Vehicle formation driving control method and related equipment

Abstract

The present disclosure provides a vehicle formation driving control method and related equipment. The method is applied to a leading vehicle in a current vehicle formation, comprising: sending a first vehicle clearing message to a vehicle in a target team, sending a second vehicle clearing message to a following vehicle behind the vehicle in the target team, wherein the second vehicle clearing message includes a temporary clearing instruction for indicating the temporary clearing of the following vehicle behind the vehicle in the target team, so that the vehicle in the target team sets the state to a free state and drives away from the current vehicle formation, and the following vehicle behind the vehicle in the target team sets the state to a temporary clearing state; receiving a queue joining message returned by the following vehicle behind the vehicle in the target team; and reorganizing the following vehicle 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 that has not sent the queue joining message to the leading vehicle.

Description

Technical Field

[0001] The present disclosure relates to the field of computer and communication technology, and in particular to a vehicle formation driving control method and device, an electronic device, and a computer-readable storage medium. Background Art

[0002] With the development and application of new technologies such as autonomous driving technology, information and communication technology, and cloud computing, cars are accelerating their transformation from mechanical products controlled by humans to smart products controlled by intelligent systems. Traffic accidents caused by fatigue driving by car drivers are frequently reported in the news. Applying autonomous driving technology to cars can effectively reduce the accident rate.

[0003] Among them, multi-vehicle platooning is a key direction. If the coordination between vehicles is achieved, rear-end collisions caused by emergency braking of the front vehicle can be effectively avoided, road safety can be greatly improved, and multi-vehicle platooning automatic driving can reduce the following distance between vehicles, making the wind resistance of the rear vehicle smaller, which can reduce the fuel consumption cost of the rear vehicle. However, in the actual operation of vehicle platoons, any vehicle in the platoon may break down or need to leave the platoon. Because the intervals between vehicles are relatively small during platooning, it is difficult for a vehicle in the middle of the platoon to leave the platoon, which will cause greater interference to the normal driving of other vehicles in the platoon and bring certain safety hazards. Summary of the invention

[0004] The embodiments of the present disclosure provide a vehicle platoon driving control method and device, an electronic device, and a computer-readable storage medium, and propose a solution when a non-rear vehicle in a platoon needs to leave the platoon during platoon driving.

[0005] An embodiment of the present disclosure provides a vehicle formation driving control method, wherein a current vehicle formation includes a leading 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 a target vehicle within the formation that is currently to leave the current vehicle formation, and the method is applied to the leading vehicle. The method includes: sending a first vehicle clearing message to the target vehicle in the team, sending a second vehicle clearing message to the following vehicle behind the target vehicle in the team, the second vehicle clearing message including a temporary clearing instruction for indicating the temporary clearing of the following vehicle behind the target vehicle in the team, so that the target vehicle in the team receiving the first vehicle clearing message sets its state to a free state and leaves the current vehicle formation, and the following vehicle behind the target vehicle in the team receiving the second vehicle clearing message sets its state to a temporary clearing state; receiving a queue joining message returned by the following vehicle behind the target vehicle in the team in response to the temporary clearing instruction in the second vehicle clearing message; and reorganizing the following vehicles behind the target vehicle in the team according to the queue joining message to form a new vehicle formation, the new vehicle formation not including the target vehicle in the team and the following vehicle behind the target vehicle in the team that has not sent the queue joining message to the leading vehicle.

[0006] The disclosed embodiment provides a vehicle formation driving control method, wherein the current vehicle formation includes a leading vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles in the formation, wherein the vehicles in the formation include a target vehicle in the formation that is currently to leave the current vehicle formation, and the method is applied to the target vehicle in the formation. The method includes: receiving a first vehicle withdrawal message sent by the leading vehicle; in response to the first vehicle withdrawal message, the target vehicle in the formation sets the state of the target vehicle in the formation to a free state; and controlling the target vehicle in the formation to leave the current vehicle formation and stop sending heartbeat messages to the leading vehicle.

[0007] The embodiment of the present disclosure provides a vehicle formation driving control method, wherein the current vehicle formation includes a leading vehicle and a following vehicle, wherein the following vehicle includes a tail vehicle and a vehicle in the formation, wherein the vehicle in the formation includes a target vehicle in the formation that is currently to leave the current vehicle formation, and the method is applied to the following vehicle located behind the vehicle in the target formation. The method includes: receiving a second vehicle withdrawal message sent by the leading vehicle, wherein the second vehicle withdrawal message includes a temporary withdrawal instruction for indicating the temporary withdrawal of the following vehicle located behind the vehicle in the target formation; in response to the temporary withdrawal instruction in the second vehicle withdrawal message, the following vehicle located behind the vehicle in the target formation sets the state of the following vehicle located behind the vehicle in the target formation to a temporary withdrawal state; according to the temporary withdrawal instruction in the second vehicle withdrawal message, sending a queue joining message to the leading vehicle, so that the leading vehicle reorganizes the following vehicles located behind the vehicle in the target formation 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 formation and the following vehicle located behind the vehicle in the target formation that has not sent the queue joining message to the leading vehicle.

