Method for controlling vehicles to drive as platoon, and related device

Abstract

This application provides a method for controlling vehicles driving as a platoon performed by an electronic device (100). The method includes: transmitting (S110) a first vehicle clearing message to a target in-platoon vehicle, and a second vehicle clearing message to following vehicles behind the target in-platoon vehicle, the first vehicle clearing message used for instructing the target in-platoon vehicle to leave the platoon, the second vehicle clearing message used for instructing temporary clearing of the following vehicles behind the target in-platoon vehicle; receiving (S120) a platoon joining message returned from the following vehicles behind the target in-platoon vehicle; and reorganizing (S130) the following vehicles behind the target in-platoon vehicle according to the platoon joining message to form a new vehicle platoon, the new vehicle platoon not including the target in-platoon vehicle and following vehicles having not transmitted the platoon joining message to the leading vehicle.

Description

Vehicle platooning control method and related equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 15, 2020, with application number 202011481594.4 and application name “Vehicle Formation Driving Control Method and Related Equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of computer and communication technology, and in particular to vehicle platoon driving control. Background Art

[0003] With the development and application of new technologies such as autonomous driving, information and communications technology, and cloud computing, cars are rapidly transforming from manually controlled mechanical products to intelligent products controlled by intelligent systems. Traffic accidents caused by driver fatigue are frequently reported in the news. Applying autonomous driving technology to cars can effectively reduce the accident rate.

[0004] Among them, multi-vehicle platooning is a key direction. If platooning coordination is achieved between vehicles, it can effectively avoid rear-end collisions caused by emergency braking of the leading vehicle, greatly improving road safety. In addition, multi-vehicle platooning autonomous driving can reduce the following distance between vehicles, making the wind resistance of the following vehicle smaller and reducing the fuel consumption cost of the following vehicle. However, in the actual operation of the vehicle platoon, any vehicle in the vehicle platoon may malfunction or need to leave the vehicle platoon. Since the intervals between vehicles in the vehicle platoon are relatively small, it is relatively difficult for a vehicle in the middle of the vehicle platoon to leave the platoon, which will cause significant interference to the normal driving of other vehicles in the vehicle platoon and bring certain safety risks.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a vehicle platoon driving control method and related equipment, and propose a solution for the situation in which a following vehicle other than the rear end of the platoon needs to leave the platoon during platoon driving.

[0007] An embodiment of the present application provides a vehicle formation driving control method, wherein the target vehicle formation includes a lead vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles within the formation, and the vehicles within the formation include vehicles within the target formation that are about to leave the target vehicle formation, and the method is applied to the lead vehicle. The method includes: sending a first vehicle clearing message to the target vehicle in the team, and sending a second vehicle clearing message to the following vehicle behind the target vehicle in the team, the first vehicle clearing message is used to indicate that the status of the target vehicle in the team is a free state and leaves the target vehicle formation, the second vehicle clearing message includes a temporary clearing instruction, the temporary clearing instruction is used to indicate the temporary clearing of the following vehicle behind the target vehicle in the team, and the status of the following vehicle behind the target vehicle in the team that receives the second vehicle clearing message is a temporary clearing state; receiving a join queue message returned by the following vehicle behind the target vehicle in the team in response to the temporary clearing instruction; reorganizing the following vehicles behind the target vehicle in the team according to the join queue message to form a new vehicle formation, the new vehicle formation does not include the target vehicle in the team and the following vehicle that has not sent the join queue message to the lead vehicle and is behind the target vehicle in the team.

[0008] An embodiment of the present application provides a method for controlling vehicle platooning, wherein a target vehicle platoon includes a lead vehicle and following vehicles, wherein the following vehicles include a rear vehicle and vehicles within the platoon, and wherein the vehicles within the platoon include vehicles within the target platoon that are about to leave the target vehicle platoon. The method is applied to the vehicles within the target platoon. The method comprises: receiving a first vehicle withdrawal message sent by the lead vehicle; in response to the first vehicle withdrawal message, setting the state of the vehicles within the target platoon to a free state; and controlling the vehicles within the target platoon to leave the target vehicle platoon and ceasing to send heartbeat messages to the lead vehicle.

[0009] An embodiment of the present application provides a vehicle formation driving control method, wherein a target vehicle formation includes a lead vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles within the formation, wherein the vehicles within the formation include a target vehicle within the formation that is about to leave the target vehicle formation, and the method is applied to following vehicles located behind the target vehicle within the formation. The method comprises: receiving a second vehicle clearing message sent by the lead vehicle, wherein the second vehicle clearing message includes a temporary clearing instruction, wherein the temporary clearing instruction is used to instruct the temporary clearing of following vehicles located behind the target vehicle within the formation; in response to the temporary clearing instruction in the second vehicle clearing message, setting the status of the following vehicle located behind the target vehicle within the formation to a temporary clearing state; and sending a join queue message to the lead vehicle according to the temporary clearing instruction in the second vehicle clearing message, so that the lead vehicle reorganizes the following vehicles located behind the target vehicle within the formation according to the join queue message to form a new vehicle formation, wherein the new vehicle formation does not include the target vehicle within the formation and the following vehicles located behind the target vehicle within the formation that have not sent the join queue message to the lead vehicle.

[0010] An embodiment of the present application provides a vehicle formation driving control device, wherein the target vehicle formation includes a lead vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles within the formation, and the vehicles within the formation include vehicles within the target formation that are to leave the target vehicle formation, and the device is applied to the lead vehicle. The device includes: a vehicle clearing message sending unit, configured to send a first vehicle clearing message to the vehicle in the target team, and a second vehicle clearing message to the following vehicle behind the vehicle in the target team, wherein the first vehicle clearing message is used to indicate that the state of the vehicle in the target team is a free state and that the vehicle leaves the target vehicle formation, and the second vehicle clearing message includes a temporary clearing instruction, wherein the temporary clearing instruction is used to indicate the temporary clearing of the following vehicle behind the vehicle in the target team, and the state of the following vehicle behind the vehicle in the target team that receives the second vehicle clearing message is a temporary clearing state; a queue joining message receiving unit, configured to receive a queue joining message returned by the following vehicle behind the vehicle in the target team in response to the temporary clearing instruction; a vehicle formation reorganizing unit, configured to reorganize the following vehicles behind the vehicle in the target team according to the queue joining message to form a new vehicle formation, wherein the new vehicle formation does not include the vehicle in the target team and the following vehicle behind the vehicle in the target team that has not sent the queue joining message to the lead vehicle.

[0011] An embodiment of the present application provides a vehicle formation driving control device, wherein a target vehicle formation includes a lead vehicle and following vehicles, wherein the following vehicles include a rear vehicle and vehicles within the formation, wherein the vehicles within the formation include vehicles within the target formation that are about to leave the target vehicle formation, and the device is applied to the vehicles within the target formation. The device includes: a first vehicle withdrawal message receiving unit, configured to receive a first vehicle withdrawal message sent by the lead vehicle; a target formation vehicle state setting unit, configured to respond to the first vehicle withdrawal message and set the state of the target formation vehicle to a free state; and a target formation vehicle departure unit, configured to control the target formation vehicle to leave the target vehicle formation and stop sending heartbeat messages to the lead vehicle.

[0012] An embodiment of the present application provides a vehicle formation driving control device, wherein the target vehicle formation includes a lead vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles within the formation, and the vehicles within the formation include vehicles within the target formation that are about to leave the target vehicle formation, and the device is applied to a following vehicle located behind the vehicle within the target formation. Wherein, the device includes: a second vehicle clearing message receiving unit, used for receiving a second vehicle clearing message sent by the lead vehicle, the second vehicle clearing message including a temporary clearing instruction, the temporary clearing instruction being used to instruct the temporary clearing of the following vehicles located behind the vehicle in the target team; a temporary clearing state setting unit, used for responding to the temporary clearing instruction in the second vehicle clearing message, and setting the state of the following vehicles located behind the vehicle in the target team to a temporary clearing state; a join queue message sending unit, used for sending a join queue message to the lead vehicle according to the temporary clearing instruction in the second vehicle clearing message, so that the lead vehicle reorganizes the following vehicles located behind the vehicle in the target team according to the join queue message to form a new vehicle formation, wherein the new vehicle formation does not include the vehicle in the target team and the following vehicles located behind the vehicle in the target team that have not sent the join queue message to the lead vehicle.

[0013] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the vehicle platoon driving control method as described in the above embodiment is implemented.

[0014] An embodiment of the present application provides an electronic device for vehicle platoon driving control, comprising: one or more processors; a storage device configured to store one or more programs, which, when executed by the one or more processors, enables the one or more processors to implement the vehicle platoon driving control method as described in the above embodiments.

[0015] According to one aspect of the present application, a computer program product or computer program is provided. The computer program product or computer program includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle platooning control method provided in the various optional implementations described above.

