CN115195724B

CN115195724B - A vehicle following control method and related equipment

Info

Publication number: CN115195724B
Application number: CN202210850545.6A
Authority: CN
Inventors: 黎帅; 卢朋朋; 罗威; 陈嘉玥; 王新坤
Original assignee: Voyah Automobile Technology Co Ltd
Current assignee: Voyah Automobile Technology Co Ltd
Priority date: 2022-07-19
Filing date: 2022-07-19
Publication date: 2025-03-18
Anticipated expiration: 2042-07-19
Also published as: CN115195724A

Abstract

The present invention discloses a vehicle following control method and related equipment. The method comprises: obtaining driving information and driving route information of a vehicle to be followed, wherein the driving information comprises vehicle speed information; determining the route overlap between the target vehicle and the vehicle to be followed based on the driving route information; and controlling the target vehicle to follow the vehicle to be followed for following driving when the route overlap is greater than or equal to a preset overlap and the vehicle speed information is greater than or equal to a preset following speed. The vehicle following control method proposed in the embodiment of the present application obtains the vehicle speed and driving route of the vehicle to be followed, first determines whether the route overlap between the target vehicle and the route of the vehicle to be followed and the vehicle speed meet the following requirements, and promptly excludes vehicles that are not suitable for following, thereby saving computing power and increasing the success rate of following.

Description

Car following control method and related equipment

Technical Field

The present disclosure relates to the field of vehicle control, and more particularly, to a vehicle following control method and related apparatus.

Background

Aerodynamic resistance is generally characterized by wind resistance coefficient, and for the fuel vehicle type, the wind resistance coefficient is reduced by 10%, the oil consumption is reduced by about 3%, and for the electric vehicle type, the wind resistance coefficient is reduced by 0.02, and the driving range is increased by about 10km. The vehicle formation significantly reduces the drag experienced by each vehicle because the total pressure in the wake area is smaller and therefore less differential drag will be achieved when the vehicle is traveling in the wake area of the lead vehicle. This reduction in drag means less fuel consumption, higher fuel efficiency and less pollution. In some current car following schemes, a wake vortex area is usually calculated according to the speed of a vehicle in front, and a following vehicle is controlled to enter the wake vortex area to follow so as to save fuel, but the current car following method cannot accurately judge the wake vortex area based on wind speed and different vehicle types, so that the energy saving effect is greatly reduced.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In order to provide a more energy-saving and convenient vehicle following method, in a first aspect, the invention provides a vehicle following control method, which comprises the following steps:

acquiring driving information and driving route information of a vehicle to be followed, wherein the driving information comprises vehicle speed information;

Determining the line contact ratio of the target vehicle and the vehicle to be followed based on the driving line information;

And controlling the target vehicle to follow the vehicle to be followed to carry out following running under the condition that the line contact ratio is greater than or equal to a preset contact ratio and the vehicle speed information is greater than or equal to a preset following speed.

Optionally, the driving information further includes wind speed information and vehicle shape information;

The method further comprises the following steps:

Taking the driving information as input of a wake vortex simulation model to obtain a simulated following position of a target vehicle, wherein the wake vortex simulation model is obtained through iterative training based on a fluid mechanics simulation method and a neural network method;

Determining the relative position relation between the simulated vehicle following position and the vehicle to be followed based on lane line information;

the controlling the target vehicle to follow the vehicle to be followed to follow, includes:

And controlling the target vehicle to follow the vehicle based on the relative position relation.

Optionally, the step of obtaining the simulated following position of the target vehicle by using the driving information as the input of the wake vortex simulation model includes:

determining a vehicle appearance parameter to be followed in a vehicle appearance library of the wake vortex simulation model based on the vehicle appearance information;

determining a crosswind speed parameter and a crosswind direction parameter in a wind speed library of the wake vortex simulation model based on the wind speed information;

determining a vehicle speed parameter in a vehicle speed library of the wake vortex simulation model based on the vehicle speed information;

And performing simulation calculation according to the appearance parameters of the vehicle to be followed, the crosswind speed parameters, the crosswind direction parameters and the vehicle speed parameters as inputs of a wake vortex simulation model to obtain a simulated vehicle following position.

Optionally, the method further comprises:

constructing various three-dimensional flow field simulation models based on a fluid mechanics simulation method and a vehicle appearance database;

Simulating based on a vehicle speed database, a wind speed database and the three-dimensional flow field simulation model to obtain a preset simulated vehicle following position;

And performing iterative training based on a neural network method through wake vortex measurement data of the vehicle following test and the preset simulation vehicle following position to obtain the wake vortex simulation model.