[0008] An embodiment of the present disclosure provides a vehicle formation driving control device, wherein a current vehicle formation includes a leading 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 currently to leave the current vehicle formation, and the device is applied to the leading vehicle. The device includes: a vehicle withdrawal message sending unit, which is 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, wherein the second vehicle withdrawal message includes a temporary withdrawal instruction, which is used to indicate the temporary withdrawal of the following vehicle behind the vehicle in the target team, so that the vehicle in the target team that receives the first vehicle withdrawal message sets its state to a free state and leaves the current vehicle formation, and the following vehicle behind the vehicle in the target team that receives the second vehicle withdrawal message sets its state to a temporary withdrawal state; a queue joining message receiving unit, which is used to receive a queue joining message returned by the following vehicle behind the vehicle in the target team in response to the temporary withdrawal instruction in the second vehicle withdrawal message; and a vehicle formation reorganizing unit, which is used 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 that has not sent the queue joining message to the leading vehicle and is behind the vehicle in the target team.

[0009] The disclosed embodiment provides a vehicle formation driving control device, wherein the current vehicle formation includes a leading vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles in the formation, wherein the vehicles in the formation include a target vehicle in the formation that is currently to leave the current vehicle formation, and the device is applied to the target vehicle in the formation. The device includes: a first vehicle withdrawal message receiving unit, which is used to receive a first vehicle withdrawal message sent by the leading vehicle; a target vehicle in the formation state setting unit, which is used to respond to the first vehicle withdrawal message and set the state of the target vehicle in the formation to a free state; and a target vehicle departure unit, which is used to control the target vehicle in the formation to leave the current vehicle formation and stop sending heartbeat messages to the leading vehicle.

[0010] An embodiment of the present disclosure provides a vehicle formation driving control device, wherein a current vehicle formation includes a leading vehicle and a following vehicle, wherein the following vehicles include a rear vehicle and vehicles within the formation, wherein the vehicles within the formation include a target vehicle within the formation that is currently to leave the current vehicle formation, and the device is applied to a following vehicle located behind the target vehicle within the formation. The device includes: a second vehicle clearing message receiving unit, used to receive a second vehicle clearing message sent by the lead vehicle, wherein the second vehicle clearing message includes a temporary clearing indication to indicate the temporary clearing of the following vehicles behind the vehicle in the target team; a temporary clearing state setting unit, used to respond to the temporary clearing indication in the second vehicle clearing message and set the state of the following vehicle behind the vehicle in the target team to a temporary clearing state; a queue joining message sending unit, used to send a queue joining message to the lead vehicle according to the temporary clearing indication in the second vehicle clearing message, so that the lead vehicle reorganizes 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 vehicles that have not sent the queue joining message to the lead vehicle and are behind the vehicle in the target team.

[0011] An embodiment of the present disclosure 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.

[0012] An embodiment of the present disclosure provides an electronic device, comprising: one or more processors; a storage device configured to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle platoon driving control method as described in the above embodiments.

[0013] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle formation driving control method provided in the above-mentioned various optional implementations.

[0014] In the technical solutions provided by some embodiments of the present disclosure, when a target vehicle in a current vehicle formation that is not the tail vehicle in the current vehicle formation needs to leave the current vehicle formation during formation travel, the leading vehicle in the current vehicle formation may send a first vehicle clearing message and a second vehicle clearing message to the target vehicle and a following vehicle behind the target vehicle, respectively, and the second vehicle clearing message includes a special temporary clearing indication to inform the following vehicle behind the target vehicle that it is temporarily cleared, and the following vehicle behind the target vehicle may respond to the temporary clearing indication to set its own status to a temporary clearing status. If the following vehicle behind the target vehicle wishes to continue to join the convoy, it can return a join queue message to the pilot vehicle. The pilot vehicle can allow the following vehicle behind the target vehicle to rejoin the convoy based on the received join queue message returned by the following vehicle behind the target vehicle, thereby forming a new vehicle formation. The new vehicle formation no longer includes the target vehicle and the following vehicle behind the target vehicle that has not sent a join queue message to the pilot vehicle. That is, the disclosed embodiment proposes a solution for when a non-tail vehicle in the convoy needs to leave the convoy during vehicle convoy driving. The solution for the target vehicle to leave the convoy can minimize the interference with the driving of other vehicles in the convoy, and is an efficient solution for vehicle convoy driving control. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The flowchart of the vehicle platoon driving control method according to an embodiment of the present disclosure is schematically shown.

[0016] Figure 2 A schematic diagram of a vehicle platoon driving control method according to an embodiment of the present disclosure is schematically shown.

[0017] Figure 3 A schematic diagram of a vehicle platoon driving control method according to an embodiment of the present disclosure is schematically shown.

[0018] Figure 4 A schematic diagram of a vehicle platoon driving control method according to an embodiment of the present disclosure is schematically shown.

[0019] Figure 5 The flowchart of the vehicle platoon driving control method according to an embodiment of the present disclosure is schematically shown.

[0020] Figure 6 The flowchart of the vehicle platoon driving control method according to an embodiment of the present disclosure is schematically shown.

