CN-122024463-A - Motorcade control method and device, electronic equipment and vehicle

CN122024463ACN 122024463 ACN122024463 ACN 122024463ACN-122024463-A

Abstract

The embodiment of the invention provides a motorcade control method, a device, electronic equipment and a vehicle, which are used for sharing the stable motion state of a pilot vehicle after deviation correction to a following vehicle as feedforward information through active gesture control of the pilot vehicle at the moment of instability, ensuring the autonomous stability of the pilot vehicle under extreme working conditions, and enabling the following vehicle to be prevented and finely adjusted in advance according to the stable state, thereby realizing the gradual transmission of the whole vehicle formation instability risk prevention measures and the high stability of formations.

Inventors

HU ZHIHUA
WU KEBO
ZHANG HONGMEI
HE KAIJI

Assignees

广州汽车集团股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260121

Claims (10)

1. A fleet control method, the method comprising: Responding to the monitoring of the pilot vehicle of the motorcade to generate asymmetric driving force, and acquiring the current rotation angle, the current vehicle speed and the actual yaw rate of the pilot vehicle; Calculating a first additional yaw moment based on the current rotation angle, the current vehicle speed, and the actual yaw rate; Determining a first torque variation for a first drive of the pilot vehicle based on the first additional yaw moment; Acquiring result state information of the pilot vehicle after yaw control is executed through the first torque variation; The method comprises the steps of receiving result state information, sending the result state information to a first following vehicle of the motorcade, receiving the result state information by the first following vehicle, generating a control instruction for the first following vehicle based on the result state information, and controlling the first following vehicle to run according to the control instruction.
2. The method of claim 1, wherein the step of calculating a first additional yaw moment based on the current rotation angle, the current vehicle speed, and the actual yaw rate comprises: Determining the wheelbase of the pilot vehicle, and calculating to obtain an expected yaw rate by using the current rotation angle, the current vehicle speed, the wheelbase and a preset vehicle stability factor; comparing the actual yaw rate with the expected yaw rate to obtain a sliding mode for converging the system error to a zero value; Acquiring the approach speed of the pilot vehicle, and executing symbol function operation on the sliding mode surface by combining the combined approach speed to obtain a constant-speed approach rate item for guiding state convergence; acquiring the moment of inertia around the Z axis, the lateral force of a steering tire, the lateral force of a non-steering tire and the distance from a wheel axle to the mass center of the pilot vehicle; And calculating the resultant moment deviation generated by the lateral force of the steering tire and the lateral force of the non-steering tire, integrating the time derivative of the expected yaw rate, the constant velocity approach rate term, the moment of inertia around the Z axis and the moment deviation, and solving through a two-degree-of-freedom dynamics equation of the vehicle to obtain a first additional yaw moment.
3. The method of claim 1, wherein the step of determining a first amount of torque change for a first drive of the pilot vehicle based on the first additional yaw moment comprises: Determining the rolling radius of wheels, the wheel distance and the transmission ratio from a motor to a wheel end of the pilot vehicle; determining the wheel track as a moment arm parameter, and calculating a vehicle moment balance equation by utilizing the first additional yaw moment to obtain a longitudinal tire force variation required by a first driving device; converting the longitudinal tire force variation into a preliminary motor torque variation value by combining the transmission ratio and the wheel rolling radius; determining the peak torque and the real-time driving torque of a motor of the pilot vehicle; And performing amplitude limiting treatment on the preliminary motor torque change value by using the motor peak torque and the real-time driving torque as physical constraint boundaries to obtain a first torque change quantity of the pilot vehicle.
4. A fleet control method, characterized in that a lead vehicle of the fleet is configured to generate an asymmetric driving force in response to monitoring the lead vehicle, obtain a current turn angle, a current vehicle speed, and an actual yaw rate of the lead vehicle, calculate a first additional yaw moment based on the current turn angle, the current vehicle speed, and the actual yaw rate, determine a first torque variation for a first driving device of the lead vehicle based on the first additional yaw moment, obtain resultant state information of the lead vehicle after performing yaw control by the first torque variation, and transmit the resultant state information to a first following vehicle of the fleet, the method comprising: Receiving the result state information; And generating a control instruction aiming at the first following vehicle based on the result state information, and controlling the first following vehicle to run according to the control instruction.
