The invention provides a vehicle following control method and system for an automatic driving motorcade and a vehicle, and relates to the technical field of automatic driving. In the system, a preceding vehicle-mounted server obtains a preceding vehicle running track of the preceding vehicle-mounted server and extracts track key points according to the preceding vehicle running track; the front vehicle-mounted server sends the track key points to rear vehicle communication equipment through front vehicle communication equipment; the vehicle-mounted server of the rear vehicle performs curve fitting according to the track key points to obtain a historical track curve of the front vehicle; the vehicle-mounted server of the rear vehicle obtains the position and heading information of the vehicle-mounted server of the rear vehicle and performs curve fitting according to any point on the historical track curve of the front vehicle to obtain a motion planning curve; and the vehicle-mounted server of the rear vehicle controls the rear vehicle according to the motion planning curve and the historical track curve of the front vehicle behind the any point, so that the rear vehicle drives according to the motion planning curve and the historical track curve of the front vehicle behind the any point.

    本申请提供了一种自动驾驶车队的跟车控制方法、系统及车辆,涉及自动驾驶技术领域。在系统中,前车车载服务器获得自身的前车行驶轨迹,并根据前车行驶轨迹提取轨迹关键点;前车车载服务器将所述轨迹关键点通过前车通信设备发送至后车通信设备;后车车载服务器根据所述轨迹关键点进行曲线拟合,得到前车历史轨迹曲线;后车车载服务器获得自身的位置和航向信息,并根据所述前车历史轨迹曲线上的任一点进行曲线拟合,得到运动规划曲线;后车车载服务器根据所述运动规划曲线和所述任一点之后的前车历史轨迹曲线对后车自身进行控制,以使得后车根据所述运动规划曲线和所述任一点之后的前车历史轨迹曲线进行行驶。


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    Title :

    Vehicle following control method 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、系统及车辆


    Contributors:
    LI WENRUI (author) / WU NAN (author) / XU YONG (author) / BI QINGXIN (author) / PENG RUI (author) / LI YIMING (author) / WEN BOXUAN (author)

    Publication date :

    2020-09-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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