The invention provides a vehicle following control method, device and system of an automatic driving motorcade and a vehicle, and relates to the technical field of automatic driving. The method comprises the following steps of: acquiring acceleration data or brake data of a pilot vehicle in real time; when the acceleration data of the pilot vehicle is obtained, determining an accelerator control quantity required by the vehicle according to the acceleration data of the pilot vehicle; sending the accelerator control quantity to an accelerator controller of the vehicle so as to control the vehicle to accelerate according to the accelerator control quantity; when the brake data of the pilot vehicle is obtained, determining a brake control quantity required by the vehicle according to the brake data of the pilot vehicle; and sending the brake control quantity to a braking controller of the vehicle so as to control the vehicle to conduct braking according to the brake control quantity. Precise and rapid longitudinal control of a rear vehicle in the automatic driving motorcade can be realized so as to ensure safe running of the automatic driving motorcade when the vehicle following distance is short.

    本申请提供了一种自动驾驶车队的跟车控制方法、装置、系统及车辆,涉及自动驾驶技术领域。方法包括:实时获得领航车的加速数据或制动数据;在获得到领航车的加速数据时,根据领航车的加速数据,确定车辆自身需要的油门控制量;将油门控制量发送至车辆自身的油门控制器,以控制车辆自身以油门控制量进行加速;在获得到领航车的制动数据时,根据领航车的制动数据,确定车辆自身需要的制动控制量;将制动控制量发送至车辆自身的制动控制器,以控制车辆自身以制动控制量进行制动。本申请可以实现自动驾驶车队中后车精确快捷的纵向控制,以保证跟车距离较短时,自动驾驶车队的安全运行。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle following control method, device and system of automatic driving motorcade and vehicle


    Additional title:

    一种自动驾驶车队的跟车控制方法、装置、系统及车辆


    Contributors:
    LIU QIYUAN (author) / WU NAN (author)

    Publication date :

    2020-09-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



    Vehicle following control method and system of automatic driving motorcade and vehicle

    LI WENRUI / WU NAN / XU YONG et al. | European Patent Office | 2020

    Free access

    Intelligent vehicle following system for motorcade

    WU MIAO / FENG QIUCHEN / LI YIPENG | European Patent Office | 2024

    Free access

    Motorcade control method based on automatic driving

    BI SHANSHAN / FENG SONG | European Patent Office | 2023

    Free access

    Motorcade driving control method and device

    GUO LILI / CHEN XIN | European Patent Office | 2020

    Free access

    Auxiliary driving system and method for motorcade to avoid priority vehicle

    MA ZIKANG / TANG SHUAI / SUN DUO et al. | European Patent Office | 2021

    Free access