Optionally, the wind speed information includes a crosswind intensity;

The controlling the target vehicle to follow the vehicle based on the relative positional relationship includes:

Controlling the to-be-followed vehicle and the target vehicle to travel on the same lane and more than the safe distance straight line based on the relative position relationship under the condition that the crosswind intensity is smaller than or equal to the first intensity;

and/or the number of the groups of groups,

Controlling the vehicle to be followed and the target vehicle to travel in the same lane and at a staggered distance greater than the safety distance based on the relative positional relationship when the crosswind intensity is greater than the first intensity and less than or equal to the second intensity;

and/or the number of the groups of groups,

Controlling the vehicle to be followed and the target vehicle to travel alternately along adjacent lanes and greater than the safe distance based on the relative positional relationship when the crosswind intensity is greater than the second intensity and less than or equal to a third intensity;

and/or the number of the groups of groups,

And controlling the vehicle to be followed and the target vehicle to travel with the vehicle at a safe speed and over the safe distance in the same lane under the condition that the crosswind intensity is greater than the third intensity.

Optionally, the method further comprises:

Acquiring a driving state of a formation vehicle, wherein the formation vehicle comprises at least one vehicle to be followed and the target vehicle;

when an abnormal vehicle exists in formation, controlling the abnormal vehicle to exit from the formation driving mode;

The formation positions of the remaining vehicles are adjusted so that the remaining formation vehicles make full use of wake vortexes generated by the preceding vehicles.

Optionally, the method further comprises:

Acquiring the energy storage state of the formation vehicle;

Adjusting the front-back sequence of the vehicles in the formation based on the energy reserve state, and recalculating to obtain a second simulation vehicle following position;

and adjusting the positions of the vehicles in the formation based on the second simulation heel positions.

In a second aspect, the present invention further provides a vehicle following control device, including:

An acquisition unit configured to acquire travel information and travel route information of a vehicle to be followed, wherein the travel information includes vehicle speed information;

a determining unit configured to determine a degree of overlap of a route of the target vehicle and the vehicle to be followed based on the travel route information;

And the control unit is used for controlling the target vehicle to follow the vehicle to be followed to run under the condition that the line contact ratio is greater than or equal to the preset contact ratio and the vehicle speed information is greater than or equal to the preset following speed.

In a third aspect, an electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, the processor being adapted to implement the steps of the following control method according to any of the first aspects as described above when executing the computer program stored in the memory.

In a fourth aspect, the present invention also proposes a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the following control method of any of the first aspects.

In summary, the following control method of the embodiment of the application comprises the steps of obtaining running information and running route information of a vehicle to be followed, wherein the running information comprises vehicle speed information, determining the route contact ratio of a target vehicle and the vehicle to be followed based on the running route information, and controlling the target vehicle to follow the vehicle to be followed to carry out following running under the condition that the route contact ratio is greater than or equal to a preset contact ratio and the vehicle speed information is greater than or equal to a preset following speed. According to the vehicle following control method provided by the embodiment of the application, the vehicle speed and the running route of the vehicle to be followed are obtained, so that the coincidence degree of the route of the target vehicle and the route of the vehicle to be followed and whether the vehicle speed can meet the vehicle following requirement are firstly judged, the vehicle which is not suitable for being followed is timely eliminated, the calculation force is saved, and the success rate of vehicle following is increased.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is a schematic flow chart of a following control method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a measurement principle of parameters related to driving along with a vehicle according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a wind speed measurement system according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an arrangement of a following test sensor according to an embodiment of the present application;

FIG. 5 is a schematic diagram of another arrangement of a following test sensor according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a simulated heel truck according to an embodiment of the present application;

fig. 7 is a schematic diagram of vehicle formation driving according to an embodiment of the present application;

FIG. 8 is a schematic diagram of another vehicle formation driving scheme according to an embodiment of the present application

FIG. 9 is a schematic structural diagram of a vehicle following control device according to an embodiment of the present application;

Fig. 10 is a schematic structural diagram of a vehicle following control electronic device according to an embodiment of the present application.

Detailed Description

According to the vehicle following control method provided by the embodiment of the application, the vehicle speed and the running route of the vehicle to be followed are obtained, so that the coincidence degree of the route of the target vehicle and the route of the vehicle to be followed and whether the vehicle speed can meet the vehicle following requirement are firstly judged, the vehicle which is not suitable for being followed is timely eliminated, the calculation force is saved, and the success rate of vehicle following is increased.

The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, 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 data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences 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. The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.