[0021] Figure 7 A block diagram of a vehicle platoon driving control device according to an embodiment of the present disclosure is schematically shown.

[0022] Figure 8 A block diagram of a vehicle platoon driving control device according to an embodiment of the present disclosure is schematically shown.

[0023] Fig. 9 A block diagram of a vehicle platoon driving control device according to an embodiment of the present disclosure is schematically shown.

[0024] Fig.10 A schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0025] First, some terms that appear in the embodiments of the present disclosure are explained.

[0026] Platooning: It refers to two or more vehicles closely following and connecting to form a vehicle formation with similar driving behaviors based on wireless communication technology and autonomous driving technology.

[0027] Driving as a Platoon: Two or more vehicles drive in a platoon in a specific scenario, including the creation of a platoon, the clearing of a platoon, the joining of a platoon, and the leaving of a platoon.

[0028] Leading Vehicle (LV): The vehicle at the front of the convoy during convoy driving, responsible for the management of the entire convoy.

[0029] Following Vehicle (FV): The following vehicles in a platoon except the lead vehicle.

[0030] PMM (Platooning Management Message): Platooning management message.

[0031] The disclosed embodiment proposes a solution for the situation in which a vehicle other than the rear end of a platoon needs to leave the platoon during platoon driving.

[0032] Figure 1The flowchart of the vehicle platoon driving control method according to an embodiment of the present disclosure is schematically shown. Figure 1 In an embodiment, the current vehicle formation may include a leading vehicle and a following vehicle, and the following vehicles may include a rear vehicle (the vehicle at the very end of the formation when traveling in the formation) and in-team vehicles (non-rear vehicle), and the in-team vehicles include a target in-team vehicle that is currently to leave the current vehicle formation, that is, the target in-team vehicle is a following vehicle that is not at the rear of the formation and needs to leave the formation. Figure 1 The method provided in the embodiment can be applied to a pilot vehicle.

[0033] In the embodiments of the present disclosure, when the vehicle formation is traveling, vehicles (for example, between the pilot vehicle and any following vehicle, and between different following vehicles) can communicate with each other through wireless communication technology (the wireless communication technology can 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 evolved cellular mobile communication technology), ETC (Electronic Toll Collection), etc., and the present disclosure does not limit the wireless communication technology itself), wherein the pilot vehicle can include a fleet control unit, which is responsible for coordinating the pilot vehicle and each following vehicle in the current vehicle formation, so that they maintain a certain safety distance and travel in formation. In addition, all vehicles in the current vehicle formation have the capabilities of perception, positioning, planning, control, interaction, etc. The pilot vehicle and the following vehicle can both connect to the cloud server through the network to achieve interaction. The pilot vehicle and the following vehicle report their own information to the cloud server, and the cloud server realizes the functions of vehicle condition monitoring, scheduling, management, etc. However, the present disclosure is not limited thereto.

[0034] like Figure 1 As shown, the method provided by the embodiment of the present disclosure may include the following steps.

[0035] 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. The second vehicle clearing message may include a temporary clearing instruction for indicating the temporary clearing of the following vehicle behind the target vehicle in the team, so that the target vehicle in the team that receives the first vehicle clearing message sets the state to a free state and leaves the current vehicle formation, and the following vehicle behind the target vehicle in the team that receives the second vehicle clearing message sets the state to a temporary clearing state.

[0036] In the embodiments of the present disclosure, the status of the vehicles in the current 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 current vehicle formation instead of formal withdrawal (the status of the formally cleared 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 current vehicle formation, or after the time set by the temporary withdrawal timer is reached, etc., which is not limited in the present disclosure), the vehicle can rejoin the team.

[0037] In the disclosed embodiment, the vehicles in the current vehicle formation can be set to include at least four different roles, which can be "leader", "free vehicle", "follower" and "temporary free vehicle". Among them, the role of the leader vehicle is set as the leader vehicle, the role of the follower vehicle is set as the follower vehicle, the role of the vehicle that has left or has not joined the current vehicle formation is the free vehicle, and the temporary free vehicle refers to a vehicle in the current vehicle formation that is temporarily cleared but not formally cleared (the role of the follower vehicle after formal clearance is converted to a free vehicle), and after meeting the predetermined conditions, it will re-enter the team and has a role between a free vehicle and a follower vehicle.

[0038] In some embodiments, the status of the vehicles in the current vehicle formation can be set, and the role of the vehicles in the current vehicle formation can also be set. In other embodiments, the status and role of the vehicles in the current vehicle formation can be set at the same time. For example, the role of the leading vehicle is the leading vehicle, and its corresponding state is the leading state; the role of the following vehicle is the following vehicle, and its corresponding state is the following state; the role of the free vehicle is the free vehicle, and its corresponding state is the free state; when the following vehicle located behind the vehicle in the target team receives a vehicle withdrawal message containing a temporary withdrawal instruction, its corresponding role can be converted from the original following vehicle to a temporary free vehicle, and its corresponding state can be converted from the original following state to a temporary withdrawal state. When the vehicle in the target team receives a vehicle withdrawal message, its corresponding role can be converted from the original following vehicle to a free vehicle, and its corresponding state can be converted from the original following state to a free state.

