The invention provides a vehicle following automatic driving method and system suitable for a vehicle formation, and the method comprises the steps: obtaining the path of a front vehicle of a to-be-planned vehicle in the vehicle formation and the position of the to-be-planned vehicle; the to-be-planned vehicle is a non-first vehicle in the vehicle formation; the front vehicle is a vehicle closest to the to-be-planned vehicle in front of the to-be-planned vehicle in the vehicle formation; according to the path of the front vehicle, determining a target path of the to-be-planned vehicle by using curve fitting and a uniform interpolation method; determining the deviation between the to-be-planned vehicle and the target path according to the target path and the position of the to-be-planned vehicle; and determining a deflection angle for controlling the to-be-planned vehicle to the target path according to the deviation. According to the method, the influence of transverse roll (transverse displacement deviation) and twiddle factors (transverse angle deviation) on the vehicles is considered, and the coordination of vehicle formation automatic driving transverse control and the precision of path planning can be improved.

    本发明提供了一种适用于车辆编队的车辆跟随自动驾驶方法及系统,其中,方法包括:获取车辆编队中待规划车辆的前车车辆的路径和待规划车辆的位置;待规划车辆为车辆编队中的非首车车辆;前车车辆为车辆编队中待规划车辆之前距离待规划车辆最近的车辆;根据前车车辆的路径,利用曲线拟合和均匀内插法确定待规划车辆的目标路径;根据目标路径和待规划车辆的位置,确定待规划车辆与目标路径的偏差;根据偏差,确定控制待规划车辆至目标路径的偏转角。本发明考虑了横向侧倾(横向位移偏差)和旋转因子(横向角度偏)对车辆的影响,能够提高车辆编队自动驾驶横向控制的协调性和路径规划的精度。


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    Title :

    Vehicle following automatic driving method and system suitable for vehicle formation


    Additional title:

    一种适用于车辆编队的车辆跟随自动驾驶方法及系统


    Contributors:
    GAO XIUJING (author) / DUAN HUIJIE (author) / LONG HAIFEI (author) / SUN GUIBIN (author)

    Publication date :

    2021-12-10


    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



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