Cooperative control method and device for vehicle formation

Abstract

The present application relates to a method and device for cooperative control of vehicle formations. The method includes: obtaining status information of signal lights at the current intersection; and judging whether the status of the signal lights when the vehicle formation passes the current intersection and the current status are based on the status information. Consistent; according to the judgment result and the current state of the signal light, determine the target vehicle speed at which the vehicle formation can pass through the current intersection as a whole; control the speed of the vehicle formation according to the target vehicle speed. The scheme of the present application adjusts the driving speed of the convoy in real time according to the received information through the interaction with the signal light, without interfering with the normal operation of the signal light, ensures that the vehicle formation can pass through the signal light intersection completely and smoothly, reduces the waiting time for parking, and improves the road traffic. travel efficiency.

Description

technical field [0001] The present application relates to the technical field of automatic driving formations, in particular to a method and device for cooperative control of vehicle formations. Background technique [0002] With the development of the autonomous driving industry, people are no longer satisfied with single-vehicle autonomous driving. There are more and more demands for the introduction of autonomous driving technology in multi-vehicle group driving such as group self-driving tours, business tours, and formation transportation. This type of travel mode Collectively referred to as formation driving. Formation driving can effectively improve traffic road utilization and improve safety. [0003] Existing formation driving technology focuses on maintaining formation, and does not involve the situation of automatic driving formation passing signal lights. For example: the patent document whose publication number is CN107274720A proposes a multi-vehicle coordinat...

AI Technical Summary

Problems solved by technology

For example: the patent document with the publication number CN107274720A proposes a multi-vehicle coordination scheme, and the patent document with the publication number CN106708057A proposes a formation driving scheme, but the above-mentioned schemes do not consider how the fleet maintains formation and passes through the signal light intersection

The scheme recorded in the patent literature with the publication number CN104199451A is that the traffic control system of unmanned vehicles is used at signal light intersections, and the vehicle adjusts its own speed by receiving signal light signals to realize single-vehicle traffic at signal light intersections, but this scheme does not involve automatic driving formations

The scheme disclosed in the patent document with the application number CN201910721781.6 is to obtain the current signal light information through visual images, and use it for speed control of self-driving vehicles; Applicable to signal lights with a countdown, and not applicable to self-driving vehicles passing through in formation

[0004] In related technologies, there is no related technical solution for automatic driving formation to pass signal lights

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