[0039] In an exemplary embodiment, the second vehicle clearance message may include a clearance status field, and the value of the clearance status field represents the 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 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.

[0040] For example, the leading vehicle may send a first vehicle withdrawal message and a second vehicle withdrawal message to the target team vehicle and each following vehicle behind the target team vehicle in a unicast manner, respectively. The data packet corresponding to the second vehicle withdrawal message sent to each following vehicle behind the target team vehicle may include a withdrawal status field. By setting the value of the withdrawal status field, for example, assuming a first value (such as "1", but the present disclosure is not limited thereto), the above-mentioned temporary withdrawal instruction is indicated. After each following vehicle behind the target team vehicle receives the second vehicle withdrawal message, it can be known that it is a temporary withdrawal according to the value of the withdrawal status field included therein. The data packet corresponding to the first vehicle withdrawal message sent to the target team 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 disclosure is not limited thereto), indicating a non-temporary withdrawal instruction. After receiving the first vehicle withdrawal message, the target team vehicle knows that it is a non-temporary withdrawal and can freely leave the current vehicle formation.

[0041] For another example, the leading vehicle may send a first vehicle clearance message and a second vehicle clearance message in a broadcast manner to the target team vehicle and each following vehicle behind the target team vehicle (the contents of the two messages are the same in this case and may be collectively referred to as vehicle clearance messages), and the data packets corresponding to the vehicle clearance messages sent to each following vehicle behind the target team vehicle and the target team vehicle may include a clearance status field, and the value of the clearance status field is set to, for example, a first value (such as "1", but the present disclosure is not limited to this), indicating the above-mentioned temporary clearance indication. After receiving the vehicle clearance message, each following vehicle behind the target team vehicle may know that it is a temporary clearance based on the value of the clearance status field included therein. Although the target team vehicle also knows that it is a temporary clearance, it may choose to ignore the temporary clearance indication and choose to leave the current vehicle formation.

[0042] 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 including identity information of the vehicles in the target team, the temporary departure list including identity information of the following vehicles behind the vehicles in the target team, and the temporary departure list is used as the temporary clearance indication.

[0043] Specifically, the pilot vehicle can also send a vehicle withdrawal message to all the following vehicles in the current vehicle formation in a broadcasting manner (at this time, the first vehicle withdrawal message and the second vehicle withdrawal message have the same message content, which can be collectively referred to as a vehicle withdrawal message), and the vehicle withdrawal message includes a leaving list and a temporary leaving list, and the identity information of the target team vehicle, such as ID, is placed in the leaving list, and the identity information of the following vehicle, such as ID, is placed in the temporary leaving list. In this way, when the following vehicle located before the vehicle in the target team receives the vehicle withdrawal message, it is found that its identity information is neither in the leaving list nor in the temporary leaving list after detection, so the following vehicle located before the vehicle in the target team should ignore the vehicle withdrawal message. After the vehicle in the target team receives the vehicle withdrawal message, it finds that its own ID is in the leaving list, and then it is known that it is officially withdrawn. After the following vehicle located after the vehicle in the target team receives the vehicle withdrawal message, it finds that its own ID is in the temporary leaving list, and then it is known that it is temporarily withdrawn.

[0044] In the disclosed embodiment, the leading vehicle sends a first vehicle clearing message and a second vehicle clearing message to the target vehicle and the following vehicle behind the target vehicle respectively, which may include the following two situations: one is that the target vehicle applies to leave the team, and the trigger condition may be that the formation strategy of the current vehicle formation 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 target vehicle, and the trigger condition may be that the formation strategy of the current vehicle formation changes or the leading vehicle finds that the target vehicle is not suitable to continue driving in the current vehicle formation.

[0045] In an exemplary embodiment, before sending a first vehicle withdrawal message to the target team vehicle and sending a second vehicle withdrawal message to the following vehicle behind the target team vehicle, it may also include: receiving a departure application message sent by the target team vehicle. Wherein, sending a first vehicle withdrawal message to the target team vehicle and sending a second vehicle withdrawal message to the following vehicle behind the target team vehicle may include: responding to the departure application message, sending the first vehicle withdrawal message to the target team vehicle and sending the second vehicle withdrawal message to the following vehicle behind the target team vehicle.

[0046] In an exemplary embodiment, the departure application message carries the identity information of the target team vehicle. In response to the departure application message, the first vehicle withdrawal message is sent to the target team vehicle, and the second vehicle withdrawal message is sent to the following vehicle behind the target team vehicle, which may include: obtaining the fleet information of the current vehicle formation according to the identity information of the target team vehicle carried in the departure application message; determining that the target team vehicle is not the last vehicle according to the fleet information of the current vehicle formation, responding to the departure application message, sending the first vehicle withdrawal message to the target team vehicle, and sending the second vehicle withdrawal message to the following vehicle behind the target team vehicle. In response to the departure application message, after sending the first vehicle withdrawal message to the target team vehicle, and sending the second vehicle withdrawal message to the following vehicle behind the target team vehicle, it may also include: putting the vehicle identification of the target team vehicle into the departure list, so that the state of the target team vehicle is set to the free state; the leading vehicle sets the state of the following vehicle behind the target team vehicle to the temporary withdrawal state.