[0016] In the technical solutions provided by some embodiments of the present application, when a target vehicle formation is traveling in formation, when a target vehicle in the following vehicle in the target vehicle formation needs to leave the target vehicle formation, the lead vehicle in the target vehicle formation can send a first vehicle clearing message and a second vehicle clearing message to the target vehicle formation and the following vehicle behind the target vehicle formation, respectively, and the second vehicle clearing message includes a special temporary clearing instruction to inform the following vehicle behind the target vehicle formation that it is temporarily cleared. The following vehicle behind the target vehicle formation can respond to the temporary clearing instruction and set its own state to a temporary clearing state. If the following vehicle behind the target vehicle formation wishes to continue to join the fleet, it can return a join queue message to the lead vehicle. The lead vehicle can allow the following vehicle behind the target vehicle formation to re-join the fleet based on the join queue message received from the following vehicle behind the target vehicle formation, thereby forming a new vehicle formation. The new vehicle formation no longer includes the target vehicle formation and the following vehicle behind the target vehicle formation that has not sent a join queue message to the lead vehicle. Specifically, the present embodiment provides a solution for when a following vehicle within a platoon needs to leave the platoon. This solution for leaving the target vehicle within the platoon minimizes interference with other vehicles within the platoon and is a highly efficient platooning control solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 schematically shows a flow chart of a vehicle platoon driving control method according to an embodiment of the present application;

[0018] FIG2 schematically shows a schematic diagram of a vehicle platoon driving control method according to an embodiment of the present application;

[0019] FIG3 schematically shows a schematic diagram of a vehicle platoon driving control method according to another embodiment of the present application;

[0020] FIG4 schematically shows a schematic diagram of a vehicle platoon driving control method according to yet another embodiment of the present application;

[0021] FIG5 schematically shows a flow chart of a vehicle platoon driving control method according to another embodiment of the present application;

[0022] FIG6 schematically shows a flow chart of a vehicle platoon driving control method according to another embodiment of the present application;

[0023] FIG7 schematically shows a block diagram of a vehicle platooning control device according to an embodiment of the present application;

[0024] FIG8 schematically shows a block diagram of a vehicle platoon driving control device according to another embodiment of the present application;

[0025] FIG9 schematically shows a block diagram of a vehicle platoon driving control device according to another embodiment of the present application;

[0026] FIG10 shows a schematic structural diagram of an electronic device suitable for implementing the embodiments of the present application. DETAILED DESCRIPTION

[0027] First, some of the terms that appear in the embodiments of this application are explained.

[0028] Platooning: Based on wireless communication technology and autonomous driving technology, two or more vehicles follow each other closely and connect to form a vehicle formation with similar driving behavior.

[0029] Driving as a Platoon: Two or more vehicles travel in a platoon in a specific scenario. This includes the creation, removal, joining, and leaving of a platoon.

[0030] Leading Vehicle (LV): The vehicle at the front of the formation during platoon driving, responsible for the management of the entire platoon.

[0031] Following Vehicle (FV): The following vehicles in a platoon except the lead vehicle.

[0032] PMM (Platooning Management Message): Platooning management message.

[0033] The embodiment of the present application proposes a solution for the situation in which a following vehicle other than the rear vehicle in a platoon needs to leave the platoon during travel.

[0034] FIG1 schematically illustrates a flow chart of a vehicle platoon driving control method according to an embodiment of the present application. In the embodiment of FIG1 , the target vehicle platoon may include a pilot vehicle and a following vehicle. The following vehicle may include a tail vehicle (the vehicle at the rear of the target vehicle platoon during platoon driving) and a vehicle within the platoon (a vehicle not at the rear of the platoon). The vehicle within the platoon includes a target platoon vehicle to be driven out of the target vehicle platoon, i.e., a target platoon vehicle is a following vehicle not at the rear of the platoon that needs to leave the platoon. The method provided in the embodiment of FIG1 can be applied to the pilot vehicle.

[0035] In an embodiment of the present application, during platooning, vehicles (e.g., between a lead vehicle and any following vehicle, or between different following vehicles) can communicate with each other via wireless communication technology (the wireless communication technology may be DSRC (Dedicated Short Range Communication), C-V2X (Cellular Vehicle-to-Everything, a communication method between networked vehicles and other "networked" road users, vehicles, and infrastructure based on 4G, 5G, and future evolution of cellular mobile communication technology), ETC (Electronic Toll Collection), etc., and this application does not limit the wireless communication technology itself). The lead vehicle may include a fleet control unit responsible for coordinating the lead vehicle and each following vehicle in the target vehicle formation to maintain a certain safe distance and to travel in formation. In addition, all vehicles in the target vehicle formation have the capabilities of perception, positioning, planning, control, and interaction. The lead vehicle and the following vehicles can both connect to the cloud server via the network to interact. The lead vehicle and the following vehicles report their own information to the cloud server, which performs functions such as vehicle condition monitoring, scheduling, and management. However, the present application is not limited thereto.

[0036] As shown in FIG1 , the method provided in the embodiment of the present application may include the following steps.

[0037] In step S110 , a first vehicle clearing message is sent to the target vehicle in the team, and a second vehicle clearing message is sent to the following vehicle behind the target vehicle in the team.

[0038] Among them, the first vehicle clearance message is used to indicate that the status of the vehicle in the target team is free and it leaves the target vehicle formation. The second vehicle clearance message may include a temporary clearance indication, which is used to indicate the temporary clearance of the following vehicles behind the vehicles in the target team. The status of the following vehicles behind the vehicles in the target team that receive the second vehicle clearance message is a temporary clearance status.

[0039] In an embodiment of the present application, the status (status) of the vehicles in the target vehicle formation can be set to include "pilot status", "following status", "free status" and "temporary withdrawal status". The pilot vehicle is in the pilot status, the following vehicle is in the following status, and the vehicles not in the vehicle formation are in the free status (the corresponding vehicles can be referred to as free vehicles or free vehicles). The temporary withdrawal status refers to the temporary withdrawal of vehicles in the target vehicle formation rather than formal withdrawal (the status of the formally withdrawn following vehicles is converted to a free status). After meeting predetermined conditions (for example, it is determined that the vehicles in the target team have left the target vehicle formation, or after the time set by the temporary withdrawal timer is reached, etc., this application does not limit this), the state in which they can rejoin the team.

[0040] In an embodiment of the present application, the vehicles in the target vehicle formation can be set to include at least four different roles, which can be respectively "leader", "free car", "follower" and "temporary free car". Among them, the role of the leader vehicle is set to the leader vehicle, the role of the follower vehicle is set to the follower vehicle, the role of the vehicle that has left or has not joined the target vehicle formation is the free car, and the temporary free car refers to a vehicle in the target vehicle formation that is temporarily cleared but not officially cleared (the role of the follower vehicle after the official clearance is converted to a free car), and after meeting the predetermined conditions, it will rejoin the team and has a role between the free car and the follower vehicle.

[0041] In some embodiments, the status of the vehicles in the target vehicle formation can be set, and the roles of the vehicles in the target vehicle formation can also be set. In other embodiments, the status and roles of the vehicles in the target vehicle formation can be set at the same time. For example, the role of the leading vehicle is the leading vehicle, and its corresponding status is the leading status; the role of the following vehicle is the following vehicle, and its corresponding status is the following status; the role of the free vehicle is the free vehicle, and its corresponding status is the free status; when the following vehicle behind the vehicle in the target team receives a vehicle clearance message containing a temporary clearance instruction, its corresponding role can be converted from the original following vehicle to a temporary free vehicle, and its corresponding status can be converted from the original following status to a temporary clearance status. When the vehicle in the target team receives a vehicle clearance message, its corresponding role can be converted from the original following vehicle to a free vehicle, and its corresponding status can be converted from the original following status to a free status.

[0042] In an exemplary embodiment, the second vehicle clearance message may include a clearance status field, and the value of the clearance status field indicates a temporary clearance indication; wherein, the first vehicle clearance message may not include the clearance status field; or the first vehicle clearance message may include the clearance status field, and the value of the clearance status field indicates a non-temporary clearance indication; or the first vehicle clearance message may include the clearance status field, and the value of the clearance status field indicates a temporary clearance indication.

[0043] For example, the leading vehicle may send a first vehicle withdrawal message and a second vehicle withdrawal message to the target vehicle and each following vehicle located behind the target vehicle in a unicast manner. The data packet corresponding to the second vehicle withdrawal message may include a withdrawal status field. By setting the value of the withdrawal status field to, for example, a first value (such as "1", but the present application is not limited thereto), the above-mentioned temporary withdrawal instruction is indicated. After each following vehicle located behind the target vehicle receives the second vehicle withdrawal message, it can be known that it is a temporary withdrawal based on the value of the withdrawal status field included therein. The data packet corresponding to the first vehicle withdrawal message sent to the target vehicle may not include the above-mentioned withdrawal status field, or may include the above-mentioned withdrawal status field, but the value corresponding to the withdrawal status field is assumed to be a second value (such as "2", but the present application is not limited thereto), indicating a non-temporary withdrawal instruction. After receiving the first vehicle withdrawal message, the target vehicle learns that it is a non-temporary withdrawal and can freely leave the target vehicle formation.

[0044] For another example, the leading vehicle can broadcast a first vehicle clearance message and a second vehicle clearance message to the target vehicle and each following vehicle behind the target vehicle in the team (the contents of the two messages are the same at this time, and can be collectively referred to as vehicle clearance messages). The data packets corresponding to the vehicle clearance messages sent to each following vehicle behind the target vehicle and the target vehicle in the team can include a clearance status field, and the value of the clearance status field is set to, for example, the first value (such as "1", but the present application is not limited to this), indicating the above-mentioned temporary clearance instruction. After receiving the vehicle clearance message, each following vehicle behind the target vehicle can know that it is a temporary clearance based on the value of the clearance status field included therein. Although the vehicle in the target team also knows that it is a temporary clearance, it can choose to ignore the temporary clearance instruction and choose to leave the target vehicle formation.

