicle dynamic behaviors. The kinematic equations are not constant but should be adjusted based on real-time data feedback. For example, if the actual running state of the vehicle deviates from the predicted state, the equation parameters should be updated in time to ensure the accuracy of the control system. The established kinematic equation will serve as a key input to the vehicle control system. The control system will use these equations to calculate the necessary control commands, such as throttle, brake and steering inputs, to achieve precise control of the vehicle. It is possible to understand the movement characteristics of the first vehicle in depth and to use this knowledge to achieve accurate vehicle follow-up. The method improves the reliability and safety of automatic control of the vehicle and is an integral part of advanced driving assistance systems and automatic driving technology.
And S104, converting the first vehicle position information and the first vehicle running information into a Frenet coordinate system based on the track curve equation and the vehicle kinematics equation to obtain following control information. Using the established trajectory curve equation and the vehicle kinematics equation, in combination with the position and travel information of the first vehicle (following vehicle), the following steps are performed to generate following control information: the current position of the first vehicle (typically the X, Y coordinates in a cartesian coordinate system) is converted into a Frenet coordinate system using a trajectory curve equation. According to a vehicle kinematics equation, simultaneously converting dynamic information such as speed, acceleration and course angle of the vehicle from a Cartesian coordinate system to corresponding dynamic information in a Frenet coordinate system, and calculating a control command required by the vehicle to maintain or restore to an ideal track by using the position and the dynamic information in the Frenet coordinate system. These control commands may include desired speed, acceleration, lateral position adjustments, and the like. The calculated control commands are integrated into follow-up control information that will be used directly in the control system of the first vehicle to direct the vehicle to accelerate, decelerate, steer, etc. to maintain proper follow-up distance and path tracking. The first vehicle is ensured to be capable of following effectively according to real-time road conditions and the movement state of the second vehicle. The core of this conversion process is to convert complex three-dimensional spatial motion into one-dimensional motion along the road layout, greatly simplifying the complexity of the following control algorithm.
The Frenet coordinate system (Frenet Coordinate System), also referred to as a curve coordinate system or a normal tangent coordinate system, is a mathematical coordinate system used to describe the position of points on a curve. It is based on the geometrical properties of a curve, where normal and tangent are two basic reference directions. The definition of the Frenet coordinate system requires the following two key vectors: tangent vector (Tangent Vector): the tangential vector is the tangential direction of a certain point on the curve and represents the movement direction of the curve at the point, the tangential vector direction is consistent with the tangential direction of the curve, and the modular length represents the bending degree of the curve; normal Vector (Normal Vector): the normal vector is a vector perpendicular to the tangent line, pointing to the convex side of the curve (when the concave curve of the curve is convex outwards), the direction of the normal vector is opposite to the concave side of the curve, and the modulo length represents the curvature of the curve.
In the Frenet coordinate system, points on the curve can be represented by two parameters: arc length (ARC LENGTH): the distance from a point on the curve to the start of the curve represents the position of the point on the curve. Curvature (Curvature): the curvature of the curve at a certain point, i.e. the rate of change of the tangent vector. It can be represented by the derivative of the normal vector. It should be noted that the Frenet coordinate system is a local coordinate system, and the definition and conversion formulas are different at different curve points when mapping the reference line in the Cartesian coordinate system to the reference line in the Frenet coordinate system. Therefore, when using the Frenet coordinate system, coordinate conversion and calculation are required according to specific curve points.
S105, controlling the first vehicle to follow the second vehicle according to the following control information. The control system of the first vehicle receives the following control information generated from step S104, which instructs the first vehicle how to adjust its dynamic parameters to follow the second vehicle. The following control information is parsed to extract specific control commands such as target speed, target acceleration, expected lateral position offset, etc. The control system converts the parsed commands into executable actions, such as adjusting accelerator opening, brake pressure, and steering angle. These actions are performed by an Electronic Control Unit (ECU) of the vehicle and corresponding actuators such as a throttle actuator, a brake actuator and a steering actuator. The control system monitors the state and the environmental condition of the vehicle in real time, adjusts the control command according to the feedback information, and ensures that the first vehicle and the second vehicle keep proper safe distance and speed synchronization. During the following process, the control system may need to adaptively adjust the behavior of the vehicle in response to an emergency, such as an emergency braking or lane change of the second vehicle. Through these steps, step S105 ensures that the first vehicle can safely, accurately and consistently perform the following task. The control method not only improves the safety and reliability of automatic following of the vehicle, but also provides comfortable driving experience for the driver, and is helpful for relieving fatigue of the driver. At the moment of the increasing development of autopilot technology, this approach provides a solid foundation for achieving a higher level of automated driving.