[0047] Specifically, if a vehicle in the target team changes its driving strategy, for example, the target team needs to leave the current vehicle formation and enter a gas station, it can send a leaving request message to the lead vehicle. The leaving request message may include the identity information of the target team, such as the license plate number of the target team vehicle, the ID (identity) assigned to the target team vehicle in the current vehicle formation, etc., as long as the target team vehicle can be uniquely identified in the current vehicle formation. After receiving the departure application message, the leading vehicle can obtain the fleet information of the entire current vehicle formation according to the identity information of the target vehicle in the departure application message. The fleet information of the current vehicle formation may include each vehicle in the current vehicle formation and related information between different vehicles, such as the current position of each vehicle and whether it is the last vehicle in the team. 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 current 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.

[0048] 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 .

[0049] In an exemplary embodiment, 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 may include: when abnormal behavior is detected in the vehicle in the target team; or, in response to an adjustment instruction to adjust the current vehicle formation, sending the first vehicle clearing message to the vehicle in the target team and sending the second vehicle clearing message to the following vehicle behind the vehicle in the target team.

[0050] In the disclosed embodiment, the trigger condition for the pilot vehicle to clear the target vehicle from the team may be that the pilot vehicle discovers an abnormality in the target vehicle (it may be that the target vehicle reports a special event to the pilot vehicle or the cloud server, or the pilot vehicle discovers it actively), or the fleet management requirements of the current vehicle formation have changed. The adjustment instruction refers to adjusting the formation strategy of the current vehicle formation, such as clearing the target vehicle from the current 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 the disclosure does not limit this. The specific interactive process for the pilot vehicle to actively clear the target vehicle from the team can be found below. Figure 3 .

[0051] In the disclosed embodiment, the temporary withdrawal instruction in the second vehicle withdrawal message sent by the pilot vehicle to the following vehicle behind the vehicle in the target team is equivalent to including an invitation to rejoin the team to the following vehicle behind the vehicle in the target team. The invitation to rejoin the team may include the fleet information of the current vehicle formation (except for the above-mentioned vehicle 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 before and after it.

[0052] In an exemplary embodiment, the temporary clearing instruction may include a temporary clearing timer (hereinafter referred to as T1, but the present disclosure is not limited thereto).

[0053] Among them, after sending a second vehicle clearance message to the following vehicle located behind the vehicle in the target team, the method may also include: maintaining the fleet information of the following vehicle located behind the vehicle in the target team in the current vehicle formation in the leading vehicle before the time specified by the temporary clearance timer.

[0054] Specifically, after the leading vehicle sends a first vehicle clearing message to the target team vehicle and each following vehicle behind the target team vehicle sends a second vehicle clearing message, within the time specified by the temporary clearing timer T1, the leading vehicle will not clear the team information of each following vehicle behind the target team vehicle in the current vehicle formation (the team information of the following vehicle before the target team vehicle is of course saved). In other embodiments, the team information of the target team vehicle can even be continued to be saved in the leading vehicle, and only the vehicle identification of the target team vehicle is put into the leaving list.

[0055] In the disclosed embodiment, the fleet information may include member management information, basic information basicInfo, identity information identityInfo, route information pathInfo, vehicle capability information vehAbilityInfo, and the like.

[0056] Among them, the member management information may further include the role of each vehicle in the current vehicle formation, the status (for example, it may include the status of applying to join the team, applying to leave the team, etc.), the vehicles in front and behind each vehicle, etc. The basic information, identity information and vehicle capability information may further include whether each vehicle in the current vehicle formation has a driver (whether it is automatic driving), the communication method used by each vehicle, whether privacy protection is required, etc., and may also include various information such as the brand, model, length, load, color, engine power, number of axles, etc. of each vehicle. The route information may include various information such as the destination and driving route of each vehicle in the current vehicle formation.

[0057] In the disclosed embodiment, by maintaining the fleet information of the following vehicles behind the vehicle in the target team in the current vehicle formation in the leading vehicle before the time specified by the temporary clearing timer, when these following vehicles behind the vehicle in the target team re-enter the team subsequently, it is no longer necessary to re-send this information to the leading vehicle, but only needs to simply send a queue joining message. The leading vehicle also does not need to re-store and authenticate this information, thereby greatly simplifying the re-entry process of the following vehicles behind the vehicle in the target team that are in a temporary clearing state.

[0058] It should be noted that in the disclosed embodiment, after the time T1 specified by the temporary clearing timer, if the leading vehicle does not receive a re-teaming confirmation message from a remaining following vehicle, the convoy information of the following vehicles behind the vehicle in the target team in the current vehicle formation may continue to be saved in the leading vehicle for a while, and it is not required to immediately clear the convoy information of the following vehicles behind the vehicle in the target team after T1 is reached, as long as it is ensured to continue to be saved within T1.

[0059] In step S120, a queue joining message is received, which is returned by a following vehicle behind the vehicle in the target team in response to a temporary withdrawal indication in the second vehicle withdrawal message.

