Vehicle following method, system and device based on V2X communication and readable medium

• Main Authors: GAO YIHONG, WANG ZHUO, YAN XUELIANG
• Format: Patent
• Language: Chinese; English
• Published: 19.04.2024
• Subjects: ELECTRIC COMMUNICATION TECHNIQUE; ELECTRICITY; PHYSICS; SIGNALLING; TRAFFIC CONTROL SYSTEMS; WIRELESS COMMUNICATIONS NETWORKS

The invention provides a vehicle following method, system and device based on V2X communication and a medium, and the method comprises the steps: obtaining first vehicle position information and second vehicle position information, and converting the first vehicle position information and the second vehicle position information into a Cartesian plane coordinate system; obtaining a track reference line of the second vehicle according to the position information of the second vehicle, and constructing a track curve equation according to the track reference line; acquiring first vehicle driving information, and establishing a vehicle kinematics equation according to the first vehicle driving information; based on the trajectory curve equation and the vehicle kinematics equation, converting the first vehicle position information and the first vehicle driving information into a Frenet coordinate system to obtain following control information; and controlling the first vehicle to follow the second vehicle according