US2023377464A1PendingUtilityA1
Vehicle control method for platooning, vehicle mounted apparatus and vehicle
Assignee: BEIJING TUSEN ZHITU TECH CO LTDPriority: Dec 24, 2019Filed: Jun 12, 2023Published: Nov 23, 2023
Est. expiryDec 24, 2039(~13.4 yrs left)· nominal 20-yr term from priority
Inventors:Yong Xu
G08G 1/22H04W 4/46B60W 60/0027G05D 1/0276G05D 1/0295B60W 2554/4041B60W 2554/4042B60W 2556/45B60W 2754/30B60W 2554/802B60W 2520/10B60W 2520/105B60W 2720/10B60W 2720/106Y02T10/40G05D 1/0287G05D 1/0293G05D 1/0291
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Claims
Abstract
The present disclosure relates to autonomous driving technology, and provides a vehicle control method for platooning, a vehicle mounted apparatus, and a vehicle. The method includes: obtaining first following vehicle movement state information and lead vehicle movement state information in real time, and obtaining, when there is an adjacent second following vehicle in front of the first following vehicle, second following vehicle movement state information in real time; determining first following vehicle predicted movement state information and lead vehicle predicted movement state information corresponding to a number of time points in the future, and determining, when there is the adjacent second following vehicle, second following vehicle predicted movement state information corresponding to the number of time points; determining optimized control quantities corresponding to respective ones of the number of time points by means of optimized solution; and performing longitudinal control in accordance with the optimized control quantities.
Claims
exact text as granted — not AI-modified1 . A vehicle control method for platooning comprising:
determining a first following vehicle is immediately following a lead vehicle in a platoon based on a position of the first following vehicle in the platoon in real time; obtaining a first following vehicle speed, a first following vehicle acceleration, and a first following vehicle position of the first following vehicle in the platoon in real time; obtaining a lead vehicle speed, a lead vehicle acceleration, and a lead vehicle position of the lead vehicle in the platoon in real time; determining a first following vehicle predicted speed and a first following vehicle predicted position corresponding to a future time point based on the obtained first following vehicle speed, the first following vehicle acceleration, and the first following vehicle position; determining a lead vehicle predicted speed and a lead vehicle predicted position corresponding to the future time point based on the obtained lead vehicle speed, the lead vehicle acceleration, and the lead vehicle position; determining an optimized control quantity corresponding to the future time point by optimizing an overall constraint model to an extreme value, wherein the overall constraint model is based on a distance constraint, a speed constraint, and an acceleration constraint between the first following vehicle and the lead vehicle; and transmitting the optimized control quantity to a longitudinal controller of the first following vehicle so that the longitudinal controller controls a longitudinal actuator of the first following vehicle to perform a longitudinal control in accordance with the optimized control quantity.
2 . The vehicle control method of claim 1 , further comprising determining the distance constraint, the speed constraint, and the acceleration constraint between the first following vehicle and the lead vehicle based on the first following vehicle predicted speed, the first following vehicle predicted position, the lead vehicle predicted speed, and the lead vehicle predicted position corresponding to the future time point.
3 . The vehicle control method of claim 1 , wherein the obtaining the lead vehicle speed, the lead vehicle acceleration, and the lead vehicle position of the lead vehicle in the platoon in real time comprises receiving the lead vehicle speed, the lead vehicle acceleration, and the lead vehicle position from the lead vehicle via a lead vehicle V2X communication device in the lead vehicle and a first V2X communication device in the first following vehicle.
4 . The vehicle control method of claim 1 , wherein the first following vehicle predicted speed denoted by V n(k) and the first following vehicle predicted position denoted by P n(k) corresponding to a k-th time point denoted by t (k) are determined based on the first following vehicle speed denoted by V n(0) , the first following vehicle acceleration denoted by A n(0) , and the first following vehicle position denoted by P n(0) corresponding to a current time point denoted by t (0) according to:
V
n
(
k
)
=
V
n
(
k
-
1
)
+
A
n
(
k
-
1
)
·
(
t
(
k
)
-
t
(
k
-
1
)
)
,
and
P
n
(
k
)
=
P
n
(
k
-
1
)
+
V
n
(
k
-
1
)
·
(
t
(
k
)
-
t
(
k
-
1
)
)
+
1
2
A
n
(
k
-
1
)
·
(
t
(
k
)
-
t
(
k
-
1
)
)
2
,
where n represents a n-th following vehicle in the platoon, V n(k-1) is the first following vehicle predicted speed at a (k−1)-th time point t (k-1) , A n(k-1) is the first following vehicle acceleration at the (k−1)-th time point t (k-1) , and P n(k-1) is the first following vehicle predicted position at the (k−1)-th time point t (k-1) .
