Motorcade control method, joining method, control device and joining device

Abstract

The invention provides a motorcade control method, a joining method, a control device and a joining device.The motorcade control method comprises the steps that obtaining the target position where a target vehicle is located, and determining the driving time of the motorcade driving to the position of the target vehicle according to the target position and driving information of the motorcade; sending the joining agreement instruction and the driving time to the target vehicle; and controlling all vehicles of the motorcade to stop driving at the corresponding preset positions through the target position and the driving information of the motorcade according to the feedback that the target vehicle confirms to join, sending a motorcade entering instruction to the target vehicle, and controlling the motorcade to continue driving after receiving a target vehicle in-place instruction. By adopting the scheme, after the fact that the motorcade can accept the joining of the new vehicle is determined through the driving information of the motorcade, the joining of the target vehicle is accepted, and automatic driving is carried out along with the motorcade. The step of adding the vehicle into the motorcade control is simplified, meanwhile, the situation that the vehicle cannot be added into the motorcade is reduced, and the accuracy and the utilization rate of automatic formation driving can be improved.

Description

technical field [0001] The present application relates to the field of control, in particular to a control method, a joining method, a control device and a joining device of a fleet. Background technique [0002] At present, autonomous driving technology is developing vigorously, but there is still a long way to go before the landing of truly completely unmanned driving technology. However, for scenarios where multiple vehicles drive along the same path, such as freight fleets, park operation fleets, and manned service robot queues, the automatic formation of multiple vehicles and the wireless cascading follow-up driving mode will greatly save the number of drivers. [0003] The existing automatic driving is mainly based on single-vehicle automatic driving, and there is no mature application case for automatic formation. The automatic formation driving mode in the test requires the use of structured modeling solutions such as lidar or vision. The application cost is high, t...

AI Technical Summary

Problems solved by technology

The automatic formation driving mode in the test requires the use of structured modeling solutions such as lidar or vision. The application cost is high, the algorithm is complex, and it is also easily affected by environmental factors in the actual application process.

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