Referring to fig. 1, a schematic flow chart of a following control method provided in an embodiment of the present application may specifically include:

s110, acquiring running information and running route information of a vehicle to be followed, wherein the running information comprises vehicle speed information;

For example, the vehicle to be followed is a front vehicle, and a millimeter wave radar can be installed on the head of a rear vehicle (target vehicle) to identify the position and the relative speed of the front vehicle, and the current vehicle speed calculates the vehicle speed of the front vehicle. It will be appreciated that if the lead vehicle is capable of communicating with the rear vehicle, the speed of the lead vehicle may also be measured by the ECU (Electronic Control Uni, electronic control unit) of the lead vehicle and the measurement transmitted to the rear vehicle or cloud for use in calculating the following strategy. The wind speed information can also be obtained by measuring the running route information of the vehicle to be followed by the wind speed measuring device at the roadside according to the navigation information corresponding to the vehicle, and the past running route can also be obtained by statistics according to cloud data. S120, determining the line overlap ratio of the target vehicle and the vehicle to be followed based on the driving line information;

For example, according to the driving route information of the vehicle to be followed acquired in step S210, if the overlap ratio is high, the most suitable following position may be calculated by the target vehicle, and the following driving is performed. If the overlap ratio is low, the car cannot be tracked for a long time, and the waste of calculation resources is caused.

And S130, controlling the target vehicle to follow the vehicle to be followed to carry out following running under the condition that the line contact ratio is greater than or equal to a preset contact ratio and the vehicle speed information is greater than or equal to a preset following speed.

The preset following speed may be, for example, a minimum following speed expected by the target vehicle, or a minimum speed at which wake vortexes generated by the vehicle to be followed can satisfy the safe following distance. It should be noted that, if the speed of the preceding vehicle is higher, the stronger the negative pressure point of the wake vortex formed by the vehicle is far away from the tail of the vehicle, only the speed of the vehicle is fast enough, and the generated stronger point of the wake vortex can meet the requirement of the safe following distance. Under the condition that the line contact ratio is greater than or equal to the preset contact ratio and the vehicle speed is greater than or equal to the preset following speed, the wake vortex effect can be fully utilized to save energy, and the problem that calculation resources are wasted due to the fact that only short following or no following can be performed is avoided.

In summary, by acquiring the speed and the driving route of the vehicle to be followed, the vehicle following control method provided by the embodiment of the application firstly judges whether the contact ratio of the route of the target vehicle and the route of the vehicle to be followed and the speed can meet the vehicle following requirement, eliminates the vehicle unsuitable for being followed in time, saves calculation force and increases the success rate of vehicle following.

In some examples, the travel information further includes wind speed information and vehicle profile information;

The method further comprises the following steps:

For example, as shown in fig. 2, in some target vehicles executing the following strategy, a 5-hole probe may be installed on the head of the target vehicle to be connected with a high-precision ALPHA sensor for identifying the yaw angle, the wind speed of the head facing the target vehicle is measured through a pitot tube, and the direction and the intensity of the crosswind are calculated according to the current vehicle speed. And (3) carrying out iterative training on the simulated vehicle following position output by the fluid field simulation model and the wake vortex measurement data obtained by the vehicle following test to construct a neural network so as to obtain a trained wake vortex simulation model. In some examples, the wind speed may also be measured in the manner shown in fig. 3, and the base 101 may be disposed on the space, including two first sliding devices 102, and one second sliding device 103, and the second rail 1032 of the second sliding device 103 is mounted on the first sliders 1021 of the two first sliding devices 102. Guide devices 106 are fixed on both ends of the first slide 1021 and the base 101, the first motor 1051 and the second motor 1052 are installed on the base 101, and the transmission belt 107 envelopes the output shafts of the first motor 1051 and the second motor 1052 and the guide devices 106 installed on the first slide 1021 and the base 101 to form an I shape. The moving direction of the wind measuring assembly 104 fixedly connected with the second slider 1031 can be controlled by controlling the rotation speed of the motor, thereby controlling the side wind assembly to measure the wind speed and direction to a designated place.

(When v.ltoreq.3 m/s)

R ₁ is the rotating speed of the first motor, v is the measured wind speed, a and b are constants, and the smaller the measured wind speed v is, the larger the rotating speed of the first motor or the second motor is, so that the second sliding block can move rapidly. R ₂ is the rotation speed of the second motor, the smaller the measured wind speed v is, the smaller the difference value between R ₁ and R ₂ is, the second sliding block is kept to move transversely or longitudinally, and the larger the measured wind speed v is, the larger the difference value between R1 and R2 is, and the second sliding block moves along the inclined direction.

(When v >3 m/s)

When v >3m/s, i, j is the rotation direction of the first motor and the second motor, clockwise is positive, n is constant, the rotation speed R ₂ and the direction of the second motor are adaptively adjusted along with the rotation speed and the direction of the first motor, c is the measured wind direction angle, the transverse right angle is 0 point, the anticlockwise angle is enlarged (when the wind direction points to the right of the transverse axis, c=0, and tanc=0, the second slide block is required to be transversely moved leftwards or rightwards to be parallel to the wind direction, at the moment, iR ₁+jR₂ =0 is required, the physical meaning is that the rotation speeds of the first motor and the second motor are equal and opposite), and n is the proportionality coefficient.