[0045] In an exemplary embodiment, the first vehicle clearance message and the second vehicle clearance message may include a departure list and a temporary departure list. The departure list includes the identity information of the vehicle in the target team, and the temporary departure list includes the identity information of the following vehicle behind the vehicle in the target team. The temporary departure list is used as a temporary clearance indication.

[0046] In an exemplary embodiment, the lead vehicle may also broadcast a vehicle clearing message to all following vehicles in the target vehicle formation (the first and second vehicle clearing messages have the same message content and may be collectively referred to as vehicle clearing messages). The vehicle clearing message includes both a leaving list and a temporary leaving list, and places the identity information of the target vehicle in the formation, such as the vehicle identification (ID), in the leaving list, and places the identity information of the following vehicle behind the target vehicle in the formation, such as the vehicle ID, in the temporary leaving list. In this way, when a following vehicle preceding the target vehicle in the formation receives the vehicle clearing message and detects that its identity information is neither in the leaving list nor in the temporary leaving list, the following vehicle preceding the target vehicle in the formation should ignore the vehicle clearing message. When a target vehicle in the formation receives the vehicle clearing message and finds that its own vehicle ID is in the leaving list, it will know that it has been officially cleared. After receiving the vehicle withdrawal message, the following vehicle behind the vehicle in the target team finds that its own vehicle ID is in the temporary departure list, and then learns that it is temporarily withdrawn.

[0047] In an embodiment of the present application, the leading vehicle sends a first vehicle clearing message and a second vehicle clearing message to the vehicle in the target team and the following vehicle behind the vehicle in the target team, respectively, which may include the following two situations: one is that the vehicle in the target team applies to leave the team, and the triggering condition may be that the formation strategy of the target vehicle team changes, or the vehicle in the target team breaks down, or the driving strategy of the vehicle in the target team changes; the other is that the leading vehicle actively clears the vehicle in the target team, and the triggering condition may be that the formation strategy of the target vehicle team changes or the leading vehicle finds that the vehicle in the target team is not suitable to continue driving in the target vehicle team.

[0048] In an exemplary embodiment, before sending a first vehicle clearing message to a target vehicle in the fleet and sending a second vehicle clearing message to a following vehicle behind the target vehicle in the fleet, the process may further include: receiving a departure request message sent by the target vehicle in the fleet. Sending the first vehicle clearing message to the target vehicle in the fleet and sending the second vehicle clearing message to a following vehicle behind the target vehicle in the fleet may include: the lead vehicle responding to the departure request message, sending the first vehicle clearing message to the target vehicle in the fleet, and sending the second vehicle clearing message to a following vehicle behind the target vehicle in the fleet.

[0049] In an exemplary embodiment, the departure application message carries the identity information of the target team vehicle. In response to the departure application message, a first vehicle clearance message is sent to the target team vehicle, and a second vehicle clearance message is sent to the following vehicle behind the target team vehicle. This may include: obtaining the fleet information of the target vehicle formation according to the identity information of the target team vehicle carried in the departure application message; if the target team vehicle is determined not to be the last vehicle in the fleet according to the fleet information of the target vehicle formation, the departure application message is sent to the target team vehicle, and a second vehicle clearance message is sent to the following vehicle behind the target team vehicle. In response to the departure application message, after sending the first vehicle clearance message to the target team vehicle, and sending the second vehicle clearance message to the following vehicle behind the target team vehicle, the departure application message may also include: placing the identity information of the target team vehicle (such as the license plate number, the assigned vehicle identification, etc.) into the departure list to set the status of the target team vehicle to a free state; and the leading vehicle sets the status of the following vehicle behind the target team vehicle to a temporary clearance state.

[0050] In one possible implementation, if a vehicle in the target team changes its driving strategy, for example, the vehicle in the target team needs to leave the target vehicle formation and enter a gas station, it can send a leave application message to the lead vehicle. The leave application message may include the identity information of the vehicle in the target team, such as the license plate number of the vehicle in the target team, the vehicle ID (identity) assigned to the vehicle in the target team in the target vehicle formation, etc., any one or more of which can uniquely identify the vehicle in the target team in the target vehicle formation. After the leading vehicle receives the departure application message, it can obtain the fleet information of the entire target vehicle formation based on the identity information of the target vehicle in the departure application message. The fleet information of the target vehicle formation may include each vehicle in the target vehicle formation and related information between different vehicles, such as the current position of each vehicle, whether it is the last vehicle in the team, and if it is a vehicle in the team, its position in the team can also be given. In this way, the leading vehicle can determine that the target vehicle in the team that sent the departure application message is not the last vehicle in the team, and then trigger and send a first vehicle clearance message to the target vehicle in the target vehicle formation and a second vehicle clearance message to each following vehicle behind the target vehicle in the team, and include a special temporary clearance instruction in the second vehicle clearance message, which indicates that each following vehicle behind the target vehicle in the team can rejoin the team after temporary clearance.

[0051] Among them, if a vehicle in the target team applies to leave the team, the specific interaction process between it and the pilot vehicle can be referred to Figure 2.

[0052] In an exemplary embodiment, sending a first vehicle clearing message to a vehicle in a target team and sending a second vehicle clearing message to a following vehicle located behind the vehicle in the target team may include: when abnormal behavior is detected in a vehicle in the target team; or, in response to an adjustment instruction to adjust the target vehicle formation, sending a first vehicle clearing message to a vehicle in the target team and sending a second vehicle clearing message to a following vehicle located behind the vehicle in the target team.

[0053] In an embodiment of the present application, the triggering condition for the pilot vehicle to clear the vehicles in the target team may be that the pilot vehicle discovers an abnormality in the vehicles in the target team (it may be that the vehicles in the target team report a special event to the pilot vehicle or the cloud server, or it may be that the pilot vehicle actively discovers it), or the fleet management requirements of the target vehicle formation have changed. The adjustment instruction refers to adjusting the formation strategy of the target vehicle formation, such as clearing the target vehicle in the target vehicle formation. The adjustment instruction may be issued by the pilot vehicle itself, or it may be received from an external source such as a cloud server, and this application does not limit this. The interactive process of the pilot vehicle actively clearing the vehicles in the target team can be specifically referred to Figure 3 below.

[0054] In an embodiment of the present application, the temporary clearance instruction in the second vehicle clearance message sent by the pilot vehicle to the following vehicle behind the vehicle in the target team is equivalent to an invitation to rejoin the following vehicle behind the vehicle in the target team. The rejoining invitation may include the fleet information of the target vehicle formation (except for the above-mentioned vehicles in the target team). It can be understood that from the perspective of security and privacy protection, or from the perspective of saving transmission messages, the fleet information sent by the pilot vehicle to each following vehicle behind the vehicle in the target team can be simplified compared to the fleet information stored in the pilot vehicle. For example, the fleet information sent to each following vehicle behind the vehicle in the target team only includes the relevant information of the following vehicle behind the vehicle in the target team and the two adjacent following vehicles in front and behind it.

[0055] In an exemplary embodiment, the temporary clearing instruction may include a temporary clearing timer (hereinafter referred to as T1, but the present application is not limited thereto).

[0056] Among them, after sending the second vehicle clearance message to the following vehicle behind the vehicle in the target team, it can also include: maintaining the fleet information of the following vehicle behind the vehicle in the target team in the target vehicle formation in the leading vehicle before the time specified by the temporary clearance timer.

[0057] After the lead vehicle sends a first vehicle clearing message to the target vehicle and each following vehicle behind the target vehicle sends a second vehicle clearing message, the lead vehicle will not clear the fleet information of each following vehicle behind the target vehicle in the target vehicle formation within the time specified by the temporary clearing timer T1 (the fleet information of the following vehicles ahead of the target vehicle will of course be preserved). In other embodiments, the fleet information of the target vehicle can even be continued to be stored in the lead vehicle, and the vehicle identifier of the target vehicle can be simply added to the leaving list.

[0058] In an embodiment of the present application, fleet information may include member management information, basic information basicInfo, identity information identityInfo, route information pathInfo, vehicle capability information vehAbilityInfo, etc.

[0059] The member management information may further include the role of each vehicle in the target vehicle formation, its status (e.g., applying to join or leave the formation), the identities of the vehicles in front of and behind each vehicle, and other information. Basic information, identity information, and vehicle capability information may further include whether each vehicle in the target vehicle formation has a driver (whether it is autonomous), the communication method used by each vehicle, whether privacy protection is required, and other information. It may also include various other information such as each vehicle's brand, model, length, load capacity, color, engine power, and number of axles. Route information may include various information such as the destination and travel route of each vehicle in the target vehicle formation.

[0060] In an embodiment of the present application, by maintaining the fleet information of the following vehicles located behind the vehicle in the target team in the target vehicle formation in the lead vehicle before the time specified by the temporary clearing timer, when these following vehicles located behind the vehicle in the target team re-enter the team subsequently, it is no longer necessary to re-send this information to the lead vehicle, but only to simply send a join queue message. The lead vehicle also does not need to re-store and authenticate this information, thereby greatly simplifying the re-entry process of the following vehicles located behind the vehicle in the target team that is in a temporarily cleared state.

