Vehicle following method, system and device based on V2X communication and readable medium
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...
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Main Authors | , , |
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Format | Patent |
Language | Chinese English |
Published |
19.04.2024
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Subjects | |
Online Access | Get full text |
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Summary: | 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 |
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Bibliography: | Application Number: CN202410127771 |