The trained wake vortex simulation model may be loaded on the target vehicle or on the cloud. Before the target vehicle is tracked, the identified speed information and wind speed information are used as input, and a wake vortex simulation model is adopted to calculate the simulated tracking position. By adopting the wake vortex simulation model trained by the neural network, the calculation speed is faster, the error between the determined following position and the position with the maximum actual wake vortex intensity is smaller, and a quicker and more accurate following strategy can be realized. According to the calculated simulated following position and the lane information on the driving road, three situations may exist, namely, the simulated following position and the front vehicle are located on the same lane, the simulated following position and the front vehicle are located on the adjacent lane, and the simulated following position and the front vehicle are located on the lane line of the driving lane of the front vehicle. According to the relative position relation, the target vehicle is controlled to carry out vehicle following running, for example, when the simulated vehicle following position is positioned on a lane line, the lane line is not allowed to be occupied by the rear vehicle for a long time, when the simulated vehicle following position and the front vehicle are positioned on the same lane, the rear vehicle follows the front vehicle to run on the same lane, and a certain safety distance is kept between the simulated vehicle following position and the front vehicle to run so as to meet the safety requirement, and when the simulated vehicle following position and the front vehicle are positioned on adjacent lanes, whether the adjacent lanes are available or not is observed, if the adjacent lanes can run, and other obstacle vehicles are not arranged in front and behind, the rear vehicle runs on the adjacent lanes to the simulated vehicle following position.

In summary, the following control method provided by the embodiment of the application not only considers the influence of the speed of the front vehicle on the wake vortex, but also considers the influence of the wind speed on the wake vortex in the process, and the obtained simulated following position is more accurate, and meanwhile, the calculation speed is faster by utilizing the wake vortex simulation model trained by the neural network, the error between the determined following position and the position with the maximum actual wake vortex intensity is smaller, and a quicker and more accurate following strategy can be realized.

In some examples, taking the wind speed information and the vehicle speed information as inputs to a wake vortex simulation model to obtain a simulated following position of a target vehicle includes:

For example, since the shapes of vehicles are different, that is, the length, the money, the height or the shape of the shapes can influence the flow field formed by the air flowing through the front vehicle when the vehicles travel, the wake vortex areas formed by the vehicles with different shapes under the same traveling condition are not identical, and the influence of the shapes of the vehicles on the formation of the wake vortex can be considered in constructing the wake vortex model and during traveling. The wake vortex simulation model is a model trained by a large amount of data, the trained wake vortex model provides a vehicle appearance library, a wind speed library and a vehicle speed library for a vehicle, and after the appearance information, the vehicle speed information and the wind speed information of the vehicle to be followed are acquired, the target vehicle selects the appearance parameter, the side wind speed parameter, the side wind direction parameter and the vehicle speed parameter of the vehicle to be followed corresponding to the information in the corresponding database to be used as the input of the wake vortex simulation model to carry out simulation calculation so as to acquire the simulated following position.

In summary, the vehicle following control method provided by the application selects the corresponding vehicle appearance parameter to be followed, the crosswind speed parameter, the crosswind direction parameter and the vehicle speed parameter from the database corresponding to the wake vortex simulation model by acquiring the vehicle appearance information, the wind speed information and the vehicle speed information, takes the parameters as the input of the wake vortex simulation model, and can quickly simulate and calculate the accurate simulated vehicle following position.

In some examples, the above method further comprises:

By means of computational fluid dynamics, a wake vortex simulation model of a front vehicle is obtained, a vehicle appearance database, a vehicle speed database and a wind speed database of the front vehicle are to be followed in the simulation model, the wake vortex simulation model inputs simulation parameters including side wind speed and side wind direction, the vehicle speed of the front vehicle simulates parameters, the appearance parameters of the front vehicle are obtained, and the wake vortex simulation model outputs coordinate simulation parameters of a position with strong negative pressure of the wake vortex of the front vehicle, namely a simulated following position. And (3) carrying out iterative training on the simulated vehicle following position output by the fluid field simulation model and the wake vortex measurement data obtained by the vehicle following test to construct a neural network so as to obtain a trained wake vortex simulation model. The trained wake vortex simulation model can be loaded on a target vehicle and used for determining a simulated vehicle following position according to the recognized front vehicle shape information, vehicle speed information and wind speed information, the neural network trained wake vortex simulation model is adopted, the calculation speed is faster, the error between the determined vehicle following position and the position with the maximum actual wake vortex intensity is smaller, and a quicker and more accurate vehicle following strategy can be realized.