[0061] It should be noted that in the embodiment of the present application, after the time T1 specified by the temporary clearing timer, if the leading vehicle does not receive the re-teaming confirmation message from a remaining following vehicle, the convoy information of the following vehicles in the target vehicle formation that are located behind the vehicles in the target team can continue to be saved in the leading vehicle for a while. It is not required that the convoy information of the following vehicles located behind the vehicles in the target team must be cleared immediately after T1 is reached, as long as it is ensured to continue to be saved within T1.

[0062] In step S120, a join queue message returned by a following vehicle behind the target vehicle in the fleet in response to the temporary withdrawal instruction is received.

[0063] In an exemplary embodiment, the method provided in the embodiment of the present application may further include: if no join queue message is received from the target following vehicle among the following vehicles located behind the vehicle in the target team within the time specified by the temporary clearing timer, the identity information of the target following vehicle is placed in a dequeue list, and the state of the target following vehicle is set to a free state.

[0064] When the temporary withdrawal instruction further includes a temporary withdrawal timer T1, the following vehicles behind the target vehicle in the team will be temporarily withdrawn within the time specified by the temporary withdrawal timer T1. After receiving the second vehicle withdrawal message, each following vehicle behind the target vehicle in the team will return a join queue message to the pilot vehicle if it wishes to continue to join the team. Instructing the following vehicles behind the target vehicle in the team to agree to continue to join the team. When the temporary withdrawal timer T1 times out and a target following vehicle does not send a join queue message to the pilot vehicle, the pilot vehicle will assume that the target following vehicle will not rejoin the team and the target following vehicle will officially leave the team. The target following vehicle will then be converted from a temporarily withdrawn state to a free state, and its role can also be converted from a temporary free vehicle to a free vehicle.

[0065] In an exemplary embodiment, the method provided by the embodiment of the present application may further include: the lead vehicle receives a joining application message from the target following vehicle, the joining application message carrying basic information, route information, identity information and capability information of the target following vehicle; the lead vehicle determines whether the target following vehicle meets the admission conditions based on the basic information, route information, identity information and capability information of the target following vehicle carried in the joining application message; if it is determined that the target following vehicle meets the admission conditions, the lead vehicle sends a joining instruction message to the target following vehicle, so that the target following vehicle responds to the joining instruction message and joins a new vehicle formation, and the new vehicle formation does not include vehicles in the target formation and following vehicles that have not sent a joining queue message to the lead vehicle and are located behind the vehicles in the target formation.

[0066] In the embodiment of the present application, the interactive process of the target team vehicle and the target follower vehicle, whose roles have been converted to free vehicles, applying to the lead vehicle to join the team can be exemplified as follows. The present application does not limit the process of free vehicles joining the team:

[0067] First of all, the privacy protection mode of the free car should be consistent with the privacy protection mode of the pilot car. If it is inconsistent, the joining process cannot continue.

[0068] If privacy protection is set to on in the pilot vehicle's PMM_PlatooningAnnouncement message, the following steps may be included:

[0069] (1.1) The Free Car sends an encrypted PMM_JioningRequest message to the Pilot Car (privacyPro is optional). The encryption key is the public key contained in the Pilot Car's certificate. The certificate sent by the Free Car must contain the public key used for encryption.

[0070] (1.2) The pilot vehicle determines whether the free vehicle meets the admission conditions based on the basic information (basicInfo), route information (pathInfo), identity information (identityInfo) and capability information (vehAbilityInfo) carried in the PMM_JoiningRequest message. If so, proceed to (1.3); otherwise, proceed to (1.4).

[0071] (1.3) The pilot car sends an encrypted PMM_JoiningCommand message to the free car, and the encryption key is the public key carried in the certificate sent by the free car. Among them, the joining list joininglist stores the temporary ID of the vehicle in the free car's BSM (Basic Safety Message), and the member list memberlist stores the ID set of the pilot car, the immediately preceding vehicle (the following vehicle immediately preceding the following vehicle in the target team and the following vehicle immediately preceding the following vehicle in the target team), and the vehicle itself (the following vehicle immediately preceding the following vehicle in the target team). The set includes the team sequence number and the ID list (the list value range is 1 to n, where n is a positive integer greater than 1, and the format is {sequence number 1, ID set 1 sequence number 2, ID set 2 sequence number 3, ID set 3}).

[0072] (1.4) The pilot car sends an unencrypted PMM_JoiningCommand message to the free car. The reject response field in the message is set to 0, indicating that the current rejection reason is that the pilot car is processing the member change process, or the conditions do not meet the access requirements, etc.

[0073] If the privacy protection in the pilot car's PMM_PlatooningAnnouncement message is set to 0, the interaction process does not require encryption. The specific content is as follows:

[0074] (2.1) The free car sends a PMM_JioningRequest message to the pilot car.

[0075] (2.2) The pilot vehicle determines whether the free vehicle meets the admission conditions based on the basic information (basicInfo), route information (pathInfo), identity information (identityInfo) and capability information (vehAbilityInfo) carried in the PMM_JoiningRequest message. If so, proceed to (2.3); otherwise, proceed to (2.4).

[0076] (2.3) The lead car sends a PMM_JoiningCommand message to the free car, where the joining list (joininglist) stores the temporary ID of the vehicle in the free car's BSM, and the member list (memberlist) stores the ID set of the lead car, the vehicle immediately preceding it, and the car itself. The set includes the sequence number within the team and the assigned temporary ID of the vehicle, which can remain unchanged (the format is {sequence number 1, ID1 sequence number 2, ID2}).

[0077] (2.4) The pilot car sends a PMM_JoiningCommand message to the free car. The reject response field in the message is set to 0, indicating that the current rejection reason is that the pilot car is processing the member change process, or the conditions do not meet the admission requirements, etc.

[0078] In the above steps (1.4) and (2.4), the free car starts to send high-frequency heartbeat messages synchronously, and the temporary ID is the assigned vehicle temporary ID.

[0079] In step S130, the following vehicles behind the target vehicle are reorganized according to the join queue message to form a new vehicle formation. The new vehicle formation does not include the target vehicle and the following vehicles behind the target vehicle that have not sent the join queue message to the lead vehicle.

[0080] In an exemplary embodiment, reorganizing the following vehicles behind the vehicle in the target team according to the join queue message to form a new vehicle team may include: reorganizing team information according to the join queue message; and sending the reorganized team information to the following vehicles behind the vehicle in the target team and returning the join queue message to form a new vehicle team.

[0081] The leading vehicle reorganizes the fleet information according to the received joining queue message returned by the following vehicle behind the target vehicle in the fleet, and sends the final confirmed fleet information to the following vehicle behind the target vehicle in the fleet that returned the joining queue message.

[0082] It should be noted that the leading vehicle may broadcast the updated convoy information to both the following vehicle located before the target vehicle in the convoy and the following vehicle located after the target vehicle in the convoy.

[0083] The vehicle formation driving control method provided by the embodiment of the present application is that during the platoon driving of the target vehicle formation, when a target vehicle in the following vehicles in the target vehicle formation needs to leave the target vehicle formation, the lead vehicle in the target vehicle formation can send a first vehicle clearing message and a second vehicle clearing message to the target vehicle and the following vehicle located behind the target vehicle, respectively, and the second vehicle clearing message includes a special temporary clearing instruction to inform the following vehicle located behind the target vehicle that it is temporarily cleared. The following vehicle located behind the target vehicle can respond to the temporary clearing instruction and set its own state to a temporary clearing state. If the following vehicle located behind the target vehicle wishes to continue to join the platoon, it can return a join queue message to the lead vehicle. The lead vehicle can allow the following vehicle located behind the target vehicle to re-enter the platoon based on the join queue message received from the following vehicle located behind the target vehicle, thereby forming a new vehicle formation. The new vehicle formation no longer includes the target vehicle and the following vehicle located behind the target vehicle that has not sent a join queue message to the lead vehicle. Specifically, the present embodiment provides a solution for when a following vehicle within a platoon needs to leave the platoon. This solution for leaving the target vehicle within the platoon minimizes interference with other vehicles within the platoon and is a highly efficient platooning control solution.

[0084] FIG2 schematically shows a schematic diagram of a vehicle platoon driving control method according to an embodiment of the present application.

[0085] First, as shown in Figure 3, assume that the target vehicle formation consists of the following members: pilot vehicle, follower vehicle 1, follower vehicle 2, follower vehicle 3, follower vehicle 4, and follower vehicle 5. The pilot vehicle is the first vehicle in the target vehicle formation, and the other five follower vehicles are arranged in the order they were in the formation. Furthermore, assume that follower vehicle 3 is the vehicle in the target vehicle formation that needs to leave. The process for its active request to leave the formation can include the following steps.

[0086] In step S21 , the following vehicle 3 sends a leaving request message to the lead vehicle.

[0087] When a following vehicle 3 that is not the rear vehicle needs to leave the target vehicle formation, for example, a vehicle in the target formation breaks down, or a vehicle in the target formation needs to enter a service area, or a vehicle in the target formation changes its route, the target formation vehicle may send a leaving request message to the lead vehicle. The leaving request message may be based on a PMM message, in which the status is set to Ask for leaving (request to leave, or apply to leave), and may also include the identity information of the target formation vehicle.

