CN114789727B

CN114789727B - Vehicle control method, device, equipment and storage medium

Info

Publication number: CN114789727B
Application number: CN202210491691.4A
Authority: CN
Inventors: 伊桐; 王里; 孙雁宇; 周光学
Original assignee: Shanghai Zhuxian Technology Co ltd
Current assignee: Shanghai Zhuxian Technology Co ltd
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2025-06-24
Anticipated expiration: 2042-04-29
Also published as: CN114789727A

Abstract

The embodiment of the application provides a vehicle control method, a device, equipment and a storage medium, belongs to the technical field of collaborative driving, and can be applied to scenes such as ports, high speed, logistics, mines, closed parks or urban traffic. The method comprises the steps of obtaining the queue length of the vehicle formation, determining whether the queue length is larger than the preset length, determining the number of target following vehicles exceeding the preset length in the vehicle formation under the condition that the queue length is larger than the preset length, and performing formation control on the target following vehicles according to the number of the target following vehicles. The method can ensure proper formation length and ensure the safety of formation driving.

Description

Vehicle control method, device, equipment and storage medium

Technical Field

The application relates to the technical field of collaborative driving, in particular to a vehicle control method, device, equipment and storage medium, which can be applied to scenes such as ports, high speed, logistics, mines, closed parks or urban traffic.

Background

With the generation of diversified traffic demands, automatic driving techniques are increasingly being used. Currently, a cooperative autopilot fleet (Platooning) refers to a fleet state in which multiple vehicles follow a Vehicle with a smaller distance based on the autopilot technology and V2V (Vehicle-to-Vehicle) networking technology support.

The autonomous following technology, that is, the technology that one head car is driven (manually driven) by an operator in a vehicle queue (hereinafter referred to as a motorcade for short), and other vehicles automatically drive along the paths of the head car and/or the front car, can effectively solve the problems in various scenes. For example, the short-distance movement of a large number of vehicles can reduce the number of drivers by using an autonomous car following technology, and the transportation capacity is flexible by using the autonomous car following technology to improve the number of carriers under the condition of a limited number of vehicles by using short-distance multi-person connection. Under normal conditions, the following vehicle can automatically drive and control according to the driving parameters of the preceding vehicle and the pilot vehicle so as to ensure the safe driving of the following vehicle in the autonomous following process.

However, in the vehicle formation traveling, how to ensure the safe traveling of the vehicle formation is a problem to be solved.

Disclosure of Invention

The embodiment of the application provides a vehicle control method, device, equipment and storage medium, which are used for solving the problem of how to ensure safe running of a vehicle formation in the running of the vehicle formation.

In a first aspect, an embodiment of the present application provides a vehicle control method, including obtaining a queue length of the vehicle formation, determining whether the queue length is greater than a preset length, determining, if the queue length is greater than the preset length, a number of target following vehicles exceeding the preset length in the vehicle formation, and performing formation control on the target following vehicles according to the number of target following vehicles.

The method comprises the steps of obtaining the queue length of the vehicle formation, determining whether the queue length is larger than the preset length, determining the number of target following vehicles exceeding the preset length in the vehicle formation under the condition that the queue length is larger than the preset length, and performing formation control on the target following vehicles according to the number of the target following vehicles. Therefore, the influence on the running of surrounding vehicles in traffic flow is reduced by controlling the length of the vehicle formation, the running stability of the vehicle formation is improved, and the running safety of the vehicle formation is ensured.

In some embodiments, the step of controlling the target following vehicles in a formation manner according to the number of the target following vehicles includes sending a control instruction for exiting the vehicle formation to the target following vehicles to control the target following vehicles to exit the vehicle formation if the number of the target following vehicles is smaller than a preset number and the travel time of the target following vehicles after exceeding the queue length is longer than a preset time.

According to the method, when the number of the target following vehicles is smaller than the preset number and the driving time of the target following vehicles after exceeding the queue length is longer than the preset time, the control instruction for exiting formation is sent to the target following vehicles so as to control the target following vehicles to exit formation, vehicles which possibly influence the driving of surrounding vehicles in traffic flow can be timely exited to formation, the driving of the surrounding vehicles in traffic flow is not influenced, and the driving stability and safety of the vehicle formation are not influenced.

In some embodiments, the step of performing formation control on the target following vehicles according to the number of the target following vehicles includes sending a control instruction for releasing the vehicle formation to each vehicle in the formation to control each vehicle in the vehicle formation to exit the vehicle formation if the number of the target following vehicles is greater than or equal to a preset number and the travel time of the target following vehicles after exceeding the queue length is greater than a preset duration.