[0060] In an exemplary embodiment, the method may further include: if the joining queue message returned by the target following vehicle among the following vehicles behind the vehicle in the target team is not received within the time specified by the temporary clearing timer, the vehicle identifier of the target following vehicle is placed in a leaving queue list, and the leading vehicle sets the state of the target following vehicle to the free state.

[0061] 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, if the following vehicles behind the target vehicle in the team wish to continue to enter the team, they will return a queue joining message to the pilot vehicle, indicating that the following vehicles behind the target vehicle in the team agree to continue to enter the team. When the temporary withdrawal timer T1 times out and a target following vehicle does not send a queue joining message to the pilot vehicle, the pilot vehicle will believe that the target following vehicle will not re-enter the team, and the target following vehicle will officially leave the team, and the target following vehicle will be converted from the temporary withdrawal state to the free state, and its role can also be converted from a temporary free vehicle to a free vehicle.

[0062] In an exemplary embodiment, the method may further include: the leading 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 leading 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 leading 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, wherein the new vehicle formation does not include vehicles in the target team and following vehicles that have not sent a joining queue message to the leading vehicle and are located behind the vehicles in the target team.

[0063] In the embodiment of the present disclosure, the interactive process of the target team vehicle and the target follower vehicle whose roles have been converted to free vehicles applying to the pilot vehicle to join the team can be exemplified as follows. The present disclosure does not limit the process of free vehicles joining the team:

[0064] 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.

[0065] If the privacy protection in the pilot car's PMM_PlatooningAnnouncement message is set to on, the following steps may be included:

[0066] (1.1) The free car sends an encrypted PMM_JioningRequest message to the pilot car (privacyPro is optional), and the encryption key is the public key contained in the pilot car's certificate. The certificate sent by the free car must carry the public key used for encryption.

[0067] (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 vehicle capability information vehAbilityInfo carried in the free vehicle PMM_JoiningRequest message. If so, proceed to (1.3); otherwise, proceed to (1.4).

[0068] (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 BSM (Basic Safety Message), and the member list memberlist stores the ID set of the pilot car assigned by the pilot car, the immediately preceding vehicle (the following vehicle immediately preceding the following vehicle currently behind the target vehicle in the team) and the vehicle itself (the following vehicle currently behind the target vehicle in the team), the set includes the team sequence number and the ID list (the list value range is 1 to n, 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}).

[0069] (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 reason for the rejection is that the pilot car is processing member changes, or the conditions do not meet the admission requirements, etc.

[0070] If the privacy protection in the pilot car's PMM_PlatooningAnnouncement message is set to 0, the interaction process does not need to be encrypted. The specific content is as follows:

[0071] (2.1) The free car sends a PMM_JioningRequest message to the leading car.

[0072] (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 vehicle capability information vehAbilityInfo carried in the free vehicle PMM_JoiningRequest message. If it does, proceed to (2.3), otherwise proceed to (2.4).

[0073] (2.3) The leading car sends a PMM_JoiningCommand message to the free car, in which 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 leading car, the car immediately preceding it, and the car itself. The set includes the sequence number in the team and the assigned temporary ID of the vehicle, which can remain unchanged (the format is such as {sequence number 1, ID1 sequence number 2, ID2}).

[0074] (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 reason for the rejection is that the pilot car is processing the member change process, or the conditions do not meet the admission requirements, etc.

[0075] 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.

[0076] In step S130, the following vehicles behind the target vehicle are reorganized according to the queue joining message to form a new vehicle formation, wherein the new vehicle formation does not include the target vehicle and the following vehicles behind the target vehicle that have not sent the queue joining message to the leading vehicle.

[0077] 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 formation may include: reorganizing the 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 to form the new vehicle formation.

[0078] Specifically, 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 has returned the joining queue message.

[0079] It should be noted that the leading vehicle may send the updated fleet information to the following vehicle located before the vehicle in the target fleet and the following vehicle located after the vehicle in the target fleet simultaneously in a broadcasting manner.

[0080] The vehicle formation driving control method provided by the embodiment of the present disclosure is that when the current vehicle formation is driving in the formation, when a target vehicle in the current vehicle formation that is not the rear vehicle in the current vehicle formation needs to leave the current vehicle formation, the leading vehicle in the current vehicle formation can send a first vehicle clearing message and a second vehicle clearing message to the target vehicle in the target vehicle and a following vehicle behind the target vehicle in the target vehicle, respectively, the second vehicle clearing message including a special temporary clearing indication to inform the following vehicle behind the target vehicle that it is temporarily cleared, and the following vehicle behind the target vehicle in the target vehicle can respond to the temporary clearing indication to set its own state to a temporary clearing state. If the following vehicle behind the target vehicle wishes to continue to join the convoy, it can return a join queue message to the pilot vehicle. The pilot vehicle can allow the following vehicle behind the target vehicle to rejoin the convoy based on the received join queue message returned by the following vehicle behind the target vehicle, thereby forming a new vehicle formation. The new vehicle formation no longer includes the target vehicle and the following vehicle behind the target vehicle that has not sent a join queue message to the pilot vehicle. That is, the disclosed embodiment proposes a solution for when a non-tail vehicle in the convoy needs to leave the convoy during vehicle convoy driving. The solution for the target vehicle to leave the convoy can minimize the interference with the driving of other vehicles in the convoy, and is an efficient solution for vehicle convoy driving control.