5 . The vehicle control method of claim 1 , wherein the lead vehicle predicted speed denoted by V 0(k) and the lead vehicle predicted position denoted by P 0(k) corresponding to a k-th time point t (k) are determined based on the lead vehicle speed denoted by V 0(0) , the lead vehicle acceleration denoted by A 0(0) , and the lead vehicle position denoted by P 0(0) corresponding to a current time point t (0) according to:
V
0
(
k
)
=
V
0
(
k
-
1
)
+
A
0
(
k
-
1
)
·
(
t
(
k
)
-
t
(
k
-
1
)
)
,
and
P
0
(
k
)
=
P
0
(
k
-
1
)
+
V
0
(
k
-
1
)
·
(
t
(
k
)
-
t
(
k
-
1
)
)
+
1
2
A
0
(
k
-
1
)
·
(
t
(
k
)
-
t
(
k
-
1
)
)
2
,
where V 0(k-1) is the lead vehicle predicted speed at a (k−1)-th time point t (k-1) , A 0(k-1) is the lead vehicle acceleration at the (k−1)-th time point t (k-1) , and P 0(k-1) is the lead vehicle predicted position at the (k−1)-th time point t (k-1) .
6 . The vehicle control method of claim 1 , wherein the distance constraint, the speed constraint, and the acceleration constraint between the first following vehicle and the lead vehicle are respectively:
DD (0) =abs( P 1(k) −P 0(k) −dis),
DV (0) =abs( V 1(k) −V 0(k) ), and DA (0) =abs( A 1(k) −A 0(k) ), where DD (0) is the distance constraint between the first following vehicle and the lead vehicle, DV (0) is the speed constraint between the first following vehicle and the lead vehicle, DA (0) is the acceleration constraint between the first following vehicle and the lead vehicle, abs represents an absolute value function, dis represents a predefined target tracking distance, P 1(k) is the first following vehicle predicted position at a k-th time point t (k) , P 0(k) is the lead vehicle predicted position at the k-th time point t (k) , V 1(k) is the first following vehicle predicted speed at the k-th time point t (k) , V 0(k) is the lead vehicle predicted speed at the k-th time point t (k) , A 1(k) is the first following vehicle acceleration at the k-th time point t (k) , and A 0(k) is the lead vehicle acceleration at the k-th time point t (k) ,
7 . The vehicle control method of claim 6 , wherein the overall constraint model is:
D 1 =a 1 DD (0) +a 2 DV (0) +a 3 DA (0) ,
where a 1 , a 2 , and a 3 are predefined weight coefficients and are adjusted according to an overall test performance of the platoon dependent on a power and a braking performance of each vehicle and each respective preceding vehicle in the platoon.
8 . The vehicle control method of claim 7 , wherein the optimized control quantity is determined by minimizing D 1 in the overall constraint model.
9 . The vehicle control method of claim 1 , wherein the longitudinal control is a vehicle acceleration control or a vehicle deceleration control.
10 . A vehicle mounted apparatus, provided in a first following vehicle in a platoon, wherein the vehicle mounted apparatus comprises one or more processors configured to perform a vehicle control method comprising:
determining the first following vehicle is immediately following a lead vehicle in the platoon based on a position of the first following vehicle in the platoon in real time; obtaining a first following vehicle speed, a first following vehicle acceleration, and a first following vehicle position of the first following vehicle in the platoon in real time; obtaining a lead vehicle speed, a lead vehicle acceleration, and a lead vehicle position of the lead vehicle in the platoon in real time; determining a first following vehicle predicted speed and a first following vehicle predicted position corresponding to a future time point based on the obtained first following vehicle speed, the first following vehicle acceleration, and the first following vehicle position; determining a lead vehicle predicted speed and a lead vehicle predicted position corresponding to the future time point based on the obtained lead vehicle speed, the lead vehicle acceleration, and the lead vehicle position; determining an optimized control quantity corresponding to the future time point by optimizing an overall constraint model to an extreme value, wherein the overall constraint model is based on a distance constraint, a speed constraint, and an acceleration constraint between the first following vehicle and the lead vehicle; and transmitting the optimized control quantity to a longitudinal controller of the first following vehicle so that the longitudinal controller controls a longitudinal actuator of the first following vehicle to perform a longitudinal control in accordance with the optimized control quantity.