According to the method, when the number of the target following vehicles is larger than or equal to the preset number and the driving time of the target following vehicles after exceeding the length of the queue is longer than the preset time, a control instruction for formation disassembly is sent to the vehicles in the formation so as to control the vehicles in the formation to exit the formation. When the number of the target following vehicles is greater than or equal to the preset number, the fact that unstable vehicles exist in the vehicle formation at the moment is indicated that the instability caused by the running of the formation is large, and therefore the whole vehicle formation is disassembled, and the vehicles in the formation are driven independently according to a single vehicle, so that the safety is higher.

In some embodiments, the obtaining the queue length of the vehicle formation comprises obtaining the length, the number and the inter-vehicle distances between two adjacent vehicles of the following vehicles in the vehicle formation, and determining the queue length of the vehicle formation according to the length, the number and the inter-vehicle distances between two adjacent vehicles of the following vehicles in the vehicle formation.

The present embodiment determines the queue length of a vehicle formation by according to the length, the number, and the inter-vehicle distances between adjacent two vehicles of following vehicles in the vehicle formation. Since the 3 parameters including the length and the number of the following vehicles and the inter-vehicle distance between two adjacent vehicles in the vehicle formation are all parameters commonly used in the running of the vehicle formation and are easy to obtain, the queue length of the vehicle formation can be quickly and simply calculated.

In some embodiments, the determining the number of target follower vehicles exceeding the preset length in the vehicle formation includes determining an exceeding length according to a queue length of the vehicle formation and the preset length, and determining the number of target follower vehicles exceeding the preset length in the vehicle formation according to the exceeding length, the length of the follower vehicles in the vehicle formation and a distance between two adjacent vehicles.

According to the method and the device, the number of target following vehicles exceeding the preset length in the vehicle formation can be simply and conveniently determined according to the exceeding length, the length of the following vehicles in the vehicle formation and the vehicle distance between two adjacent vehicles.

In some embodiments, before the obtaining the queue length of the vehicle queue, the method further includes adjusting the inter-vehicle distance between two adjacent vehicles in the vehicle queue if a message is received that other vehicles outside the vehicle queue insert the vehicle queue.

In this embodiment, the inter-vehicle distance between two adjacent vehicles in the vehicle formation is adjusted by receiving a message that another vehicle located outside the vehicle formation is inserted into the vehicle formation. Because other vehicles outside the vehicle formation belong to unstable hidden dangers, the safety of the vehicle formation can be ensured by adjusting the inter-vehicle distance when facing the emergency.

In some embodiments, before the obtaining the queue length of the vehicle formation, the method further includes obtaining environmental information of a front driving area, where the environmental information includes weather information and road surface humidity of the front driving road section, the weather information is used for indicating whether weather of the front driving area is abnormal weather, and if the weather information indicates that weather of the front driving area is abnormal weather and the road surface humidity of the front driving road section is less than a preset humidity, an inter-vehicle distance between two adjacent vehicles in the vehicle formation is adjusted.

According to the method and the device, when the environment of the front driving area is poor according to the environment information of the front driving area, the distance between two adjacent vehicles in the vehicle formation is adjusted, so that the driving safety of the vehicle formation under the poor environment is guaranteed.

The application provides a vehicle control device, which comprises an acquisition module, a determination module and a control module, wherein the acquisition module is used for acquiring the queue length of the vehicle formation, the determination module is used for determining whether the queue length is larger than a preset length, the determination module is also used for determining the number of target following vehicles exceeding the preset length in the vehicle formation under the condition that the queue length is larger than the preset length, and the control module is used for performing formation control on the target following vehicles according to the number of the target following vehicles.

In some embodiments, the vehicle control device is configured to implement the method of any of the embodiments of the first aspect.

In a third aspect, the present application provides an electronic device, including a processor, and a memory communicatively connected to the processor, where the memory stores computer-executable instructions, and where the processor executes the computer-executable instructions stored in the memory to implement the method according to the first aspect and the embodiments of the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions which, when executed by a processor, are adapted to carry out the method according to the first aspect and the embodiments of the first aspect.

In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements a method as described in the first aspect and the embodiments of the first aspect.

The vehicle control method, the device, the equipment and the storage medium provided by the application are used for obtaining the queue length of the vehicle formation, determining whether the queue length is larger than the preset length, determining the number of target following vehicles exceeding the preset length in the vehicle formation under the condition that the queue length is larger than the preset length, and performing formation control on the target following vehicles according to the number of the target following vehicles. Therefore, the influence on the running of surrounding vehicles in traffic flow is reduced by controlling the length of the vehicle formation, the running stability of the vehicle formation is improved, and the running safety of the vehicle formation is ensured.