5. The method of claim 4, wherein the resulting state information includes a pilot lateral acceleration, a pilot lateral vehicle speed, and a pilot lateral position of the pilot, the step of generating control instructions for the first follower based on the resulting state information comprising: Acquiring a real-time transverse position and a real-time transverse speed of the first following vehicle; Carrying out difference value operation on the real-time transverse position of the following vehicle and the real-time transverse speed of the following vehicle, and the lateral acceleration of the pilot vehicle, the transverse speed of the pilot vehicle and the transverse position of the pilot vehicle to obtain the transverse position deviation and the transverse speed deviation of the pilot vehicle and the first following vehicle; Performing feedforward and feedback compensation calculation based on the lateral position deviation, the lateral vehicle speed deviation and the pilot vehicle lateral acceleration to determine a target lateral acceleration of the first follower vehicle; Calculating and generating a target yaw rate for defining the first following vehicle based on a kinematic conversion relation between the target lateral acceleration and the current vehicle longitudinal speed of the first following vehicle; Determining the road surface adhesion coefficient of the first following vehicle on the current road; Determining steering wheel corner punishment weights and additional yaw moment punishment weights in a linear quadratic control algorithm weight matrix according to the road surface attachment coefficients, and determining a weight matrix of steering intervention and torque intervention of the first following vehicle based on the steering wheel corner punishment weights and the additional yaw moment punishment weights; calculating a following vehicle steering wheel angle and a second additional yaw moment of the first following vehicle based on the target yaw rate as a reference state and the weight matrix; And determining the steering wheel angle of the following vehicle and the second additional yaw moment as control instructions of the first following vehicle.
6. The method of claim 5, wherein the step of controlling the first follower vehicle to travel in accordance with the control command comprises: determining a second torque variation for a second drive of the first follower based on the second additional yaw moment; And controlling the first follower vehicle to run by applying the steering wheel angle of the follower vehicle to a steering execution system of the first follower vehicle and applying the second torque variation to the second driving device.
7. A fleet control device, the device comprising: The pilot vehicle running state information acquisition module is used for responding to the fact that the pilot vehicles of the vehicle team generate asymmetric driving force to acquire the current rotation angle, the current vehicle speed and the actual yaw rate of the pilot vehicles; A first additional yaw moment calculation module for calculating a first additional yaw moment based on the current rotation angle, the current vehicle speed, and the actual yaw speed; A first torque variation determination module for determining a first torque variation for a first drive of the pilot vehicle based on the first additional yaw moment; the result state information acquisition module is used for acquiring result state information of the pilot vehicle after the yaw control is executed through the first torque variation; The system comprises a result state information sending module, a first following vehicle, a control command generating module and a control module, wherein the result state information sending module is used for sending the result state information to a first following vehicle of the vehicle team, the first following vehicle is configured to receive the result state information, and the control command aiming at the first following vehicle is generated based on the result state information and is controlled to drive according to the control command.
8. A fleet control device, characterized in that a lead vehicle of the fleet is configured to generate an asymmetric driving force in response to monitoring the lead vehicle, obtain a current turn angle, a current vehicle speed, and an actual yaw rate of the lead vehicle, calculate a first additional yaw moment based on the current turn angle, the current vehicle speed, and the actual yaw rate, determine a first torque variation for a first driving device of the lead vehicle based on the first additional yaw moment, obtain resultant state information of the lead vehicle after performing yaw control by the first torque variation, and transmit the resultant state information to a first following vehicle of the fleet, the device comprising: the result state information receiving module is used for receiving the result state information; and the control instruction generation module is used for generating a control instruction aiming at the first following vehicle based on the result state information and controlling the first following vehicle to run according to the control instruction.
9. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; the memory is used for storing a computer program; The processor is configured to implement the method according to any one of claims 1-3 or 4-6 when executing a program stored on a memory.
10. A vehicle comprising the electronic device of claim 9.