11 . The vehicle mounted apparatus of claim 10 , wherein the one or more processors are configured to perform the vehicle control method further comprising determining the distance constraint, the speed constraint, and the acceleration constraint between the first following vehicle and the lead vehicle based on the first following vehicle predicted speed, the first following vehicle predicted position, the lead vehicle predicted speed, and the lead vehicle predicted position corresponding to the future time point.
12 . The vehicle mounted apparatus of claim 10 , wherein the obtaining the lead vehicle speed, the lead vehicle acceleration, and the lead vehicle position of the lead vehicle in the platoon in real time comprises receiving the lead vehicle speed, the lead vehicle acceleration, and the lead vehicle position from the lead vehicle via a lead vehicle V2X communication device in the lead vehicle and a first V2X communication device in the first following vehicle.
13 . The vehicle mounted apparatus of claim 10 , wherein the first following vehicle predicted speed denoted by V n(k) and the first following vehicle predicted position denoted by P n(k) corresponding to a k-th time point denoted by t (k) are determined based on the first following vehicle speed denoted by V n(0) , the first following vehicle acceleration denoted by A n(0) , and the first following vehicle position denoted by P n(0) corresponding to a current time point denoted by to) according to:
V
n
(
k
)
=
V
n
(
k
-
1
)
+
A
n
(
k
-
1
)
·
(
t
(
k
)
-
t
(
k
-
1
)
)
,
and
P
n
(
k
)
=
P
n
(
k
-
1
)
+
V
n
(
k
-
1
)
·
(
t
(
k
)
-
t
(
k
-
1
)
)
+
1
2
A
n
(
k
-
1
)
·
(
t
(
k
)
-
t
(
k
-
1
)
)
2
,
where n represents a n-th following vehicle in the platoon, V n(k-1) is the first following vehicle predicted speed at a (k−1)-th time point t (k-1) , A n(k-1) is the first following vehicle acceleration at the (k−1)-th time point t (k-1) , and P n(k-1) is the first following vehicle predicted position at the (k−1)-th time point t (k-1) .
14 . The vehicle mounted apparatus of claim 10 , wherein the lead vehicle predicted speed denoted by V 0(k) and the lead vehicle predicted position denoted by P 0(k) corresponding to a k-th time point t (k) are determined based on the lead vehicle speed denoted by V 0(0) , the lead vehicle acceleration denoted by A 0(0) , and the lead vehicle position denoted by P 0(0) corresponding to a current time point t (0) according to:
V
0
(
k
)
=
V
0
(
k
-
1
)
+
A
0
(
k
-
1
)
·
(
t
(
k
)
-
t
(
k
-
1
)
)
,
and
P
0
(
k
)
=
P
0
(
k
-
1
)
+
V
0
(
k
-
1
)
·
(
t
(
k
)
-
t
(
k
-
1
)
)
+
1
2
A
0
(
k
-
1
)
·
(
t
(
k
)
-
t
(
k
-
1
)
)
2
,
where V 0(k-1) is the lead vehicle predicted speed at a (k−1)-th time point t (k-1) , A 0(k-1) is the lead vehicle acceleration at the (k−1)-th time point t (k-1) , and P 0(k-1) is the lead vehicle predicted position at the (k−1)-th time point t (k-1) .