In some embodiments of the application, the acquiring the first vehicle location information and the second vehicle location information includes: the first vehicle sends position information to the second vehicle through V2X communication; the first vehicle acquires the position information of the second vehicle through V2X communication; the location information includes longitude information, latitude information, and altitude information.
The first vehicle and the second vehicle are each equipped with a V2X communication module so that they can transmit and receive information to and from each other. The first vehicle periodically transmits its location information to the second vehicle via V2X communications, including the longitude, latitude, and altitude of the vehicle. At the same time, the first vehicle also receives the position information sent by the second vehicle via V2X communication, which ensures real-time position sharing between the two workshops. The transmitted location information is typically provided by a global navigation satellite system (e.g., GNSS) device of the vehicle, ensuring high accuracy and reliability. The provided longitude and latitude information locates the horizontal position of the vehicle at the earth's surface, while the altitude information provides the vertical position of the vehicle relative to sea level. The received location information may be used in a variety of applications including vehicle navigation, vehicle following control, emergency response systems, and traffic management. In vehicle following applications, this positional information is the basis for calculating the relative position, speed and expected trajectory of the two workshops. One key advantage of V2X communication is the provision of high real-time communication capabilities, which are critical to a dynamic and rapidly changing traffic environment. Accurate location information is critical to achieving efficient and safe vehicle follow-up, especially during high speed travel or complex traffic conditions. By this V2X communication based approach, the vehicle is able to more efficiently share and utilize location information, providing a more intelligent driving assistance function for the vehicle, particularly in the context of automatic driving and Advanced Driving Assistance Systems (ADAS).
In some embodiments of the present application, the acquiring the first vehicle driving information includes: acquiring the first vehicle running information through a built-in sensor of the first vehicle; the first vehicle travel information includes heading angle, speed, acceleration, and radius of curvature.
In some embodiments of the present application, the obtaining the following control information includes: according to the track reference line, converting the first vehicle position information, the course angle, the speed, the acceleration and the curvature radius of the first vehicle in a Cartesian coordinate system into a Frenet coordinate system to obtain the longitudinal distance of the first vehicle along the track reference line, the longitudinal speed of the first vehicle along the track reference line, the longitudinal acceleration of the first vehicle along the track reference line, the transverse distance of the first vehicle along the track reference line, the transverse speed of the first vehicle along the track reference line and the transverse acceleration of the first vehicle along the track reference line.
In some embodiments of the application, the method further comprises: obtaining a target track point according to the longitudinal distance of the first vehicle along the track reference line and the transverse distance of the first vehicle along the track reference line; and controlling the first vehicle to run on the track reference line according to the target track point.
A target track point is determined based on the longitudinal distance and the lateral distance of the first vehicle along the track reference line. This target trajectory point represents the ideal location that the first vehicle should reach to maintain proper following distance and path alignment with the second vehicle. The target track point may be dynamically generated by calculating the difference between the current position of the first vehicle and the track reference line, and predicting the change of these parameters over a future period of time, such calculation taking into account the current dynamic state of the vehicle and the expected driving conditions. And developing a control algorithm to adjust the running state of the first vehicle, including speed, direction and vehicle position, according to the determined target track point. The control algorithm will utilize the dynamics of the vehicle and available control inputs (e.g., throttle, brake, and steering) to direct the vehicle to the target trajectory point. The control system can monitor the state and the environmental change of the vehicle in real time, and adjust the control command according to the real-time feedback information so as to ensure that the vehicle stably runs on the target track. The system may dynamically update the target track points, if desired, in response to changes in road conditions or traffic conditions. The control strategy may include optimization of a path tracking algorithm to reduce trajectory bias and improve smoothness and comfort of travel, which is particularly important to improve travel safety and efficiency in complex or crowded traffic environments.