Description

Motorcade control method and device, electronic equipment and vehicle Technical Field The present invention relates to the field of fleet control, and more particularly, to a fleet control method, a fleet control apparatus, an electronic device, a vehicle, and a computer-readable storage medium. Background With the development of the internet of vehicles and automatic driving technology, vehicle formation driving has become an important means for improving transportation efficiency and reducing energy consumption. In the formation driving process, the pilot vehicle is used as a route leader of the whole queue, and the stability of the motion state of the pilot vehicle directly determines the safety of the whole formation. In the related art formation control technology, a following vehicle generally employs a trajectory tracking algorithm to match a travel path of a pilot vehicle. However, under actual complex working conditions (such as emergency obstacle avoidance, large-corner input or abrupt change of road surface adhesion), the pilot vehicle often needs to perform severe posture adjustment in order to maintain its yaw stability. When the pilot vehicle generates yaw instability risk and performs posture correction, the severe dynamic change of the pilot vehicle can be transmitted to the following vehicle as a deviation signal. Because the following vehicle does not reach the working condition position of the pilot vehicle, the delayed deviation feedback often causes the following vehicle to generate excessive compensation action, thereby triggering the integral vibration of formation and even the linkage runaway. Disclosure of Invention Embodiments of the present invention provide a fleet control method, apparatus, electronic device, vehicle, and computer-readable storage medium to overcome or at least partially solve the above-described problems. The embodiment of the invention discloses a fleet control method, wherein the fleet comprises a pilot vehicle and a first following vehicle which follows the pilot vehicle, the method is applied to the pilot vehicle, and the method comprises the following steps: Responding to the monitoring of the pilot vehicle of the motorcade to generate asymmetric driving force, and acquiring the current rotation angle, the current vehicle speed and the actual yaw rate of the pilot vehicle; Calculating a first additional yaw moment based on the current rotation angle, the current vehicle speed, and the actual yaw rate; Determining a first torque variation for a first drive of the pilot vehicle based on the first additional yaw moment; Acquiring result state information of the pilot vehicle after yaw control is executed through the first torque variation; The method comprises the steps of receiving result state information, sending the result state information to a first following vehicle of the motorcade, receiving the result state information by the first following vehicle, generating a control instruction for the first following vehicle based on the result state information, and controlling the first following vehicle to run according to the control instruction. Optionally, the step of calculating the first additional yaw moment based on the current rotation angle, the current vehicle speed, and the actual yaw rate includes: Determining the wheelbase of the pilot vehicle, and calculating to obtain an expected yaw rate by using the current rotation angle, the current vehicle speed, the wheelbase and a preset vehicle stability factor; comparing the actual yaw rate with the expected yaw rate to obtain a sliding mode for converging the system error to a zero value; Acquiring the approach speed of the pilot vehicle, and executing symbol function operation on the sliding mode surface by combining the combined approach speed to obtain a constant-speed approach rate item for guiding state convergence; acquiring the moment of inertia around the Z axis, the lateral force of a steering tire, the lateral force of a non-steering tire and the distance from a wheel axle to the mass center of the pilot vehicle; And calculating the resultant moment deviation generated by the lateral force of the steering tire and the lateral force of the non-steering tire, integrating the time derivative of the expected yaw rate, the constant velocity approach rate term, the moment of inertia around the Z axis and the moment deviation, and solving through a two-degree-of-freedom dynamics equation of the vehicle to obtain a first additional yaw moment. Optionally, the step of determining the first torque variation for the first drive of the pilot vehicle based on the first additional yaw moment comprises: Determining the rolling radius of wheels, the wheel distance and the transmission ratio from a motor to a wheel end of the pilot vehicle; determining the wheel track as a moment arm parameter, and calculating a vehicle moment balance equation by utilizing the first additional yaw moment to obtain a longit