[0088] In step S22 , the lead vehicle triggers the following vehicle 3 and some members of the following vehicles 4 and 5 located behind the following vehicle 3 to leave the team.

[0089] In an embodiment of the present application, after receiving a de-queue request message from follower vehicle 3, the lead vehicle obtains the fleet information of the target vehicle formation based on the identity information of follower vehicle 3 in the de-queue request message. After determining that follower vehicle 3 is not the last vehicle in the fleet based on the fleet information, the lead vehicle sends a first vehicle clearing message to follower vehicle 3 and a second vehicle clearing message to follower vehicles 4 and 5 located behind follower vehicle 3. Specifically, both the first vehicle clearing message and the second vehicle clearing message may be PMM messages, and the de-queue list in the PMM message may include the identity information of follower vehicle 3 that initiated the de-queue request. The second vehicle clearing message sent to follower vehicles 4 and 5 located behind follower vehicle 3 includes a special temporary clearing indication, indicating that this clearing is temporary. All follower vehicles in the target vehicle formation located behind follower vehicle 3, except follower vehicle 3, may subsequently directly send a join queue message to apply to join the target vehicle formation. This is equivalent to including a join invitation to follower vehicles 4 and 5 in this vehicle clearing message.

[0090] The temporary withdrawal instruction can also be sent in the form of a reason value for vehicle withdrawal. There is no restriction on the specific implementation method of the temporary withdrawal instruction. The main purpose is to indicate that the following vehicle behind the vehicle in the target team that has left the target vehicle formation can apply to join the team again and will re-join the team.

[0091] The first vehicle clearance message and the second vehicle clearance message may both include a clearance status field, which may be set separately for each following vehicle in the leaving list. For example, the clearance status field of following vehicle 4 and following vehicle 5 may be set to a temporary clearance indication to indicate temporary clearance of following vehicle 4 and following vehicle 5, and the clearance status field of following vehicle 3 may be set to a non-temporary clearance indication or default to indicate non-temporary clearance of following vehicle 3.

[0092] In one possible implementation, the leading vehicle can add a leaving vehicle ID (here, the vehicle ID of the target vehicle) to the leaving list leavinglist, and send a PMM (leadingExt: leavinglist contains the identity information of the following vehicle 3) message to the target vehicle and the following vehicle behind the target vehicle as the first vehicle clearing message and the second vehicle clearing message. After receiving the above-mentioned first vehicle clearing message, the target vehicle adjusts its state to a free state, sets its role to a free vehicle (Free-vehicle), leaves the fleet, sends a PMM (Status = leaving) message to the leading vehicle, and stops sending high-frequency heartbeat messages to the leading vehicle. In response to the (Status = leaving) message, the leading vehicle clears the information of the following vehicle 3 in the leavinglist.

[0093] In step S23 , the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3 send a queue joining message to the lead vehicle, that is, send a re-entry application.

[0094] In an embodiment of the present application, a temporary withdrawal instruction may include a temporary withdrawal timer T1. If the following vehicles 4 and 5 behind the following vehicle 3 wish to continue to join the queue, they will send a join queue message to the leading vehicle within the time specified by the temporary withdrawal timer T1, indicating that the following vehicles behind the vehicle in the target queue wish to continue to join the queue. If T1 times out and the leading vehicle does not receive the join queue message sent by the following vehicles 4 and 5 behind the vehicle in the target queue, the following vehicles 4 and 5 will officially leave the queue and clear the fleet information of the target vehicle formation stored in the following vehicles 4 and 5 after T1 times out.

[0095] For example, the leading vehicle can send a data packet containing a second vehicle clearing message to the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3. The data packet includes a clearing status field and a temporary clearing timer. After receiving the clearing status field, the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3 know that they will rejoin the queue later. Therefore, before the temporary clearing timer T1 times out, the following vehicle 4 and the following vehicle 5 will save the fleet information of the target vehicle formation and basically maintain the original formation. The leading vehicle will not clear the fleet information of the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3 in the original target vehicle formation. For example, the normal joining process is complicated. The pilot vehicle needs to collect various information of each vehicle, such as color, vehicle ID, speed and position, and perform authentication, etc. When re-joining the queue in a temporary clearing state, since this information is still retained, the joining process can be simplified. For example, the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3 only need to send the vehicle ID, speed and position information (which can be included in the joining queue message) to the pilot vehicle, so that the pilot vehicle can determine whether the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3 can re-join the queue.

[0096] If the following vehicle 4 and / or the following vehicle 5 behind the following vehicle 3 do not send a join queue message before T1 times out, the leading vehicle will assume that the following vehicle 4 and / or the following vehicle 5 behind the following vehicle 3 do not want to rejoin the queue and determine that the following vehicle 4 and / or the following vehicle 5 behind the following vehicle 3 have left the queue.

[0097] For example, if following vehicle 3 has not completely left the target vehicle formation when the time specified by the temporary clearing timer T1 is reached, then following vehicles 4 and 5 will find that following vehicle 3 is still in front of them after T1. In this case, following vehicles 4 and 5 can leave the formation and wait until the conditions are met before re-issuing a normal joining application to the lead vehicle.

[0098] In step S24 , the lead vehicle returns a convoy information confirmation message to the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3 .

[0099] The leading vehicle removes the convoy information of the leaving vehicle (here is the convoy information of the following vehicle 3) from the memberlist, and sends a PMM (leadingExt: leavinglist is empty, memberlist does not contain the identity information of the leaving vehicle) message to the following vehicle 4 or / and the following vehicle 5 that returns the joining queue message as a convoy information confirmation message.

[0100] The vehicle formation driving control method provided by the embodiment of the present application can proactively send a departure request message to the lead vehicle when any target vehicle in the target vehicle formation needs to leave the formation. The lead vehicle can respond to the departure request message and trigger the temporary withdrawal of the following vehicles behind the target vehicle.

[0101] FIG4 schematically illustrates a method for controlling vehicle platooning according to another embodiment of the present application. As shown in FIG4 , the following steps may be included for the lead vehicle to proactively trigger the departure of a target vehicle from the platoon. Assume again that the target vehicle platoon has the following members: lead vehicle, follower vehicle 1, follower vehicle 2, follower vehicle 3, follower vehicle 4, and follower vehicle 5, with follower vehicle 3 being the target vehicle that needs to leave the platoon.

[0102] In step S41, the pilot vehicle triggers the following vehicle 3, the following vehicle 4 and some members of the following vehicle 5 to leave the team, and puts the following vehicle 3 into the leaving list.

[0103] In step S42 , the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3 return a join-queue message to the lead vehicle, applying for re-entry.

[0104] In step S43 , the lead vehicle returns a convoy information confirmation message to the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3 .

[0105] The specific implementation process of the above steps S41-S43 can refer to steps S22-S24 of the embodiment of Figure 2 above.

[0106] The vehicle formation driving control method provided in the embodiment of the present application can, when necessary, enable the lead vehicle to proactively clear the target vehicle in the target vehicle formation, thereby triggering the temporary clearing of the following vehicles behind the target vehicle.

[0107] FIG5 schematically illustrates a flow chart of a vehicle platooning control method according to another embodiment of the present application. The target vehicle platoon in the embodiment of FIG5 may include a lead vehicle and a following vehicle, wherein the following vehicle may include a rear vehicle and vehicles within the platoon, and the vehicles within the platoon may include vehicles within the target platoon that are about to leave the target vehicle platoon. The method of the embodiment of FIG5 may be applied to vehicles within the target platoon.

[0108] As shown in FIG5 , the method provided in the embodiment of the present application may include the following steps.

[0109] In step S510, a first vehicle clearance message sent by the pilot vehicle is received.

[0110] In an exemplary embodiment, the first vehicle clearance message may not include the clearance status field; or the first vehicle clearance message may include the clearance status field, and the value of the clearance status field represents a non-temporary clearance indication; or the first vehicle clearance message may include the clearance status field, and the value of the clearance status field represents a temporary clearance indication.

[0111] In an exemplary embodiment, the first vehicle clearance message may include a departure list and a temporary departure list. The departure list may include the identity information of the vehicle in the target team, and the temporary departure list may include the identity information of the following vehicle behind the vehicle in the target team. The temporary departure list is used as a temporary clearance indication.

[0112] In an exemplary embodiment, before receiving the first vehicle clearing message sent by the pilot vehicle, the method may further include: sending a leaving request message to the pilot vehicle, so that the pilot vehicle returns the first vehicle clearing message in response to the leaving request message.

[0113] In step S520, in response to the first vehicle withdrawal message, the state of the vehicle in the target team is set to a free state.

[0114] In step S530, the vehicles in the target fleet are controlled to leave the target vehicle formation, and the heartbeat messages sent to the lead vehicle are stopped.

[0115] The specific implementation of the embodiment of FIG5 may refer to the contents of the embodiments of FIG1 to FIG3 above.

[0116] Figure 6 schematically illustrates a flow chart of a vehicle platooning control method according to another embodiment of the present application. In the embodiment of Figure 6 , the target vehicle platoon may include a lead vehicle and a following vehicle, wherein the following vehicle may include a rear vehicle and a vehicle within the platoon, wherein the vehicle within the platoon may include a vehicle within the target platoon that is about to leave the target vehicle platoon. The method of the embodiment of Figure 6 may be applied to a following vehicle located behind a vehicle within the target platoon.