[0081] Figure 2 A schematic diagram of a vehicle platoon driving control method according to an embodiment of the present disclosure is schematically shown.

[0082] First, if Figure 3 As shown, it is assumed that the member list within the current vehicle formation is as follows: pilot vehicle, follower vehicle 1, follower vehicle 2, follower vehicle 3, follower vehicle 4, follower vehicle 5, wherein the pilot vehicle is the first vehicle in the vehicle group corresponding to the current vehicle formation, and the other five follower vehicles are arranged in sequence in the order in the vehicle group. And assuming that follower vehicle 3 is the target vehicle in the vehicle group that needs to leave the current vehicle formation, its active application process for leaving the group may include the following steps.

[0083] In step S21, the following vehicle 3 sends a leaving request message to the leading vehicle.

[0084] Specifically, when a following vehicle 3 that is not the rear vehicle needs to leave the current vehicle formation, for example, a vehicle in the target team itself breaks down, or a vehicle in the target team needs to enter a service area, or a vehicle in the target team changes its route, etc., the vehicle in the target team can send a leaving request message to the leading vehicle. The leaving request message can be based on a PMM message, in which the status status is set to Ask for leaving (request to leave, or apply to leave), and can also include the identity information of the vehicle in the target team.

[0085] In step S22, the leading 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.

[0086] In the disclosed embodiment, after the leading vehicle receives the leaving application message sent by the following vehicle 3, the leading vehicle obtains the fleet information of the current vehicle formation based on the identity information of the following vehicle 3 in the leaving application message. After judging that the following vehicle 3 is not the last following vehicle according to the fleet information, the leading vehicle sends a first vehicle withdrawal message to the following vehicle 3, and sends a second vehicle withdrawal message to the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3. Specifically, the first vehicle withdrawal message and the second vehicle withdrawal message can both be PMM messages, and the leaving list in the PMM message can include the identity information of the following vehicle 3 that initiated the leaving application. The second vehicle withdrawal message sent to the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3 includes a special temporary withdrawal indication, indicating that this withdrawal is a temporary withdrawal. All the following vehicles located behind the following vehicle 3 except the following vehicle 3 in the current vehicle formation can subsequently directly send a joining queue message to apply to join the current vehicle formation, which is equivalent to including the following vehicle 4 and the following vehicle 5 in the vehicle withdrawal message.

[0087] 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 current vehicle formation can apply to join the team again and will re-join the team.

[0088] 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.

[0089] Specifically, the leading vehicle can add the leaving vehicle ID (here, the ID of the vehicle in the target team) to the leaving list leavinglist, and send a PMM (leadingExt: leavinglist contains the identity information of the following vehicle 3) message to the target team vehicle and the following vehicle behind the target team vehicle as the first vehicle clearing message and the second vehicle clearing message. After receiving the above-mentioned first vehicle clearing message, the target team vehicle adjusts its state to a free state, sets its role to a free vehicle, leaves the team, 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.

[0090] 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 leading vehicle, that is, send a re-entry application.

[0091] In the disclosed embodiment, the temporary withdrawal instruction may include a temporary withdrawal timer T1. If the following vehicle 4 and the following vehicle 5 behind the following vehicle 3 wish to continue to enter the team, they will send a queue joining message to the leading vehicle within the time specified by the temporary withdrawal timer T1, indicating that the following vehicle behind the vehicle in the target team wishes to continue to enter the team. If T1 times out and the leading vehicle does not receive the queue joining message sent by the following vehicle 4 and the following vehicle 5 behind the vehicle in the target team, the following vehicle 4 and the following vehicle 5 will formally leave the team, and clear the information of the current vehicle formation stored in the following vehicle 4 and the following vehicle 5 after T1 times out.

[0092] Specifically, 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, wherein 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 team later, so before the temporary clearing timer T1 times out, the following vehicle 4 and the following vehicle 5 will save the convoy information of the current vehicle formation and basically maintain the original formation, and the leading vehicle will not clear the convoy information of the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3 in the original current vehicle formation. For example, the normal process of joining the team is complicated. The leading vehicle needs to collect various information of each vehicle, such as color, ID, speed and position, and perform authentication, etc. When re-joining the team in a temporary clearing state, since this information is still retained, the process of joining the team 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 ID, speed and position information (which can be included in the joining queue message) to the leading vehicle, so that the leading vehicle can determine whether the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3 can re-join the team.

[0093] If the following vehicle 4 and / or the following vehicle 5 behind the following vehicle 3 do not send a queue joining message before T1 times out, the leading vehicle will consider that the following vehicle 4 and / or the following vehicle 5 behind the following vehicle 3 do not wish 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.

[0094] For example, if the following vehicle 3 has not completely left the current vehicle formation when the time specified by the temporary clearing timer T1 is reached, then the following vehicles 4 and 5 will find that the following vehicle 3 is still in front of them after T1, then the following vehicles 4 and 5 can leave the formation and wait until the conditions are met, and then re-issue a normal entry application to the leading vehicle.