In some embodiments of the present application, the establishing a vehicle kinematics equation according to the first vehicle driving information includes: and introducing a vehicle rigid body factor and a wheel corner factor, and mapping the motion state of the vehicle to a vehicle kinematics equation.
Vehicle rigid body factors refer to the physical characteristics of a vehicle as an integral rigid body, including the vehicle's centroid position, mass distribution, moment of inertia, etc., which are used to describe the vehicle's motion behavior under forces (e.g., driving force, braking force, and lateral force) when establishing kinematic equations. Wheel turning has a significant impact on the lateral dynamics of the vehicle, particularly when cornering or when the vehicle is making track adjustments, the wheel turning factors include the steering angle of the front wheels and possibly the rear wheel steering (in some vehicle designs), which directly affect the steering response and path-following ability of the vehicle. And establishing a vehicle kinematics equation comprising longitudinal and transverse motion models by combining rigid body factors and wheel corners of the vehicle. These equations typically include the application of newton's second law of motion for calculating acceleration, speed and displacement of the vehicle under different control inputs (e.g., throttle, brake, steering). By these equations, the actual motion state of the vehicle (such as speed, acceleration, heading angle, and position) can be accurately mapped and predicted. The equations also allow for consideration of external factors such as road conditions, crosswinds, or the effects of other vehicles. The kinematic equations may be used in vehicle control systems to achieve highly accurate ride control, such as in automatic driving, vehicle stability control, and emergency braking systems, to help optimize energy consumption of the vehicle and improve ride comfort.
In some embodiments of the application, the method further comprises: the speed of the first vehicle is controlled to maintain a safe distance from the second vehicle while the first vehicle is traveling on the trajectory reference line.
According to road conditions, vehicle speed, environmental factors (such as weather, visibility) and traffic regulations, a safe distance between the first vehicle and the second vehicle is determined, which should be sufficient to perform a safe braking in case of emergency, avoiding a collision. When a first vehicle is traveling on the track reference, the vehicle control system needs to adjust the vehicle speed according to real-time data to maintain a safe distance from a second vehicle, and the control logic may include decelerating, maintaining the current speed or accelerating appropriately to accommodate speed changes of the preceding vehicle and road conditions. The control system continuously monitors the relative distance and the relative speed between the two vehicles and the road and traffic conditions in front, acquires the information through the sensor and the V2X communication, and adjusts the running speed of the vehicles in real time according to the information. In an emergency situation, such as a sudden deceleration of the second vehicle or an obstacle, the control system of the first vehicle can respond quickly and take the necessary braking action to avoid a collision. Through these steps, the first vehicle can safely follow the second vehicle while reducing the risk of collision and improving the running safety.
Implementation details of the vehicle following method based on V2X communication according to the embodiment of the present application are specifically described below with reference to a specific application example, and the following details are provided for understanding only, and are not necessary for implementing the present embodiment.
And acquiring information such as the position, the speed and the acceleration of the vehicle, wherein the vehicle can broadcast own information at fixed frequency through a BSM message of a V2X protocol in the running process of the vehicle, and the own vehicle can acquire the position information of other vehicles through a V2X communication technology, including the longitude, the latitude, the altitude and the like of the vehicle. And converting the acquired position information into a Cartesian plane coordinate system to obtain the position information of the vehicle in the Cartesian plane coordinate system. And acquiring information such as acceleration, speed, course angle, wheel rotation angle and the like of the vehicle through the CAN line. And acquiring a reference line, acquiring and storing the position information of the piloting vehicle in real time by the self-vehicle, forming a track reference line, converting the track of the piloting vehicle into a track under a Cartesian plane coordinate system, and then constructing a curve equation of the track reference line. And establishing a vehicle kinematic model according to the self-vehicle driving information. Converting the information of the vehicle such as the x, y position, course angle, speed, acceleration, curvature radius and the like in the plane coordinate system into s in the Frenet coordinate system by using a conversion formula,L, l', l "information, as shown in fig. 2:
let theta r, Current reference line/>, respectivelyAzimuth angle, unit tangent vector and unit normal vector, theta x,Current track points/>, respectivelyIs used for the azimuth angle, unit tangent vector and unit normal vector. Coordinate information under Frenet coordinate system: /(I)Coordinate information under Cartesian coordinate system: /(I)The definition is as follows:
s is Frenet ordinate system;
the derivative of Frenet ordinate with respect to time, i.e. the speed of the Frenet ordinate table;
Acceleration along s;
l, frenet abscissa;
l' =dl/dt, frenet abscissa speed;
where s is the longitudinal distance of the vehicle along the road reference line; Is the speed of the vehicle in the direction of the reference line, i.e. the component of speed along the road; /(I) Acceleration of the vehicle in the direction of the reference line, that is, acceleration components along the road; l is the lateral distance of the vehicle relative to the reference line; l' is the lateral speed of the vehicle relative to the reference line; l "is the lateral acceleration of the vehicle relative to the reference line.