[0117] As shown in FIG6 , the method provided in the embodiment of the present application may include the following steps.

[0118] In step S610, a second vehicle clearing message sent by the lead vehicle is received, wherein the second vehicle clearing message includes a temporary clearing instruction, and the temporary clearing instruction is used to instruct the temporary clearing of the following vehicles behind the vehicle in the target team.

[0119] In an exemplary embodiment, the second vehicle clearance message may include a departure list and a temporary departure list. The departure list may include the identity information of the vehicle in the target team, and the temporary departure list may include the identity information of the following vehicle behind the vehicle in the target team. The temporary departure list is used as a temporary clearance indication.

[0120] In step S620, in response to the temporary clearance instruction in the second vehicle clearance message, the state of the following vehicle behind the vehicle in the target team is set to a temporary clearance state.

[0121] In an exemplary embodiment, the method provided by the embodiment of the present application may further include: when the following vehicle behind the vehicle in the target fleet is in a temporary clearance state, continuing to save the fleet information of the target vehicle formation in the following vehicle behind the vehicle in the target fleet.

[0122] In step S630, according to the temporary clearance indication in the second vehicle clearance message, a join queue message is sent to the lead vehicle, so that the lead vehicle reorganizes the following vehicles behind the target team vehicles according to the join queue message to form a new vehicle formation, and the new vehicle formation does not include the target team vehicles and the following vehicles that have not sent the join queue message to the lead vehicle and are behind the target team vehicles.

[0123] In an exemplary embodiment, the temporary withdrawal instruction may include a temporary withdrawal timer. The method provided in the embodiment of the present application may further include: if a target following vehicle among the following vehicles behind the target vehicle in the fleet does not return a join-queue message to the lead vehicle within a time period specified by the temporary withdrawal timer, the target following vehicle setting the target following vehicle's state to a free state.

[0124] Figure 7 schematically illustrates a block diagram of a vehicle platooning control device according to an embodiment of the present application. In the embodiment of Figure 7 , the target vehicle platoon may include a lead vehicle and following vehicles, wherein the following vehicles may include a rear vehicle and vehicles within the platoon, and the vehicles within the platoon may include vehicles within the target platoon that are about to leave the target vehicle platoon. The vehicle platooning control device 700 may be applied to the lead vehicle.

[0125] The vehicle formation travel control device 700 provided in the embodiment of FIG7 may include a vehicle withdrawal message sending unit 710 , a queue joining message receiving unit 720 , and a vehicle formation reorganizing unit 730 .

[0126] Among them, the vehicle withdrawal message sending unit 710 can be used to send a first vehicle withdrawal message to the vehicle in the target team, and send a second vehicle withdrawal message to the following vehicle behind the vehicle in the target team, the first vehicle withdrawal message is used to indicate that the status of the vehicle in the target team is free and has left the target vehicle formation, and the second vehicle withdrawal message includes a temporary withdrawal instruction, which is used to instruct the temporary withdrawal of the following vehicle behind the vehicle in the target team. The status of the following vehicle behind the vehicle in the target team that receives the second vehicle withdrawal message is temporarily withdrawn. The join queue message receiving unit 720 can be used to receive a join queue message returned by the following vehicle behind the vehicle in the target team in response to the temporary withdrawal instruction. The vehicle formation reorganization unit 730 can be used to reorganize the following vehicles behind the vehicle in the target team according to the join queue message to form a new vehicle formation, which does not include the vehicle in the target team and the following vehicles behind the vehicle in the target team that have not sent the join queue message to the lead vehicle.

[0127] In an exemplary embodiment, the second vehicle withdrawal message may include a withdrawal status field, and the value of the withdrawal status field indicates the temporary withdrawal instruction. The first vehicle withdrawal message may not include the withdrawal status field; or the first vehicle withdrawal message may include the withdrawal status field, and the value of the withdrawal status field indicates a non-temporary withdrawal instruction; or the first vehicle withdrawal message may include the withdrawal status field, and the value of the withdrawal status field indicates the temporary withdrawal instruction.

[0128] In an exemplary embodiment, the first vehicle clearance message and the second vehicle clearance message may include a departure list and a temporary departure list. The departure list may include the identity information of the vehicles in the target team, and the temporary departure list may include the identity information of the following vehicles located behind the vehicles in the target team. The temporary departure list is used as the temporary clearance indication.

[0129] In an exemplary embodiment, the vehicle formation driving control device 700 may further include: a departure application message receiving unit, which may be used to receive a departure application message sent by a vehicle in the target fleet before sending a first vehicle clearance message to the vehicle in the target fleet and a second vehicle clearance message to the following vehicle located behind the vehicle in the target fleet. The vehicle clearance message sending unit 710 may include: a fleet temporary clearance message sending unit, which may be used to respond to the departure application message, send a first vehicle clearance message to the vehicle in the target fleet, and send a second vehicle clearance message to the following vehicle located behind the vehicle in the target fleet.

[0130] In an exemplary embodiment, the de-platform request message may carry the identity information of the target vehicle. The platoon temporary withdrawal message sending unit may include: a current platoon information obtaining unit configured to obtain the platoon information of the target vehicle formation based on the identity information of the target vehicle formation carried in the de-platform request message; a non-tail vehicle determination unit configured to, if the platoon information of the target vehicle formation determines that the target vehicle formation is not the tail vehicle, send a first vehicle withdrawal message to the target vehicle formation and a second vehicle withdrawal message to the following vehicle behind the target vehicle formation. The platoon driving control device 700 may further include: a target vehicle formation free state setting unit configured to respond to the de-platform request message, send the first vehicle withdrawal message to the target vehicle formation, send the second vehicle withdrawal message to the following vehicle formation, and then add the identity information of the target vehicle formation to a de-platform list to set the target vehicle formation to the free state; and a temporary withdrawal state setting unit configured to set the following vehicle formation to the temporary withdrawal state.

[0131] In an exemplary embodiment, the vehicle clearance message sending unit 710 may include: an active vehicle clearance unit within the target team, which can be used to send a first vehicle clearance message to the vehicle in the target team when abnormal behavior is detected in the vehicle in the target team, or in response to an adjustment instruction to adjust the target vehicle formation, and send a second vehicle clearance message to the following vehicle behind the vehicle in the target team.

[0132] In an exemplary embodiment, the temporary withdrawal instruction may include a temporary withdrawal timer. The vehicle platooning control device 700 may further include a platoon information maintaining unit configured to maintain, in the lead vehicle, platoon information of the following vehicle behind the target vehicle in the target vehicle platoon after sending the second vehicle withdrawal message to the following vehicle behind the target vehicle in the platoon and before a time specified by the temporary withdrawal timer.

[0133] In an exemplary embodiment, the temporary withdrawal instruction may include a temporary withdrawal timer. The vehicle platooning control device 700 may further include a target following vehicle state conversion unit configured to, if no join queue message is received from a target following vehicle among the following vehicles behind the target vehicle in the platoon within a time specified by the temporary withdrawal timer, place the identity information of the target following vehicle in a dequeue list and set the state of the target following vehicle to the free state.

[0134] In an exemplary embodiment, the vehicle formation reorganization unit 730 may include: a vehicle formation information sorting unit, which can be used to sort the vehicle formation information according to the join queue message; a new vehicle formation forming unit, which can be used to send the sorted vehicle formation information to the following vehicle that is located behind the vehicle in the target team and returns the join queue message to form a new vehicle formation, wherein the new vehicle formation does not include the vehicle in the target team and the following vehicle that has not sent the join queue message to the lead vehicle and is located behind the vehicle in the target team.

[0135] In an exemplary embodiment, the specific implementation of each unit in the vehicle platoon driving control device provided in the embodiment of the present application can refer to the content of the above-mentioned vehicle platoon driving control method, and will not be repeated here.

[0136] Figure 8 schematically illustrates a block diagram of a vehicle platooning control device according to another embodiment of the present application. In the embodiment of Figure 8 , a target vehicle platoon may include a lead vehicle and a following vehicle, wherein the following vehicle may include a rear vehicle and a vehicle within the platoon, wherein the vehicle within the platoon may include a vehicle within the target platoon that is about to leave the target vehicle platoon, and the vehicle platooning control device 800 may be applied to the vehicle within the target platoon.

[0137] As shown in FIG8 , the vehicle formation driving control device 800 provided in an embodiment of the present application may include a first vehicle withdrawal message receiving unit 810 , a target vehicle fleet state setting unit 820 , and a target vehicle fleet departure unit 830 .

[0138] In this embodiment of the present application, the first vehicle withdrawal message receiving unit 810 can be used to receive the first vehicle withdrawal message sent by the pilot vehicle. The target vehicle status setting unit 820 can be used to respond to the first vehicle withdrawal message and set the status of the target vehicle to a free state. The target vehicle departure unit 830 can be used to control the target vehicle to leave the target vehicle formation and stop sending heartbeat messages to the pilot vehicle.

[0139] In an exemplary embodiment, the first vehicle clearance message may not include the clearance status field; or, the first vehicle clearance message may include the clearance status field, and the value of the clearance status field represents a non-temporary clearance indication; or, the first vehicle clearance message may include the clearance status field, and the value of the clearance status field represents the temporary clearance indication.