Drawings

Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application;

FIG. 2 is a flow chart of a vehicle control method provided by an embodiment of the present application;

Fig. 3 is an exemplary diagram of a queue length of a vehicle formation provided by an embodiment of the present application being less than a preset length;

fig. 4 is an exemplary diagram of a queue length of a vehicle formation provided by an embodiment of the present application being greater than a preset length;

Fig. 5 is an exemplary diagram of a queue length of a vehicle formation provided by an embodiment of the present application being greater than a preset length;

FIG. 6 is an exemplary diagram of a queue length exceeding a vehicle queue provided by an embodiment of the present application;

FIG. 7 is a schematic illustration of another embodiment of the present application providing a queue length beyond a vehicle queue;

Fig. 8 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated.

A convoy is a grouping of discrete vehicles or the like into a sequence or organization. For example, the head-row vehicles are used as head vehicles (pilot vehicles), other follower vehicles are in communication connection with the pilot vehicles, and driving control strategies are changed at any time according to the operation of the pilot vehicles, so that the whole motorcade can automatically drive at a smaller distance, the oil consumption is saved, the vehicles can more efficiently drive, and the effects of releasing more lanes and relieving traffic pressure are achieved.

The platoon travel is created by the pilot vehicle and, after the platoon creation is completed, vehicle travel parameters such as vehicle speed, acceleration, inter-vehicle distance, etc. are sent to each follower vehicle in the platoon. After the following vehicle receives the vehicle running parameters sent by the pilot vehicle, the following vehicle runs according to the vehicle running parameters sent by the pilot vehicle, namely, the following vehicle keeps the same speed and acceleration as the pilot vehicle, and the inter-vehicle distance between the following vehicle and the vehicle ahead is controlled to be the inter-vehicle distance sent by the pilot vehicle. In the formation driving process, all vehicles in the formation drive at the same cruising speed and the same vehicle distance, the formation length is kept in a stable state, and when the formation length is increased, the instability of the formation is increased, and meanwhile, the surrounding traffic vehicles are disturbed.

During formation driving, there are many reasons that the formation needs to be disassembled. At present, the pilot vehicle is mainly used for judging whether to release formation according to a triggering condition, for example, a dangerous working condition, and then the pilot vehicle can actively initiate formation release so as to enable the vehicles in formation to automatically control running. Another way is to apply for exit from the formation by the following vehicle and to break up the formation after confirmation by the pilot vehicle.

However, when the formation is driven, the length of the queue of the formation may also affect the normal driving of the surrounding vehicles in the traffic flow, and may cause unstable formation driving, and traffic accidents occur.

Aiming at the technical problems, the embodiment of the application provides a method which comprises the steps of obtaining the queue length of the formation when the formation runs, determining whether the formation needs to be disassembled according to the queue length, and disassembling the formation if the formation needs to be disassembled according to the queue length, so that each vehicle in the formation runs according to a single vehicle, the influence on the normal running of surrounding vehicles in a traffic flow is reduced, the safe running of the vehicles is ensured, and the occurrence rate of traffic accidents is reduced.

The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application. As shown in fig. 1, the application scene comprises a pilot vehicle 11, at least one follower vehicle 12 and a cloud 13;

the pilot vehicle 11 may be an autonomous vehicle or a vehicle equipped with an advanced driving support system (ADVANCED DRIVING ASSISTANCE SYSTEM), which is not limited in this embodiment.

Likewise, each of the at least one follower vehicle 12 may be an autonomous vehicle or a vehicle equipped with an advanced driving assistance system (ADVANCED DRIVING ASSISTANCE SYSTEM), as the present embodiment is not limited in this regard.

Cloud 13 may be a cloud platform or a cloud server.

The pilot vehicle 11 and at least one follower vehicle 12 are organized into a platoon, and any two vehicles in the platoon can communicate with each other. Alternatively, it may communicate through a V2V manner, or may also communicate through a Road Side Unit (RSU). The pilot vehicle interacts with each follower vehicle with information including the vehicle's position, distance, speed, acceleration, etc.

Based on the application scene shown in fig. 1, the application further provides a vehicle control method. Fig. 2 is a flowchart of a vehicle control method according to an embodiment of the present application. As shown in fig. 2, the vehicle control method includes the steps of:

s201, acquiring the queue length of the vehicle formation.

The execution body of the embodiment may be a pilot vehicle or a cloud, which is not limited in this embodiment.

Before step S201, any vehicle on the road (hereinafter referred to as a first vehicle) may broadcast information for creating a formation to the outside, when other vehicles on the road (hereinafter referred to as second vehicles) receive the message for creating a formation broadcast by the first vehicle, a formation joining request may be transmitted to the first vehicle, and when the first vehicle determines that the second vehicle can join the formation, a message capable of joining the formation is returned to the first vehicle. The second vehicle is then added to the queue created by the first vehicle. In formation, the first vehicle is the pilot vehicle and the second vehicle is the follower vehicle.