As shown in fig. 3, describing the motion of a vehicle generally involves two coordinate systems: an inertial coordinate system XOY and a vehicle body coordinate system XOY. The inertial coordinate system is a coordinate system used by an inertial navigation system, and a vehicle body coordinate system is mainly used for describing relative motion of a vehicle. The X axis of the inertial coordinate system is defined to point to the east, the Y axis points to the north, and the Z axis is positive; the x-axis of the vehicle body coordinate system is defined as the front of the vehicle, and the y-axis is directed to the left of the vehicle. At this time, the yaw angle phi of the vehicle is defined as the angle between the X-axis of the vehicle body coordinate system and the X-axis of the inertial coordinate system, and is positive counterclockwise. Assuming that the vehicle moves linearly or circularly around a certain point at any time and ignoring the action of the suspension, a steering motion model of the vehicle can be obtained, wherein (X r,Yr) and (X f,Yf) are coordinates of the center of the rear axle and the center of the front axle of the vehicle in an inertial coordinate system, V r is the speed of the vehicle at the center of the rear axle, l is the wheelbase, R is the instantaneous steering radius of the center of the rear axle, and δ f is the front wheel deflection angle.
At the rear axle running axle center (X r,Yr), the speed is
The kinematic constraints of the front and rear axes are:
The geometric relationship of the front wheel and the rear wheel is as follows:
Xf＝Xf+l cosφ
Yf＝Yr+l sinφ
the vehicle kinematic model can be obtained comprehensively as follows:
Fig. 4 illustrates a V2X communication based vehicle following system, which may include:
the V2X communication module is used for acquiring first vehicle position information, second vehicle position information and first vehicle running information;
A vehicle following module for translating the first and second vehicle position information to a cartesian planar coordinate system; obtaining a track reference line of the second vehicle according to the second vehicle position information, and constructing a track curve equation according to the track reference line; establishing a vehicle kinematics equation according to the first vehicle running information; based on the trajectory curve equation and the vehicle kinematics equation, converting the first vehicle position information and the first vehicle running information into a Frenet coordinate system to obtain following control information;
and the vehicle control module is used for controlling the vehicle to follow according to the following control information.
It should be noted that, in the embodiment of the present application, a system embodiment corresponding to a method embodiment, details of implementation of the embodiment of the present application have been set forth in the method embodiment, and in order to avoid repetition, details are not repeated herein.
In addition, the embodiment of the application further provides a vehicle following device based on V2X communication, the structure of which is shown in fig. 5, the device comprises a memory 90 for storing computer readable instructions and a processor 100 for executing the computer readable instructions, wherein the computer readable instructions when executed by the processor trigger the processor to execute the vehicle following method based on V2X communication.
The methods and/or embodiments of the present application may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. The above-described functions defined in the method of the application are performed when the computer program is executed by a processing unit.
The computer readable medium according to the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
In the present application, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowchart or block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As another aspect, the embodiment of the present application also provides a computer-readable medium that may be contained in the apparatus described in the above embodiment; or may be present alone without being fitted into the device. The computer readable medium carries one or more computer readable instructions executable by a processor to perform the steps of the methods and/or aspects of the various embodiments of the application described above.