[0140] In an exemplary embodiment, the first vehicle withdrawal message may include a departure list and a temporary departure list. The departure list may include identity information of vehicles in the target team, and the temporary departure list may include identity information of following vehicles located behind the vehicle in the target team. The temporary departure list is used as a temporary withdrawal indication.

[0141] In an exemplary embodiment, the first vehicle withdrawal message receiving unit 810 may include: a departure application message sending unit, which can be used to send a departure application message to the pilot vehicle before receiving the first vehicle withdrawal message sent by the pilot vehicle, so that the pilot vehicle returns the first vehicle withdrawal message in response to the departure application message.

[0142] In an exemplary embodiment, the specific implementation of each unit in the vehicle platoon driving control device provided in the embodiment of the present application can refer to the content of the above-mentioned vehicle platoon driving control method, and will not be repeated here.

[0143] Figure 9 schematically illustrates a block diagram of a vehicle platoon control device according to another embodiment of the present application. In the embodiment of Figure 9, a target vehicle platoon may include a lead vehicle and a following vehicle, wherein the following vehicle may include a rear vehicle and a vehicle within the platoon, wherein the vehicle within the platoon may include a vehicle within the target platoon that is about to leave the target vehicle platoon, and the device may be applied to a following vehicle located behind a vehicle within the target platoon.

[0144] As shown in FIG9 , the vehicle platoon driving control device 900 provided in an embodiment of the present application may include: a second vehicle withdrawal message receiving unit 910 , a temporary withdrawal state setting unit 920 , and a join queue message sending unit 930 .

[0145] In an embodiment of the present application, the second vehicle clearing message receiving unit 910 can be used to receive a second vehicle clearing message sent by the pilot vehicle, wherein the second vehicle clearing message includes a temporary clearing instruction, and the temporary clearing instruction is used to indicate the temporary clearing of the following vehicles located behind the vehicle in the target team. The temporary clearing state setting unit 920 can be used to respond to the temporary clearing instruction in the second vehicle clearing message and set the state of the following vehicle located behind the vehicle in the target team to a temporary clearing state. The join queue message sending unit 930 can be used to send a join queue message to the pilot vehicle according to the temporary clearing instruction in the second vehicle clearing message, so that the pilot vehicle reorganizes the following vehicles located behind the vehicle in the target team according to the join queue message to form a new vehicle formation, wherein the new vehicle formation does not include the vehicle in the target team and the following vehicles that have not sent the join queue message to the pilot vehicle and are located behind the vehicle in the target team.

[0146] In an exemplary embodiment, the second vehicle clearance message may include a departure list and a temporary departure list. The departure list may include the identity information of the vehicles in the target team, and the temporary departure list may include the identity information of the following vehicles located behind the vehicles in the target team. The temporary departure list is used as the temporary clearance indication.

[0147] In an exemplary embodiment, the vehicle formation driving control device 900 may also include: a current fleet information continuation storage unit, which can be used to continue to store the fleet information of the target vehicle formation in the following vehicle behind the vehicle in the target fleet when the following vehicle behind the vehicle in the target fleet is in the temporary clearance state.

[0148] In an exemplary embodiment, the temporary withdrawal instruction may include a temporary withdrawal timer. The vehicle platooning control device 900 may further include a target following vehicle state setting unit configured to set the target following vehicle's state to a free state if the target following vehicle among the following vehicles behind the target vehicle in the platoon does not return the join queue message to the lead vehicle within a time period specified by the temporary withdrawal timer.

[0149] In an exemplary embodiment, the specific implementation of each unit in the vehicle platoon driving control device provided in the embodiment of the present application can refer to the content of the above-mentioned vehicle platoon driving control method, and will not be repeated here.

[0150] FIG10 shows a schematic structural diagram of an electronic device suitable for implementing the embodiments of the present application.

[0151] It should be noted that the electronic device 100 shown in FIG10 is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of the present application.

[0152] As shown in Figure 10, the electronic device 100 includes a central processing unit (CPU) 101, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 102 or the program loaded from the storage part 108 to the random access memory (RAM) 103. Various programs and data required for system operation are also stored in the RAM 103. The CPU 101, ROM 102 and RAM 103 are connected to each other via a bus 104. An input / output (I / O) interface 105 is also connected to the bus 104.

[0153] The following components are connected to the I / O interface 105: an input section 106 including a keyboard, a mouse, and the like; an output section 107 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 108 including a hard disk and the like; and a communication section 109 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 109 performs communication processing via a network such as the Internet. A drive 110 is also connected to the I / O interface 105 as needed. Removable media 111, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 110 as needed, so that computer programs read therefrom can be installed into the storage section 108 as needed.

[0154] In particular, according to an embodiment of the present application, the process described below with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 109, and / or installed from a removable medium 111. When the computer program is executed by the central processing unit (CPU) 101, the various functions defined in the method and / or apparatus of the present application are performed.

[0155] It should be noted that the computer-readable storage medium described in this application may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof.

[0156] As another aspect, the present application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments; or it may exist independently without being assembled into the electronic device. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the following embodiments. For example, the electronic device may implement the steps shown in Figure 1, Figure 2, Figure 3, Figure 4, or Figure 5.

[0157] The technical solution according to the implementation mode of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.) or on a network, and includes a number of instructions to enable a computing device (which can be a personal computer, server, touch terminal, or network device, etc.) to execute the method according to the implementation mode of the present application.

Claims

1. A vehicle formation driving control method, wherein a target vehicle formation includes a lead vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles within the formation, wherein the vehicles within the formation include vehicles within the target formation that are about to leave the target vehicle formation, and the method is applied to the lead vehicle; wherein: The method comprises: A first vehicle clearing message is sent to the target vehicle in the fleet, and a second vehicle clearing message is sent to the following vehicle behind the target vehicle in the fleet, wherein the first vehicle clearing message is used to indicate that the vehicle in the target fleet is in a free state and has driven out of the target vehicle formation, and the second vehicle clearing message includes a temporary clearing instruction, wherein the temporary clearing instruction is used to indicate the temporary clearing of the following vehicle behind the target vehicle in the fleet, and the following vehicle behind the target vehicle in the fleet that receives the second vehicle clearing message is in a temporary clearing state; receiving a join queue message returned by a following vehicle behind the vehicle in the target fleet in response to the temporary withdrawal instruction; Reorganize the following vehicles behind the target vehicle in the fleet according to the join queue message to form a new vehicle formation, wherein the new vehicle formation does not include the target vehicle in the fleet and the following vehicles behind the target vehicle in the fleet that have not sent the join queue message to the lead vehicle.

2. The method according to claim 1, wherein the second vehicle withdrawal message includes a withdrawal status field, and the value of the withdrawal status field represents the temporary withdrawal instruction; wherein, The first vehicle clearance message does not include the clearance status field; or The first vehicle clearance message includes the clearance status field, and the value of the clearance status field indicates a non-temporary clearance indication; or The first vehicle withdrawal message includes the withdrawal status field, and the value of the withdrawal status field represents the temporary withdrawal indication.

3. According to the method of claim 1, the first vehicle clearance message and the second vehicle clearance message include a departure list and a temporary departure list, the departure list includes the identity information of the vehicle in the target team, and the temporary departure list includes the identity information of the following vehicle located behind the vehicle in the target team, and the temporary departure list is used as the temporary clearance indication.

4. The method according to claim 1, before sending a first vehicle clearing message to the target vehicle in the fleet and sending a second vehicle clearing message to a following vehicle behind the target vehicle in the fleet, further comprising: Receiving a leaving request message sent by a vehicle in the target team; The step of sending a first vehicle clearing message to a vehicle in the target team and sending a second vehicle clearing message to a following vehicle behind the vehicle in the target team comprises: The leading vehicle responds to the leaving-team application message, sends the first vehicle clearing message to the vehicle in the target team, and sends the second vehicle clearing message to the following vehicle behind the vehicle in the target team.

5. The method according to claim 4, wherein the leaving application message carries the identity information of the vehicle in the target team, wherein: The leading vehicle responds to the departure request message, sends the first vehicle withdrawal message to the target vehicle in the team, and sends the second vehicle withdrawal message to the following vehicle behind the target vehicle in the team, including: Obtaining fleet information of the target vehicle formation according to the identity information of the vehicle in the target fleet carried in the departure application message; If it is determined based on the fleet information of the target vehicle formation that the vehicle in the target fleet is not the rear vehicle, the first vehicle clearing message is sent to the vehicle in the target fleet, and the second vehicle clearing message is sent to the following vehicle behind the vehicle in the target fleet; The process further includes: sending the first vehicle clearing message to the target vehicle in the team in response to the leaving request message, and sending the second vehicle clearing message to the following vehicle behind the target vehicle in the team; Putting the identity information of the vehicle in the target team into a de-queue list, so that the state of the vehicle in the target team is set to the free state; The leading vehicle sets the state of the following vehicle behind the vehicle in the target team to the temporary clearance state.

6. The method according to claim 1, wherein the first vehicle clearing message is sent to the target vehicle in the group, and the second vehicle clearing message is sent to the following vehicle behind the target vehicle in the group, comprising: When abnormal behavior is detected in the target vehicle team, or in response to an adjustment instruction to adjust the target vehicle team, the first vehicle clearing message is sent to the vehicle in the target team, and the second vehicle clearing message is sent to the following vehicle behind the target vehicle in the target team.