15 . The vehicle mounted apparatus of claim 10 , wherein the distance constraint, the speed constraint, and the acceleration constraint between the first following vehicle and the lead vehicle are respectively:
DD (0) =abs( P 1(k) −P 0(k) −dis),
DV (0) =abs( V 1(k) −V 0(k) ), and DA (0) =abs( A 1(k) −A 0(k) ), where DD (0) is the distance constraint between the first following vehicle and the lead vehicle, DV (0) is the speed constraint between the first following vehicle and the lead vehicle, DA (0) is the acceleration constraint between the first following vehicle and the lead vehicle, abs represents an absolute value function, dis represents a predefined target tracking distance, P 1(k) is the first following vehicle predicted position at a k-th time point t (k) , P 0(k) is the lead vehicle predicted position at the k-th time point t (k) , V 1(k) is the first following vehicle predicted speed at the k-th time point t (k) , V 0(k) is the lead vehicle predicted speed at the k-th time point t (k) , A 1(k) is the first following vehicle acceleration at the k-th time point t (k) , and A 0(k) is the lead vehicle acceleration at the k-th time point t (k) .
16 . A vehicle, operating in a platoon as a first following vehicle in the platoon, wherein the vehicle comprises:
a longitudinal controller;
a longitudinal actuator;
a V2X communication device; and
a vehicle mounted apparatus, comprising one or more processors configured to perform a vehicle control method comprising:
determining the first following vehicle is immediately following a lead vehicle in the platoon based on a position of the first following vehicle in the platoon in real time;
obtaining a first following vehicle speed, a first following vehicle acceleration, and a first following vehicle position of the first following vehicle in the platoon in real time;
obtaining a lead vehicle speed, a lead vehicle acceleration, and a lead vehicle position of the lead vehicle in the platoon in real time;
determining a first following vehicle predicted speed and a first following vehicle predicted position corresponding to a future time point based on the obtained first following vehicle speed, the first following vehicle acceleration, and the first following vehicle position;
determining a lead vehicle predicted speed and a lead vehicle predicted position corresponding to the future time point based on the obtained lead vehicle speed, the lead vehicle acceleration, and the lead vehicle position;
determining an optimized control quantity corresponding to the future time point by optimizing an overall constraint model to an extreme value, wherein the overall constraint model is based on a distance constraint, a speed constraint, and an acceleration constraint between the first following vehicle and the lead vehicle; and
transmitting the optimized control quantity to the longitudinal controller of the first following vehicle so that the longitudinal controller controls the longitudinal actuator of the first following vehicle to perform a longitudinal control in accordance with the optimized control quantity.
17 . The vehicle of claim 16 , wherein the one or more processors configured to perform the vehicle control method further comprising determining the distance constraint, the speed constraint, and the acceleration constraint between the first following vehicle and the lead vehicle based on the first following vehicle predicted speed, the first following vehicle predicted position, the lead vehicle predicted speed, and the lead vehicle predicted position corresponding to the future time point.
18 . The vehicle of claim 16 , wherein the distance constraint, the speed constraint, and the acceleration constraint between the first following vehicle and the lead vehicle are respectively:
DD (0) =abs( P 1(k) −P 0(k) −dis),
DV (0) =abs( V 1(k) −V 0(k) ), and DA (0) =abs( A 1(k) −A 0(k) ), where DD (0) is the distance constraint between the first following vehicle and the lead vehicle, DV (0) is the speed constraint between the first following vehicle and the lead vehicle, DA (0) is the acceleration constraint between the first following vehicle and the lead vehicle, abs represents an absolute value function, dis represents a predefined target tracking distance, P 1(k) is the first following vehicle predicted position at a k-th time point t (k) , P 0(k) is the lead vehicle predicted position at the k-th time point t (k) , V 1(k) is the first following vehicle predicted speed at the k-th time point t (k) , V 0(k) is the lead vehicle predicted speed at the k-th time point t (k) , A 1(k) is the first following vehicle acceleration at the k-th time point t (k) , and A 0(k) is the lead vehicle acceleration at the k-th time point t (k) ,
19 . The vehicle of claim 18 , wherein the overall constraint model is:
D 1 =a 1 DD (0) +a 2 DV (0) +a 3 DA (0) ,
where a 1 , a 2 , and a 3 are predefined weight coefficients and are adjusted according to an overall test performance of the platoon dependent on a power and a braking performance of each vehicle and each respective preceding vehicle in the platoon.
20 . The vehicle of claim 19 , wherein the optimized control quantity is determined by minimizing D 1 in the overall constraint model.Join the waitlist — get patent alerts
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