Specifically constructing a trained wake vortex simulation model can comprise the following steps:

s210, constructing an initial neural network model;

And (3) taking the minimum error between the measured value of the position with strong negative pressure of the wake vortex of the front vehicle and the actual position with strong negative pressure of the wake vortex of the front vehicle, which is output by the initial neural network model, as a target, inputting the simulation parameters of the speed and the direction of the crosswind, the simulation parameters of the speed of the front vehicle and the appearance parameters of the front vehicle into the initial neural network model for iterative training, and obtaining the target neural network model for obtaining the measured value of the position with strong negative pressure of the wake vortex of the front vehicle (simulation vehicle following position). The type of the initial neural network model may be a feedback neural network model, a deep learning neural network model, a convolutional neural network model, etc., which are not limited herein, and the operation of step training may be completed according to the type of the initial neural network model. Specifically, the initial neural network model can be understood as an untrained target neural network model, which can simulate the input crosswind speed and direction, the speed simulation parameters of the front vehicle, and output the measured value of the position with stronger negative pressure of the wake vortex of the initial front vehicle through the calculation of the neural network. In general, the initial neural network model may include an input layer, a hidden layer and an output layer, where the hidden layer is used for taking charge of related computation of the neural network, and by iterative training, related transfer function parameters such as weight parameters in the hidden layer may be gradually adjusted, so that an initial vertical displacement measurement signal of the wheel center output by the initial neural network model accords with a predetermined training target, and at this time, the initial neural network model may be regarded as a target neural network model, and a measured value at a position where the negative pressure of the wake vortex of the initial front vehicle is stronger may be regarded as a measured value at a position where the negative pressure of the wake vortex of the front vehicle is stronger.

S220, obtaining a wake vortex initial simulation model of the front vehicle, wherein the obtaining of the initial wake vortex initial simulation model of the front vehicle comprises the steps of inputting a side wind speed parameter, a side wind direction parameter, a vehicle speed parameter to be followed and a vehicle appearance parameter to be followed into the wake vortex initial simulation model for simulation, and obtaining coordinate simulation parameters of a position with stronger negative pressure of the front vehicle wake vortex output by the initial wake vortex simulation model. The method comprises the steps of obtaining a wake vortex simulation model of a front vehicle through a computational fluid dynamics method, wherein a known outline dimension parameter in a database of the front vehicle is selected to be a specific vehicle type, namely a target type vehicle (also called a front vehicle), the wake vortex simulation model is input to comprise side wind speed and direction simulation parameters, the speed simulation parameters of the front vehicle are output to be coordinate simulation values of a position with strong negative pressure of the wake vortex of the front vehicle, namely a preset simulation following position.

S230, acquiring wake vortex measurement data of a vehicle following test, and acquiring test sensing signals through a whole vehicle sensor group on a vehicle behind the target type vehicle based on the actual running crosswind speed, the direction and the speed of the target type vehicle, wherein the whole vehicle sensor group comprises one or more of an ALPHA sensor, a pitot tube, a pressure sensor, a millimeter wave radar and a camera. Based on the test sensing signals and the simulation output values, optimizing an initial wake vortex simulation model of the front car into a wake vortex simulation model of the front car.

S240, training a neural network model according to wake vortex initial simulation data and wake vortex measurement data of a following test to obtain a wake vortex simulation model. And (3) taking the minimum error of initial simulation data and wake vortex measurement data of a vehicle following test as a target, inputting the simulation parameters of the crosswind speed and the direction and the simulation parameters of the speed of a front vehicle into the initial neural network model for iterative training, and obtaining a target neural network model for the measured value of the position with stronger negative pressure of the wake vortex of the front vehicle. Specifically, by using the wake vortex simulation model of the front vehicle obtained in step S220, multiple sets of side wind speed and direction simulation parameters meeting the test precision can be obtained, and the speed simulation parameters of the front vehicle, the coordinate simulation value (preset simulation vehicle following position) of the position where the negative pressure of the wake vortex of the front vehicle is strong, and the wake vortex measurement data of the vehicle following test can be obtained, so that a training set of an initial neural network model is constructed, the iterative training of the initial neural network model is completed, and the target neural network model for the measured value of the position where the negative pressure of the wake vortex of the front vehicle is strong, namely, the wake vortex simulation model is obtained.

In summary, according to the vehicle following control method provided by the embodiment of the application, the trained wake vortex simulation model is used for determining the simulated vehicle following position according to the recognized front vehicle appearance information, the recognized vehicle speed information and the recognized wind speed information, so that the calculation speed is faster, the error between the determined vehicle following position and the position with the maximum actual wake vortex strength is smaller, a quicker and more accurate vehicle following strategy can be realized, and the energy consumption of the vehicle following can be effectively saved.

In some examples, the above method further comprises:

acquiring head pressure data and tail pressure data of the target vehicle, which are acquired at different positions of a wake vortex area corresponding to the vehicle to be followed;

And acquiring wake vortex measurement data of the following test based on the vehicle head pressure data and the vehicle position pressure data.