After the formation of the vehicles is completed, the pilot vehicle guides the following vehicles to run according to the running information of the pilot vehicle. The following vehicle runs according to the same running parameters as the pilot vehicle such as speed, acceleration and the like, and maintains a certain inter-vehicle distance with the preceding following vehicle or pilot vehicle.

There may be some situations when a vehicle formation is traveling, such that the queue length of the vehicle formation changes, and once the queue length of the vehicle formation changes, normal traveling of surrounding vehicles in the traffic stream may be affected. Therefore, in order to ensure normal running of surrounding vehicles in the traffic flow, the present embodiment needs to acquire the queue length of the vehicle formation, and control the queue length of the vehicle formation or release the formation according to the queue length of the vehicle formation, thereby ensuring traffic safety.

Optionally, obtaining a queue length of the vehicle formation includes:

and a1, acquiring the length and the number of the following vehicles in the vehicle formation and the vehicle distance between two adjacent vehicles.

The inter-vehicle distance between two adjacent vehicles may be the inter-vehicle distance between the pilot vehicle and the following vehicle immediately behind, or may be the inter-vehicle distance between two following vehicles immediately behind.

And a2, determining the queue length of the vehicle formation according to the length and the number of the following vehicles in the vehicle formation and the distance between two adjacent vehicles.

Optionally, step a2 includes adding the product of the length of each vehicle in the vehicle formation and the number of all vehicles in the vehicle formation if the types of all vehicles in the vehicle formation are the same, and the product of the number of following vehicles in the vehicle formation and the distance between vehicles to obtain the queue length of the vehicle formation, and adding the sum of the lengths of all vehicles in the vehicle formation and the product of the number of following vehicles in the formation and the distance between vehicles to obtain the queue length of the formation if the types of partial vehicles in the vehicle formation are different from the types of pilot vehicles.

It should be understood that when there are some vehicles in the vehicle consist of a type different from the type of pilot vehicle, the inter-vehicle distance between two immediately adjacent vehicles in the vehicle consist should be the same.

In this embodiment, the length and the number of the following vehicles in the vehicle formation and the inter-vehicle distance between two adjacent vehicles may be acquired by the pilot vehicle. Specifically, when a pilot vehicle creates a vehicle formation, a request sent by a second vehicle to join the vehicle formation is received, a message confirming that the vehicle formation can be joined is sent to the second vehicle, and meanwhile, the pilot vehicle sends a vehicle distance to each following vehicle and records the vehicle distance and the number of following vehicles joining the vehicle formation.

While the types of all vehicles in the vehicle fleet may or may not be the same. If the types and the vehicle parameters of all the vehicles in the vehicle formation are the same, the length of each vehicle is the same, otherwise, if the types or the vehicle parameters of all the vehicles in the vehicle formation are not the same, the length of each vehicle may be different.

It should be noted that when the vehicle types are the same, but the vehicle parameters are different, the lengths of the vehicles may be different. For example, two types of vehicles are trucks, wherein the number of axles in the vehicle parameter of one truck is 2 and the number of axles in the vehicle parameter of the other truck is 3, and the lengths of the two trucks are different.

For the case where the types of all the vehicles in the vehicle formation are the same, the queue length of the vehicle formation may be calculated using the following formula (1):

L=L1*N+(N-1)*L2; (1)

in the formula (1), L represents a queue length of the vehicle formation, L1 represents a length of each vehicle in the vehicle formation, N represents a total number of pilot vehicles and all following vehicles in the vehicle formation, and L2 represents a inter-vehicle distance between two adjacent vehicles in the vehicle formation.

For the case that the types of all vehicles in the vehicle formation are not identical, but the inter-vehicle distances between two adjacent vehicles are identical, the following formula (2) may be used to calculate the queue length of the vehicle formation:

in the formula (2), L represents a queue length of the vehicle formation, li represents a length of the vehicle numbered i, N represents a total number of pilot vehicles and all following vehicles in the vehicle formation, and L2 represents a vehicle distance between two adjacent vehicles in the vehicle formation.

Alternatively, when all the vehicles in the same vehicle group are different in type, since the response characteristics of the different types of vehicles are different, the inter-vehicle distances between the adjacent two vehicles may be different in order to ensure safe running of the different types of vehicles. Then the sum of the lengths of all vehicles in the vehicle formation is added to the sum of all the inter-vehicle distances to obtain the queue length of the vehicle formation.

It should be noted that, in order to ensure stability of formation and safe driving, all vehicles in the same formation should be the same type and vehicle parameters should be the same. But this does not represent that the type of all vehicles in the formation must be the same, as well as the vehicle parameters.

S202, determining whether the length of the queue is larger than a preset length.

S203, determining the number of target following vehicles exceeding the preset length in the vehicle formation under the condition that the queue length is larger than the preset length.