In one exemplary configuration of the application, the terminal, the devices of the services network each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer-readable media include both permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium which can be used to store information that can be accessed by a computing device.
In addition, the embodiment of the application also provides a computer program which is stored in the computer equipment, so that the computer equipment executes the method for executing the control code.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, e.g., using Application Specific Integrated Circuits (ASIC), a general purpose computer or any other similar hardware device. In some embodiments, the software program of the present application may be executed by a processor to implement the above steps or functions. Likewise, the software programs of the present application (including associated data structures) may be stored on a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. In addition, some steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. A plurality of units or means recited in the apparatus claims can also be implemented by means of one unit or means in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Claims (10)
1. A vehicle following method based on V2X communication, the method comprising:
Acquiring first vehicle position information and second vehicle position information, and converting the first vehicle position information and the second vehicle position information into a Cartesian plane coordinate system;
Obtaining a track reference line of the second vehicle according to the second vehicle position information, and constructing a track curve equation according to the track reference line; acquiring first vehicle running information, and establishing a vehicle kinematics equation according to the first vehicle running information;
Based on the trajectory curve equation and the vehicle kinematics equation, converting the first vehicle position information and the first vehicle running information into a Frenet coordinate system to obtain following control information;
and controlling the first vehicle to follow the second vehicle according to the following control information.
2. The following method according to claim 1, wherein the acquiring the first vehicle position information and the second vehicle position information includes:
The first vehicle sends position information to the second vehicle through V2X communication;
the first vehicle acquires the position information of the second vehicle through V2X communication;
the location information includes longitude information, latitude information, and altitude information.
3. The following method according to claim 1, wherein the acquiring the first vehicle travel information includes:
Acquiring the first vehicle running information through a built-in sensor of the first vehicle;
the first vehicle travel information includes heading angle, speed, acceleration, and radius of curvature.
4. The following method according to claim 3, wherein the obtaining the following control information includes:
according to the track reference line, converting the first vehicle position information, the course angle, the speed, the acceleration and the curvature radius of the first vehicle in a Cartesian coordinate system into a Frenet coordinate system to obtain the longitudinal distance of the first vehicle along the track reference line, the longitudinal speed of the first vehicle along the track reference line, the longitudinal acceleration of the first vehicle along the track reference line, the transverse distance of the first vehicle along the track reference line, the transverse speed of the first vehicle along the track reference line and the transverse acceleration of the first vehicle along the track reference line.
5. The following method according to claim 4, wherein the method further comprises:
Obtaining a target track point according to the longitudinal distance of the first vehicle along the track reference line and the transverse distance of the first vehicle along the track reference line;
And controlling the first vehicle to run on the track reference line according to the target track point.
6. The following method according to any one of claims 1 to 5, wherein the establishing a vehicle kinematics equation from the first vehicle travel information includes: and introducing a vehicle rigid body factor and a wheel corner factor, and mapping the motion state of the vehicle to a vehicle kinematics equation.
7. The following method according to any one of claims 1 to 5, wherein the method further comprises:
The speed of the first vehicle is controlled to maintain a safe distance from the second vehicle while the first vehicle is traveling on the trajectory reference line.
8. A V2X communication based vehicle following system, the system comprising:
the V2X communication module is used for acquiring first vehicle position information, second vehicle position information and first vehicle running information;
A vehicle following module for translating the first and second vehicle position information to a cartesian planar coordinate system; obtaining a track reference line of the second vehicle according to the second vehicle position information, and constructing a track curve equation according to the track reference line; establishing a vehicle kinematics equation according to the first vehicle running information; based on the trajectory curve equation and the vehicle kinematics equation, converting the first vehicle position information and the first vehicle running information into a Frenet coordinate system to obtain following control information;
and the vehicle control module is used for controlling the vehicle to follow according to the following control information.
9. A V2X communication-based vehicle following apparatus, the apparatus comprising:
One or more processors; and
A memory storing computer program instructions that, when executed, cause the processor to perform the method of any of claims 1-7.
10. A computer readable medium having stored thereon computer program instructions executable by a processor to implement the method of any of claims 1-7.
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