As illustrated in fig. 4 and 5, in some vehicles, 4 patch type pressure sensors are mounted at the vehicle head region position, 8 patch type pressure sensors are mounted at the vehicle tail region position. And simulating vehicle following running, and measuring a vehicle head absolute pressure value and a front-rear pressure difference at a position with stronger wake vortex negative pressure of a front vehicle. And in the test, measuring for multiple times in a preset range at and near a position with strong negative pressure of the wake vortex of the front vehicle, testing whether the region with strong negative pressure of the wake vortex of the front vehicle is accurate, and summarizing the measured result to form wake vortex measurement data of the vehicle following test for training a wake vortex simulation model. It will be appreciated that the following test may change the shape of the front vehicle, the speed and speed of the front vehicle to obtain more comprehensive wake vortex measurement data of the following test under different following conditions.

In summary, according to the following control method provided by the embodiment of the application, the pressure sensors are additionally arranged at the front end and the rear end of the target vehicle, the following test wake vortex measurement data is obtained through the following test, and the wake vortex simulation model is optimized based on the neural network according to the following test wake vortex measurement data, so that a more accurate wake vortex simulation model is obtained, a more accurate simulated following position can be provided for the target vehicle in actual following, and the purpose of energy saving and following can be realized by means of the position with stronger wake vortex negative pressure more fully.

In some examples, controlling the target vehicle to follow based on the relative positional relationship includes:

Acquiring the road information of the current driving lane behind the vehicle to be tracked under the condition that the simulated vehicle following position is on the current driving lane of the vehicle to be tracked and the distance between the simulated vehicle following position and the vehicle to be tracked is greater than a legal distance, wherein the legal distance is the shortest vehicle following distance allowed under the current road condition and the current vehicle speed;

and controlling the target vehicle to travel to the simulated following position for following the vehicle under the condition that no other vehicle travels in the first following distance behind the vehicle to be followed, wherein the first following distance is determined based on the simulated following position and the outline dimension of the target vehicle.

The method includes the steps that after a simulated following position is obtained through a wake vortex simulation model, lane line information is obtained through a radar in front of a target vehicle or a radar behind a vehicle to be followed, and judgment is made on the simulated following position and the position of a lane line through the vehicle to be followed, the target vehicle or a cloud. If the simulated following vehicle is located in the current driving lane of the vehicle to be followed, for example, the recommended position a in fig. 6, the distance between the simulated following vehicle position and the vehicle to be followed, namely, the recommended position a and the vehicle distance of the vehicle to be followed, is obtained, if the vehicle distance is greater than the legal distance, whether other vehicles exist in the first following vehicle distance behind the vehicle to be followed is obtained, namely, whether the target vehicle can interfere with the vehicle behind if the target vehicle runs at the reverse recommended position a is judged, and if no other vehicles exist in the first following vehicle distance, the target vehicle is controlled to the recommended position a to carry out following driving. It should be noted that, legal distance is the shortest following distance that can allow under the prerequisite of guaranteeing the safety of following the car under the present road, and first distance is emulation following position and target vehicle's overall dimension definite, can guarantee that target vehicle can not influence the distance that the rear vehicle normally goes at the in-process of following waiting to follow the vehicle to travel promptly.

In summary, the embodiment of the application provides a target vehicle following control method for simulating that a following vehicle is on a current running road of a vehicle to be followed, which can ensure the safety of the distance between the following vehicle and a front vehicle and can not influence the normal running of a rear vehicle.

Acquiring road information of an adjacent lane behind the vehicle to be tracked under the condition that the simulated vehicle following position is on the adjacent lane of the vehicle to be tracked;

and controlling the target vehicle to travel to the simulated following position for following the vehicle under the condition that no other vehicle travels in a second following distance of an adjacent road behind the vehicle to be followed, wherein the second following distance is determined based on the simulated following position, the outline dimension of the target vehicle and the lane width.

For example, if the simulated following vehicle is located in an adjacent lane of the vehicle to be followed, if the vehicle is located at the recommended position B in fig. 6, whether other vehicles exist in the second following distance in the adjacent lane behind the vehicle to be followed is obtained, that is, whether the target vehicle can interfere with the vehicle behind if the target vehicle runs at the recommended position B is judged, and if the target vehicle does not exist in the second following distance, the target vehicle is controlled to travel to the recommended position B for following. It should be noted that the second distance is determined by simulating the following position, the external dimension of the target vehicle and the lane width, i.e. the distance that the target vehicle can not influence the normal running of the rear vehicle in the process of following the vehicle to be followed.

In summary, the embodiment of the application provides a target vehicle following control method for simulating that a following vehicle is on an adjacent road of a vehicle to be followed, which can effectively follow the vehicle and can not normally run on the adjacent road.

In some examples, the wind speed information includes a crosswind strength;

and/or the number of the groups of groups,

By way of example, by monitoring the intensity of the crosswind, it can be initially determined where the wake vortex with a strong negative pressure is approximately present, and the safety distance can be set to 50 meters.

In a following mode, when the intensity of crosswind is smaller than or equal to the first intensity, a plurality of vehicles run at the same speed in the same lane and run at positions with a distance of more than 50 meters, and the vehicles are allowed to be transversely staggered in the same lane so as to utilize the negative pressure of wake vortexes of the front vehicle and meet the requirement of a safe distance.