Optionally, if the queue length is less than or equal to the preset length, no processing is performed. When the queue length is smaller than or equal to the preset length, the fact that the queue length of the vehicle formation is larger than the preset length due to the fact that no vehicle is currently followed is indicated, and the vehicle formation can continue to run according to the current vehicle formation.

The preset length may be the maximum reliable communication distance of the pilot vehicle, denoted as L3.

In some optional embodiments, the cloud end may also store a table of correspondence between weather information and a preset length, determine the preset length of the vehicle formation in real time according to the weather information of the current location of the pilot vehicle and the correspondence between the weather information and the preset length, and issue the preset length of the vehicle formation to the pilot vehicle.

Fig. 3 is an exemplary diagram of a queue length of a vehicle formation provided by an embodiment of the present application being smaller than a preset length. As shown in fig. 3, if L is less than or equal to L3, the queue length representing the vehicle formation is within the maximum reliable communication distance of the pilot vehicle, no following vehicles exceeding the preset length exist in the vehicle formation, and the current formation length can ensure the communication between the pilot vehicle and each following vehicle, and the normal running of surrounding vehicles in the traffic flow is not affected, and the formation running is stable.

Fig. 4 is an exemplary diagram of a queue length of a vehicle formation provided by an embodiment of the present application being greater than a preset length. Fig. 5 is an exemplary diagram of a queue length of a vehicle formation provided by an embodiment of the present application being greater than a preset length. As shown in fig. 4 and 5, if L > L3, the queue length representing the vehicle formation exceeds the maximum reliable communication distance of the pilot vehicle, the following vehicles exceeding the preset length exist in the vehicle formation, the current formation length may not ensure the communication between the pilot vehicle and each following vehicle, and may affect the normal running of the surrounding vehicles in the traffic flow, and the vehicle formation is unstable in running.

Optionally, determining the number of target follower vehicles exceeding the preset length in the vehicle formation includes:

and b1, determining the excess length according to the length of the queue and the preset length.

Specifically, in step b1, the excess length is determined according to the difference between the queue length and the preset length. I.e. beyond the length L' =l-L3.

And b2, determining the number of target following vehicles exceeding a preset length in the vehicle formation according to the exceeding length, the lengths of the following vehicles and the vehicle distance between two adjacent following vehicles.

Alternatively, step b2 may be expressed as the following formula (3):

L'=L1*N'+(N'-1)*L2; (3)

In the formula (3), L 'represents an excess length, N' represents the number of target following vehicles exceeding a preset length in the vehicle formation, L1 represents the length of each vehicle in the vehicle formation, and L2 represents the inter-vehicle distance between two adjacent vehicles in the vehicle formation.

According to the formula (3), the number of target following vehicles exceeding the preset length in the vehicle formation can be calculated.

S204, forming control is carried out on the target following vehicles according to the number of the target following vehicles.

In an alternative embodiment, the formation control of the target following vehicles according to the number of the target following vehicles includes:

If the number of the target following vehicles is smaller than the preset number and the driving time of the target following vehicles after exceeding the queue length is longer than the preset time, sending a control instruction for exiting formation to the target following vehicles so as to control the target following vehicles to exit the vehicle formation.

Alternatively, the preset number may be set to 2. It should be understood that, a person skilled in the art may set the preset number according to actual needs, and the numerical value of the preset number is not limited in this embodiment.

In order to ensure stable and safe driving of the vehicle formation, the vehicles in the vehicle formation all run at the same speed and acceleration, any one vehicle in the vehicle formation takes the speed of the preceding following vehicle or the pilot vehicle as a reference, when any one following vehicle in the vehicle formation decelerates or increases the distance between the following vehicle and the preceding following vehicle or the pilot vehicle for some reasons, other following vehicles behind the following vehicle also decelerate, and after the following vehicle decelerates, the distance between the following vehicle and the preceding following vehicle or the pilot vehicle is increased, so that the queue length of the vehicle formation is changed.

Or the cloud end can adjust the preset length of the vehicle formation according to the weather information of the current position of the pilot vehicle and the corresponding relation between the weather information and the preset length, and send the adjusted preset length of the vehicle formation to the pilot vehicle.

And when the cloud detects that the weather information of the current position of the pilot vehicle is abnormal weather, the preset length of the vehicle formation can be reduced, so that the running safety of the vehicle formation is ensured.

All of the above factors can cause a change in the queue length of the vehicle formation.

Fig. 6 is an exemplary diagram of a queue length exceeding a vehicle queue according to an embodiment of the present application. As shown in fig. 6, when only one trailing vehicle of the tail of the train exceeds the preset length due to the above factors, the number of the trailing vehicles exceeding the preset length is less, so that the safety of the formation driving is less affected, and the safety of the formation driving can be ensured by taking the trailing vehicles of the tail of the train out of the formation.

