Patent AU-2020289820-A1 (AU)
Title: Vehicle control method, vehicle-mounted device and vehicle in automatic driving fleet
Inventor: XU YONG
IPC: B60W30/16
Filed: 2020-12-17
Abstract: The present disclosure relates to autonomous driving technology, and provides a vehicle 
control method for platooning, a vehicle mounted apparatus, and a vehicle. The method 
5 includes: obtaining first following vehicle movement state information and lead vehicle 
movement state information in real time, and obtaining, when there is an adjacent second 
following vehicle in front of the first following vehicle, second following vehicle movement 
state information in real time; determining first following vehicle predicted movement state 
information and lead vehicle predicted movement state information corresponding to a 
10 number of time points in the future, and determining, when there is the adjacent second 
following vehicle, second following vehicle predicted movement state information 
corresponding to the number of time points; determining optimized control quantities 
corresponding to respective ones of the number of time points by means of optimized solution; 
and performing longitudinal control in accordance with the optimized control quantities.  
15 Fig. 2
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Obtain first following vehicle movement state information of a first following vehicle itself in the 201 
platoon and lead vehicle movement state information of the lead vehicle in real time, and obtain, 
when there is an adjacent second following vehicle in front of the first following vehicle itself, 
second following vehicle movement state information of the second following vehicle in real time 
Determine first following vehicle predicted movement state information and lead vehicle predicted 202 
movement state information corresponding to a number of time points after a current time point 
based on the first following vehicle movement state information and the lead vehicle movement 
state information, respectively, and detennine, when there is the adjacent second following vehicle 
in front of the first following vehicle itself, second following vehicle predicted movement state 
information corresponding to the number of time points after the current time point based on the 
second following vehicle movement state information 
Determine, when there is no adjacent second following vehicle in front of the first following vehicle itself, 203 
optimized control quantities corresponding to respective ones of the number of time points based on the first 
following vehicle predicted movement state information and the lead vehicle predicted movement state 
information corresponding to the respective ones of the number of time points by means of optimized solution, 
or determine, when there is the adjacent second following vehicle in front of the first following vehicle itself, 
the optimized control quantities corresponding to the respective ones of the number of time points based on the 
first following vehicle predicted movement state information, the second following vehicle predicted 
movement state information, and the lead vehicle predicted movement state information corresponding to the 
respective ones of the number of time points by means of optimized solution 
204 
Transmit the optimized control quantities to a longitudinal controller of the first following vehicle 
itself, such that the longitudinal controller controls a longitudinal actuator of the first following 
vehicle itself to perform longitudinal control in accordance with the optimized control quantities 
Fig. 2