In another following mode, as shown in fig. 7, when the intensity of the crosswind is greater than the first intensity and less than or equal to the second intensity, a plurality of vehicles travel at the same speed in the same lane and travel at positions spaced by more than 50 meters, the plurality of vehicles are allowed to be laterally staggered in the same lane, or the plurality of vehicles travel at the same speed in adjacent lanes, the plurality of vehicles are allowed to be laterally staggered in the adjacent lanes, so that the negative pressure of the wake vortex of the front vehicle is utilized, and related laws and regulations can be satisfied.

In still another following mode, as shown in fig. 8, when the intensity of the crosswind is greater than the second intensity and less than or equal to the third intensity, the plurality of vehicles travel at the same speed in the adjacent lanes, and the plurality of vehicles are allowed to be laterally staggered in the adjacent lanes so as to utilize the negative pressure of the wake vortex of the front vehicle.

In still another following mode, when the intensity of the crosswind is greater than the third intensity, the speed is reduced to a safe speed, a plurality of vehicles run at the same speed in the same lane and run at positions which are spaced by a distance of more than 50 meters, and the vehicles in the formation are prevented from being overturned in extreme weather.

In summary, according to the following control method provided by the embodiment of the application, the lane where the target vehicle should be is estimated firstly through the crosswind intensity, the specific position of the target vehicle is determined based on the relative position relation, and the wake vortex generated by the front vehicle is fully utilized.

In some examples, the above method further comprises:

For example, for vehicles in formation, position, speed and steering information of a plurality of vehicles in formation are obtained in real time, joint threshold limitation is carried out according to the speed and steering information of the vehicles, abnormality detection is carried out on fed back data, when abnormality exists, the failed vehicles are moved out of the formation, the vehicles at the rear are firstly driven to the positions of rain fruits according to a preset distance, then the simulated vehicle following positions are recalculated according to the speed information, the shape information and the wind speed information of the vehicles at the front, and the vehicle following positions of the vehicles at the rear are adjusted so as to fully utilize wake vortexes generated by the vehicles at the front, and save energy consumption.

In summary, the following control method provided by the embodiment of the application can timely kick out the vehicles with abnormal driving out of the team for formation driving, calculate a new following position based on a new formation, and save energy consumption.

In some examples, the above method further comprises:

Acquiring the energy storage state of the formation vehicle;

The energy storage state may be, for example, a remaining electric quantity of the vehicle, remaining fuel information, adjusting the vehicle with more abundant energy to the front part lead the way to drive, after adjusting the sequence, re-calculating and determining a new simulated vehicle following position (i.e. a second simulated vehicle following position) of each vehicle based on the new vehicle sequence, and adjusting the positions of the vehicles in the formation so that the rear vehicle falls at a position with stronger wake vortex formed by the front vehicle as much as possible.

In summary, when a plurality of vehicles are in formation driving, the vehicle following control method provided by the embodiment of the application can comprehensively consider the energy storage states of the vehicles in the formation, overall regulate the front-rear sequence of the vehicles in the formation by comprehensively planning the energy storage states of different vehicles, and effectively improve the overall driving mileage of the vehicles in the formation driving.

Referring to fig. 9, an embodiment of a following control device according to an embodiment of the present application may include:

an acquisition unit 21 for acquiring travel information and travel route information of a vehicle to be followed, wherein the travel information includes vehicle speed information;

A determining unit 22 for determining a degree of overlap of a route of the target vehicle and the vehicle to be followed based on the travel route information;

And a control unit 23 configured to control the target vehicle to follow the vehicle to be followed for following in a case where the route overlap ratio is greater than or equal to a preset overlap ratio and the vehicle speed information is greater than or equal to a preset following speed.

As shown in fig. 10, an embodiment of the present application further provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 320 and capable of running on the processor, where the processor 320 implements any of the steps of the above-mentioned method for controlling following a car when executing the computer program 311.

Since the electronic device described in this embodiment is a device for implementing the following control apparatus in this embodiment of the present application, based on the method described in this embodiment of the present application, those skilled in the art can understand the specific implementation of the electronic device in this embodiment and various modifications thereof, so how the electronic device implements the method in this embodiment of the present application will not be described in detail herein, and only those devices for implementing the method in this embodiment of the present application will belong to the scope of protection of the present application.

In a specific implementation, the computer program 311 may implement any of the embodiments corresponding to fig. 1 when executed by a processor.

In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Embodiments of the present application also provide a computer program product comprising computer software instructions which, when run on a processing device, cause the processing device to perform a flow of tracking control as in the corresponding embodiment of fig. 1.