In order to avoid the situation that the position of the following vehicle exceeding the preset length exceeds the preset length of the formation due to the fact that the following vehicle exceeding the preset length may be an accidental factor, whether the following vehicle needs to be withdrawn from the formation or not may be further determined by keeping the following vehicle exceeding the preset length in the current state for a period of time after the following vehicle exceeding the preset length. When the queue length exceeds the preset length, the pilot vehicle continuously confirms that the target following vehicle is still at a position exceeding the preset length within the time of T (for example, 10 s), and then sends a control instruction for exiting the vehicle formation to the target following vehicle, so that the interference caused by temporary adjustment of the position of the following vehicle is avoided.

In another alternative embodiment, the formation control of the target following vehicles according to the number of the target following vehicles includes:

And if the number of the target following vehicles is greater than or equal to the preset number and the driving time of the target following vehicles after exceeding the length of the queue is longer than the preset time, sending a control instruction for formation disassembly to each vehicle in the formation so as to control each vehicle in the formation to exit the vehicle formation.

Fig. 7 is a schematic diagram of another embodiment of the present application for providing a queue length beyond a vehicle queue. As shown in fig. 7, when the plurality of following vehicles exceeds the preset length due to the above factors, the safety of the formation driving is greatly affected by the greater number of following vehicles exceeding the preset length, and the formation driving safety may be ensured by adopting a mode of releasing the formation.

The above embodiment introduces a scheme that the cloud end adjusts the preset length of the vehicle formation according to weather information, so that some following vehicles in the vehicle formation exceed the preset length, and the length of the vehicle formation needs to be controlled. In some scenarios, while the vehicle formation is traveling, there may be situations where other vehicles outside the vehicle formation suddenly cut into the formation. And when the following vehicle detects that the other vehicles are suddenly switched in front, the state information of the other vehicles is acquired and sent to the pilot vehicle. Because other vehicles cut into the formation are hidden danger factors which cause unstable formation, when the situation leads the queue length of the vehicle formation to exceed the preset length, the situation can be determined to be the unstable factor, and safe driving needs to be ensured through a vehicle formation control mode. Specifically, after receiving a message that other vehicles cut into the formation, the pilot vehicle allocates a new inter-vehicle distance to all following vehicles behind the other vehicles. To ensure safe driving, the new inter-vehicle distance needs to be greater than the inter-vehicle distances before other vehicles cut into the vehicle platoon. The increase in the inter-vehicle distance also results in an increase in the queue length of the vehicle formation. Therefore, in order to avoid traffic safety problems caused by an excessive queue length of the vehicle formation. The embodiment can also re-acquire the new queue length after the new inter-vehicle distance is adjusted, determine whether the new queue length is greater than the preset length, determine the number of target following vehicles exceeding the preset length when the new queue length is determined to be greater than the preset length, and perform formation control according to the number of target following vehicles. When the pilot vehicle determines that the new queue length is greater than the preset length, determining the number of target following vehicles exceeding the preset length, and performing formation control according to the number of target following vehicles, reference may be made to the description of the foregoing embodiment, which is not repeated herein.

In other scenarios, the pilot vehicle may also detect the environmental information of the front driving area in real time during the vehicle formation driving, and alternatively, the pilot vehicle may acquire the environmental information of the front driving area from the cloud, or may acquire the environmental information of the front driving area through a sensor installed on the vehicle, which is not limited in this embodiment. The environment information comprises weather information and road surface humidity of a front driving road section, wherein the weather information is used for indicating whether the weather of a front driving area is abnormal weather or not, and if the weather information indicates that the weather of the front driving area is abnormal weather and the road surface humidity of the front driving road section is smaller than preset humidity, the inter-vehicle distance between two adjacent following vehicles in a vehicle formation is adjusted.

Illustratively, when the pilot vehicle acquires weather information of a front driving area as severe weather such as rain, snow, fog, strong wind and the like, the pilot vehicle adjusts a formation control strategy, wherein the formation control strategy comprises reducing the cruising speed or maintaining the speed but increasing the distance between vehicles. Specifically, the adopted formation control strategy may be determined according to at least two ways:

And if the weather information indicates that the weather of the front driving area is normal and the road surface humidity of the front driving road section is greater than or equal to the preset humidity, adjusting the driving speed of the vehicle formation. The method comprises the steps of adjusting the running speed of a vehicle formation, namely adjusting the running speed of the pilot vehicle, and sending the adjusted running speed to each following vehicle in the vehicle formation so as to control each following vehicle in the vehicle formation to adjust the running speed, so that the whole vehicle formation keeps the same running speed, and the effects of stably running the vehicle formation and improving the running safety of the vehicle formation are achieved.

And if the weather information indicates that the weather of the front driving area is abnormal and the road surface humidity of the front driving road section is less than the preset humidity, adjusting the inter-vehicle distance between two adjacent following vehicles in the vehicle formation.