7. The method according to claim 1, wherein the temporary clearing instruction comprises a temporary clearing timer; After sending the second vehicle clearing message to the following vehicle behind the vehicle in the target team, the method further includes: Before the time specified by the temporary clearing timer, the fleet information of the following vehicles located behind the vehicle in the target fleet in the target vehicle formation is maintained in the leading vehicle.

8. The method according to claim 1, wherein the temporary clearing instruction comprises a temporary clearing timer; The method further comprises: If no joining queue message is received from the target following vehicle among the following vehicles behind the target vehicle in the team within the time specified by the temporary clearing timer, the identity information of the target following vehicle is placed in the leaving queue list, and the state of the target following vehicle is set to the free state.

9. The method according to claim 1, reorganizing the following vehicles behind the target vehicle in the queue according to the join queue message to form a new vehicle formation, comprising: Reorganize fleet information according to the queue joining message; The reorganized convoy information is sent to the following vehicle that is located behind the vehicle in the target convoy and returns the join-queue message, so as to form the new vehicle convoy.

10. A vehicle formation driving control method, wherein a target vehicle formation includes a lead vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles within the formation, wherein the vehicles within the formation include vehicles within the target formation that are about to leave the target vehicle formation, and the method is applied to the vehicles within the target formation; wherein: The method comprises: receiving a first vehicle clearance message sent by the pilot vehicle; In response to the first vehicle withdrawal message, setting the state of the vehicle in the target team to a free state; Control the vehicles in the target team to leave the target vehicle formation and stop sending heartbeat messages to the pilot vehicle.

11. The method according to claim 10, wherein the first vehicle withdrawal message does not include a withdrawal status field; or The first vehicle clearance message includes the clearance status field, and the value of the clearance status field indicates a non-temporary clearance indication; or The first vehicle withdrawal message includes the withdrawal status field, and the value of the withdrawal status field indicates a temporary withdrawal indication.

12. The method according to claim 10, wherein the first vehicle withdrawal message includes a departure list and a temporary departure list, wherein the departure list includes identity information of vehicles in the target team, and the temporary departure list includes identity information of following vehicles located behind the vehicle in the target team, and the temporary departure list is used as a temporary withdrawal indication.

13. The method according to claim 10, before receiving the first vehicle withdrawal message sent by the pilot vehicle, further comprising: A leaving application message is sent to the pilot vehicle, so that the pilot vehicle returns the first vehicle clearing message in response to the leaving application message.

14. A method for controlling vehicle platooning, wherein a target vehicle platoon includes a lead vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles within the platoon, wherein the vehicles within the platoon include vehicles within the target platoon that are about to leave the target vehicle platoon, and the method is applied to a following vehicle located behind a vehicle within the target platoon; wherein: The method comprises: receiving a second vehicle withdrawal message sent by the lead vehicle, wherein the second vehicle withdrawal message includes a temporary withdrawal instruction, wherein the temporary withdrawal instruction is used to instruct the temporary withdrawal of the following vehicles behind the vehicle in the target team; In response to the temporary clearance instruction in the second vehicle clearance message, setting the status of the following vehicle behind the vehicle in the target team to a temporary clearance status; According to the temporary clearance indication in the second vehicle clearance message, a join queue message is sent to the lead vehicle, so that the lead vehicle reorganizes the following vehicles located behind the vehicles in the target team according to the join queue message to form a new vehicle formation. The new vehicle formation does not include the vehicles in the target team and the following vehicles located behind the vehicles in the target team for which the join queue message has not been sent to the lead vehicle.

15. According to the method of claim 14, the second vehicle withdrawal message includes a departure list and a temporary departure list, the departure list includes the identity information of the vehicles in the target team, and the temporary departure list includes the identity information of the following vehicles located behind the vehicles in the target team, and the temporary departure list is used as the temporary withdrawal indication.

16. The method according to claim 14, further comprising: When the following vehicles behind the vehicle in the target team are in the temporary withdrawal state, the team information of the target vehicle team continues to be stored in the following vehicles behind the vehicle in the target team.

17. The method according to claim 14, wherein the temporary clearing instruction comprises a temporary clearing timer; The method further comprises: If the target following vehicle among the following vehicles behind the target vehicle in the team does not return the join queue message to the lead vehicle within the time specified by the temporary clearing timer, the target following vehicle sets its state to a free state.

18. A vehicle formation driving control device, wherein a target vehicle formation includes a pilot vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles within the formation, wherein the vehicles within the formation include vehicles within the target formation that are about to leave the target vehicle formation, and the device is applied to the pilot vehicle; wherein: The device comprises: a vehicle clearing message sending unit, configured to send a first vehicle clearing message to the vehicle in the target team, and to send a second vehicle clearing message to the following vehicle behind the vehicle in the target team, wherein the first vehicle clearing message is used to indicate that the vehicle in the target team is in a free state and has left the target vehicle formation, and the second vehicle clearing message includes a temporary clearing instruction, wherein the temporary clearing instruction is used to indicate the temporary clearing of the following vehicle behind the vehicle in the target team, and the following vehicle behind the vehicle in the target team that receives the second vehicle clearing message is in a temporary clearing state; a queue joining message receiving unit, configured to receive a queue joining message returned by a following vehicle behind the target vehicle in the queue in response to the temporary withdrawal instruction; A vehicle formation reorganizing unit is used to reorganize the following vehicles behind the vehicle in the target team according to the join queue message to form a new vehicle formation, wherein the new vehicle formation does not include the vehicle in the target team and the following vehicles that have not sent the join queue message to the lead vehicle and are behind the vehicle in the target team.

19. The apparatus according to claim 18, wherein the temporary clearing instruction comprises a temporary clearing timer; The device further comprises: The convoy information maintaining unit is configured to maintain the convoy information of the following vehicle behind the vehicle in the target convoy in the lead vehicle before the time specified by the temporary clearance timer after sending a second vehicle clearance message to the following vehicle behind the vehicle in the target convoy.

20. The apparatus according to claim 18, wherein the temporary clearing indication comprises a temporary clearing timer; The device further comprises: The target following vehicle state conversion unit is used to put the identity information of the target following vehicle into the dequeue list and set the state of the target following vehicle to the free state if no joining queue message is received from the target following vehicle behind the vehicle in the target team within the time specified by the temporary clearing timer.

21. A vehicle formation driving control device, wherein a target vehicle formation includes a lead vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles within the formation, wherein the vehicles within the formation include vehicles within the target formation that are about to leave the target vehicle formation, and the device is applied to the vehicles within the target formation; wherein: The device comprises: A first vehicle clearance message receiving unit, configured to receive a first vehicle clearance message sent by the pilot vehicle; a target team vehicle state setting unit, configured to respond to the first vehicle withdrawal message and set the state of the target team vehicle to a free state; The target vehicle team driving-away unit is used to control the target vehicle team to drive away from the target vehicle formation and stop sending heartbeat messages to the pilot vehicle.

22. A vehicle formation driving control device, wherein a target vehicle formation includes a lead vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles within the formation, wherein the vehicles within the formation include a target formation vehicle to be driven out of the target vehicle formation, and the device is applied to a following vehicle located behind a target formation vehicle; wherein: The device comprises: a second vehicle withdrawal message receiving unit, configured to receive a second vehicle withdrawal message sent by the pilot vehicle, wherein the second vehicle withdrawal message includes a temporary withdrawal instruction, wherein the temporary withdrawal instruction is used to instruct the temporary withdrawal of the following vehicles behind the vehicle in the target team; a temporary withdrawal state setting unit, configured to respond to a temporary withdrawal instruction in the second vehicle withdrawal message and set the state of the following vehicle behind the vehicle in the target team to a temporary withdrawal state; A join queue message sending unit is used to send a join queue message to the lead vehicle according to the temporary clearance indication in the second vehicle clearance message, so that the lead vehicle reorganizes the following vehicles located behind the vehicles in the target team according to the join queue message to form a new vehicle formation, and the new vehicle formation does not include the vehicles in the target team and the following vehicles that have not sent the join queue message to the lead vehicle and are located behind the vehicles in the target team.

23. The apparatus according to claim 22, wherein the temporary clearing indication comprises a temporary clearing timer; The device further comprises: The target following vehicle state setting unit is configured to set the state of the target following vehicle to a free state if the target following vehicle among the following vehicles located behind the vehicle in the target team does not return the join queue message to the lead vehicle within the time specified by the temporary clearing timer.

24. An electronic device for controlling vehicle platooning, comprising: one or more processors; A storage device configured to store one or more programs, which, when executed by the one or more processors, enables the one or more processors to implement the vehicle platoon driving control method as described in any one of claims 1 to 9, the vehicle platoon driving control method as described in any one of claims 10 to 13, or the vehicle platoon driving control method as described in any one of claims 14 to 17.

25. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the computer program implements the vehicle platoon driving control method according to any one of claims 1 to 9, the vehicle platoon driving control method according to any one of claims 10 to 13, or the vehicle platoon driving control method according to any one of claims 14 to 17.

26. A computer program product, which, when executed, is used to implement the vehicle platoon driving control method according to any one of claims 1 to 9, the vehicle platoon driving control method according to any one of claims 10 to 13, or the vehicle platoon driving control method according to any one of claims 14 to 17.