The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer readable storage media can be any available media that can be stored by a computer or data storage devices such as servers, data centers, etc. that contain an integration of one or more available media. Usable media may be magnetic media (e.g., floppy disks, hard disks, magnetic tape), optical media (e.g., DVD), or semiconductor media (e.g., solid State Disk (SSD)) or the like.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.

In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements 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 each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several 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 methods of the embodiments of the present application. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.

Although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that the foregoing embodiments may be modified or equivalents may be substituted for some of the features thereof, and that the modifications or substitutions do not depart from the spirit and scope of the embodiments of the present application.

Claims

1. A vehicle following control method, characterized by comprising:

Acquire driving information and driving route information of the vehicle to be followed, wherein the driving information includes vehicle speed information;

Determining the degree of route overlap between the target vehicle and the vehicle to be followed based on the driving route information;

When the route overlap is greater than or equal to a preset overlap and the vehicle speed information is greater than or equal to a preset following speed, controlling the target vehicle to follow the vehicle to be followed for following driving;

The driving information also includes wind speed information and vehicle shape information;

The method further comprises:

The driving information is used as an input of a wake vortex simulation model to obtain a simulated following position of a target vehicle, wherein the wake vortex simulation model is obtained through iterative training based on a fluid mechanics simulation method and a neural network method;

Determining a relative position relationship between the simulated following vehicle position and the vehicle to be followed based on lane line information;

The controlling the target vehicle to follow the vehicle to be followed to perform following driving includes:

Controlling the target vehicle to follow the vehicle based on the relative position relationship;

The wind speed information includes crosswind intensity;

The controlling the target vehicle to follow the vehicle based on the relative position relationship comprises:

When the crosswind intensity is less than or equal to the first intensity, the to-be-followed vehicle and the target vehicle are controlled to follow the vehicle in a straight line in the same lane and at a greater than a safety distance based on the relative position relationship;

and,

When the crosswind intensity is greater than the first intensity and less than or equal to the second intensity, the to-be-followed vehicle and the target vehicle are controlled to travel in a staggered manner in the same lane and at a distance greater than the safety distance based on the relative position relationship;

and,

When the crosswind intensity is greater than the second intensity and less than or equal to the third intensity, the to-be-followed vehicle and the target vehicle are controlled to follow each other in adjacent lanes at a staggered following distance greater than the safety distance based on the relative position relationship;

and,

When the crosswind intensity is greater than the third intensity, the vehicle to be followed and the target vehicle are controlled to follow each other in the same lane at a safe speed and greater than the safe distance.

2. The method according to claim 1, characterized in that the step of using the driving information as an input of a wake vortex simulation model to obtain a simulated following position of the target vehicle comprises:

Determining the shape parameters of the vehicle to be followed in the vehicle shape library of the wake vortex simulation model based on the vehicle shape information;

A simulation calculation is performed based on the shape parameters of the vehicle to be followed, the side wind speed parameters, the side wind direction parameters, and the vehicle speed parameters as inputs of a tail vortex simulation model to obtain a simulated following vehicle position.

3. The method according to claim 1, further comprising:

Construct various 3D flow field simulation models based on fluid mechanics simulation method and vehicle shape database;

Perform simulation based on the vehicle speed database, the wind speed database and the three-dimensional flow field simulation model to obtain a preset simulation following vehicle position;

The wake vortex simulation model is obtained by iterative training based on the neural network method using the wake vortex measurement data of the vehicle following test and the preset simulated vehicle following position.

4. The method according to claim 1, further comprising:

Acquiring the driving status of the platoon vehicles, wherein the platoon vehicles include at least one of the to-be-followed vehicles and the target vehicle;

When there is an abnormal vehicle in the formation, controlling the abnormal vehicle to exit the formation driving mode;

Adjust the formation positions of the remaining vehicles so that the remaining vehicles in the formation can make full use of the wake vortex generated by the leading vehicle.

5. The method according to claim 4, further comprising:

Obtaining the energy reserve status of the vehicles in the formation;

Adjusting the front and rear order of vehicles in the formation based on the energy reserve state, and recalculating to obtain a second simulated following vehicle position;

The positions of the vehicles in the formation are adjusted based on the second simulated following vehicle position.

6. A vehicle following control device, characterized by comprising:

An acquisition unit, used to acquire driving information and driving route information of the vehicle to be followed, wherein the driving information includes vehicle speed information;

A determination unit, configured to determine a degree of route overlap between a target vehicle and the vehicle to be followed based on the driving route information;

A control unit, configured to control the target vehicle to follow the vehicle to be followed for following driving when the route overlap is greater than or equal to a preset overlap and the vehicle speed information is greater than or equal to a preset following speed;

The wind speed information includes crosswind intensity;

and,

7. An electronic device, comprising: a memory and a processor, wherein the processor is used to implement the steps of the vehicle following control method as described in any one of claims 1 to 5 when executing a computer program stored in the memory.

8. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the vehicle following control method according to any one of claims 1 to 5 is implemented.