When the pilot vehicle sends information of increasing the inter-vehicle distance to the following vehicle, the following vehicle keeps a new inter-vehicle distance with the preceding following vehicle or the pilot vehicle, and the increase of the inter-vehicle distance between two adjacent vehicles can lead to the increase of the queue length of vehicle formation, so that potential safety hazards are caused. Therefore, the embodiment may further acquire a new queue length of the formation after the new inter-vehicle distance is adjusted, determine whether the new queue length is greater than the preset length, determine the number of target following vehicles exceeding the preset length in the vehicle formation when the new queue length is determined to be greater than the preset length, and perform formation control on the following vehicles in the vehicle formation according to the number of target following vehicles. When the pilot vehicle determines that the new queue length is greater than the preset length, determining the number of target following vehicles exceeding the preset length, and performing formation control according to the number of target following vehicles, reference may be made to the description of the foregoing embodiment, which is not repeated herein.

The vehicle control method comprises the steps of obtaining the queue length of a vehicle formation, determining whether the queue length is larger than a preset length, determining the number of target following vehicles exceeding the preset length in the vehicle formation under the condition that the queue length is larger than the preset length, and performing formation control on the target following vehicles according to the number of the target following vehicles. Therefore, the influence on the running of surrounding vehicles in traffic flow is reduced by controlling the length of the vehicle formation, the running stability of the vehicle formation is improved, and the running safety of the vehicle formation is ensured.

On the basis of the above method embodiment, fig. 8 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application. As shown in fig. 8, the vehicle control device comprises an acquisition module 81, a determination module 82 and a control module 83, wherein the acquisition module 81 is used for acquiring the queue length of the vehicle formation, the determination module 82 is used for determining whether the queue length is larger than a preset length, the determination module 82 is also used for determining the number of target following vehicles exceeding the preset length in the vehicle formation when the queue length is larger than the preset length, and the control module 83 is used for performing formation control on the target following vehicles according to the number of the target following vehicles.

In some embodiments, the control module 83 performs formation control on the target following vehicles according to the number of the target following vehicles, and specifically includes sending a control instruction for exiting the vehicle formation to the target following vehicles to control the target following vehicles to exit the vehicle formation if the number of the target following vehicles is less than a preset number and the travel time of the target following vehicles after exceeding the queue length is longer than a preset duration.

In some embodiments, the control module 83 performs formation control on the target following vehicles according to the number of the target following vehicles, and specifically includes sending a control instruction for releasing the vehicle formation to each vehicle in the formation to control each vehicle in the vehicle formation to exit the vehicle formation if the number of the target following vehicles is greater than or equal to a preset number and the travel time of the target following vehicles after exceeding the queue length is greater than a preset duration.

In some embodiments, the obtaining module 81 obtains a queue length of the vehicle formation, including obtaining a length, a number, and a distance between two adjacent vehicles of the following vehicles in the vehicle formation, and determining the queue length of the vehicle formation according to the length, the number, and the distance between two adjacent vehicles of the following vehicles in the vehicle formation.

In some embodiments, the determining module 82 determines the number of target follower vehicles in the vehicle consist that exceed the preset length by determining an excess length based on the queue length and the preset length, and determining the number of target follower vehicles in the vehicle consist that exceed the preset length by determining the excess length, the length of the follower vehicles, and the inter-vehicle distance between two adjacent vehicles.

In some embodiments, the apparatus further includes an adjustment module 84 for adjusting the inter-vehicle distance between two adjacent vehicles in the vehicle consist if a message is received that another vehicle outside the vehicle consist is inserted into the vehicle consist.

In some embodiments, the device further comprises an adjustment module 84, the acquisition module 81 is configured to acquire environmental information of a front driving area, the environmental information includes weather information and road surface humidity of the front driving road section, the weather information is used for indicating whether the weather of the front driving area is abnormal weather, and the adjustment module 84 is further configured to perform the step of adjusting the inter-vehicle distance between two adjacent vehicles in the vehicle formation if the weather information indicates that the weather of the front driving area is abnormal weather and the road surface humidity of the front driving road section is less than a preset humidity.

The vehicle control device provided by the embodiment of the application can be used for executing the technical scheme of the vehicle control method in the embodiment, and the implementation principle and the technical effect are similar, and are not repeated here.

It should be noted that, it should be understood that the division of the modules of the above apparatus is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. The modules can be realized in the form of software which is called by the processing element, in the form of hardware, in the form of software which is called by the processing element, and in the form of hardware. For example, the control module 83 may be a processing element that is set up separately, may be implemented as integrated in a chip of the above-described apparatus, or may be stored in a memory of the above-described apparatus in the form of program codes, and the functions of the control module 83 may be called and executed by a processing element of the above-described apparatus. The implementation of the other modules is similar. In addition, all or part of the modules can be integrated together or can be independently implemented. The processing element here may be an integrated circuit with signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form.

Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 9, the electronic device may include a transceiver 91, a processor 92, and a memory 93.

Processor 92 executes the computer-executable instructions stored in the memory, causing processor 92 to perform the aspects of the embodiments described above. The processor 92 may be a general purpose processor including a central processing unit CPU, a network processor (network processor, NP), etc., or may be a digital signal processor DSP, an application specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.

The memory 93 is coupled to the processor 92 via a system bus and communicates with each other, and the memory 93 is adapted to store computer program instructions.

The transceiver 91 may be used for communication between a pilot vehicle and a follower vehicle.

The system bus may be a peripheral component interconnect (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus, or an extended industry standard architecture (extended industry standard architecture, EISA) bus, among others. The system bus may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus. The transceiver is used to enable communication between the database access device and other computers (e.g., clients, read-write libraries, and read-only libraries). The memory may include random access memory (random access memory, RAM) and may also include non-volatile memory (non-volatile memory).

The embodiment of the application also provides a vehicle, which comprises electronic equipment, wherein the electronic equipment is used for executing the technical scheme of the vehicle control method in the embodiment.

The embodiment of the application also provides a chip for running the instruction, which is used for executing the technical scheme of the vehicle control method in the embodiment.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores computer instructions, and when the computer instructions run on a computer, the computer is caused to execute the technical scheme of the vehicle control method of the embodiment.

The embodiment of the application also provides a computer program product, which comprises a computer program stored in a computer readable storage medium, wherein at least one processor can read the computer program from the computer readable storage medium, and the technical scheme of the vehicle control method in the embodiment can be realized when the at least one processor executes the computer program.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof.

Claims

1. A vehicle control method characterized by comprising:

acquiring the queue length of the vehicle formation;

determining whether the length of the queue is larger than a preset length or not, wherein the preset length is related to weather information of the current position of the pilot vehicle;

determining the number of target following vehicles exceeding a preset length in the vehicle formation under the condition that the queue length is larger than the preset length;

If the number of the target following vehicles is smaller than the preset number and the driving time of the target following vehicles after exceeding the queue length is longer than the preset time, sending a control instruction for exiting the vehicle formation to the target following vehicles so as to control the target following vehicles to exit the vehicle formation;

and if the number of the target following vehicles is greater than or equal to the preset number and the driving time of the target following vehicles after exceeding the queue length is longer than the preset time, sending a control instruction for releasing the vehicle formation to each vehicle in the formation so as to control each vehicle in the vehicle formation to exit the vehicle formation.

2. The method of claim 1, wherein the obtaining the queue length of the vehicle formation comprises:

acquiring the length and the number of following vehicles in the vehicle formation and the vehicle distance between two adjacent vehicles;

And determining the queue length of the vehicle formation according to the length and the number of the following vehicles in the vehicle formation and the vehicle distance between two adjacent vehicles.

3. The method according to claim 1 or 2, wherein said determining the number of target follower vehicles in the vehicle consist exceeding the preset length comprises:

determining an excess length according to the queue length and the preset length;

And determining the number of target following vehicles exceeding the preset length in the vehicle formation according to the exceeding length, the length of the following vehicles and the vehicle distance between two adjacent vehicles.

4. The method according to claim 1 or 2, wherein prior to the obtaining the queue length of the vehicle formation, the method further comprises:

and if receiving the message that other vehicles outside the vehicle formation are inserted into the vehicle formation, adjusting the inter-vehicle distance between two adjacent vehicles in the vehicle formation.

5. The method according to claim 1 or 2, wherein prior to the obtaining the queue length of the vehicle formation, the method further comprises:

The method comprises the steps of acquiring environment information of a front driving area, wherein the environment information comprises weather information and road surface humidity of a front driving road section, and the weather information is used for indicating whether the weather of the front driving area is abnormal or not;

And if the weather information indicates that the weather of the front driving area is abnormal and the road surface humidity of the front driving road section is less than the preset humidity, adjusting the inter-vehicle distance between two adjacent vehicles in the vehicle formation.

6. A vehicle control apparatus characterized by comprising:

The acquisition module is used for acquiring the queue length of the vehicle formation;

the determining module is used for determining whether the length of the queue is larger than a preset length, and the preset length is related to weather information of the current position of the pilot vehicle;

The determining module is further configured to determine, when the queue length is greater than a preset length, a number of target follower vehicles exceeding the preset length in the vehicle formation;

the control module is used for carrying out formation control on the target following vehicles according to the number of the target following vehicles;

the control module is specifically configured to:

7. An electronic device comprising a processor and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1-5.

8. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1-5.