[0095] In step S24 , the leading vehicle returns a convoy information confirmation message to the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3 .

[0096] Specifically, the leading vehicle removes the convoy information of the leaving vehicle (here is the convoy information of the following vehicle 3) in 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 and / or the following vehicle 5 located behind the following vehicle 3 that has returned the message of joining the queue as a convoy information confirmation message.

[0097] The vehicle formation driving control method provided by the embodiment of the present disclosure can proactively send a departure request message to the leading vehicle when any target vehicle in the current vehicle formation needs to leave the formation. The leading vehicle can respond to the departure request message and trigger the temporary withdrawal of the following vehicles behind the target vehicle.

[0098] Figure 4 The schematic diagram of the vehicle formation driving control method according to an embodiment of the present disclosure is schematically shown. Figure 4 As shown, the pilot vehicle actively triggering the target vehicle to leave the team may include the following steps. It is still assumed that the member list within the current vehicle formation is as follows: pilot vehicle, follower vehicle 1, follower vehicle 2, follower vehicle 3, follower vehicle 4, follower vehicle 5, and it is assumed that follower vehicle 3 is a target vehicle in the team that needs to leave the current vehicle formation.

[0099] In step S41, the pilot vehicle triggers the following vehicle 3, the following vehicle 4 and some members of the following vehicle 5 that are located behind the following vehicle 3 to leave the team, and the following vehicle 3 is put into the leaving list.

[0100] In step S42, the following vehicles 4 and 5 located behind the following vehicle 3 return a queue joining message to the leading vehicle to apply for re-entry.

[0101] In step S43 , the leading vehicle returns a convoy information confirmation message to the following vehicle 4 and the following vehicle 5 located behind the following vehicle 3 .

[0102] The specific implementation process of the above steps S41-S43 can refer to the above Figure 2 Steps S22-S24 of the embodiment.

[0103] The vehicle formation driving control method provided by the embodiment of the present disclosure can, when necessary, enable the leading vehicle to actively clear the target team vehicle in the current vehicle formation, thereby triggering the temporary clearing of the following vehicles behind the target team vehicle.

[0104] Figure 5 The flowchart of the vehicle platoon driving control method according to an embodiment of the present disclosure is schematically shown. Figure 5 The current vehicle formation of the embodiment may include a leading vehicle and a following vehicle, wherein the following vehicle may include a rear vehicle and vehicles in the formation, wherein the vehicles in the formation may include a target vehicle in the formation that is currently to leave the current vehicle formation. Figure 5 The method described in the embodiment can be applied to vehicles in a target team.

[0105] like Figure 5 As shown, the method provided by the embodiment of the present disclosure may include the following steps.

[0106] In step S510, a first vehicle clearing message sent by the pilot vehicle is received.

[0107] 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.

[0108] In an exemplary embodiment, the first vehicle clearance 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 behind the vehicle in the target team. The temporary departure list is used as a temporary clearance indication.

[0109] 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.

[0110] In step S520, in response to the first vehicle withdrawal message, the vehicle in the target team sets the state of the vehicle in the target team to a free state.

[0111] In step S530, the vehicles in the target team are controlled to leave the current vehicle formation, and the heartbeat messages sent to the leading vehicle are stopped.

[0112] Figure 5 The specific implementation of the embodiment can refer to the above Figures 1 to 3 Contents of the embodiment.

[0113] Figure 6 The flowchart of the vehicle platoon driving control method according to an embodiment of the present disclosure is schematically shown. Figure 6 The current vehicle formation in the embodiment may include a leading vehicle and a following vehicle, wherein the following vehicle may include a rear vehicle and vehicles within the formation, wherein the vehicles within the formation may include a target vehicle within the formation that is currently to leave the current vehicle formation. Figure 6 The method of the embodiment may be applied to a following vehicle located behind the vehicle in the target team.

[0114] like Figure 6 As shown, the method provided by the embodiment of the present disclosure may include the following steps.

[0115] In step S610, a second vehicle clearing message sent by the pilot vehicle is received, wherein the second vehicle clearing message includes a temporary clearing instruction for instructing to temporarily clear the following vehicles behind the vehicle in the target team.

[0116] In an exemplary embodiment, the second vehicle clearance 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 behind the vehicle in the target team. The temporary departure list is used as the temporary clearance indication.

[0117] In step S620, in response to the temporary clearance indication 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.

[0118] In an exemplary embodiment, the method may further include: when the following vehicle behind the vehicle in the target team is in the temporary withdrawal state, continuing to save the fleet information of the current vehicle formation in the following vehicle behind the vehicle in the target team.

[0119] 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.

[0120] In an exemplary embodiment, the temporary withdrawal indication may include a temporary withdrawal timer. The method may further include: if the target following vehicle among the following vehicles behind the target vehicle in the team does not return the joining queue message to the leading vehicle after exceeding the time specified by the temporary withdrawal timer, the target following vehicle sets the state of the target following vehicle to a free state.

[0121] Figure 7 A block diagram of a vehicle platoon driving control device according to an embodiment of the present disclosure is schematically shown. Figure 7 In an embodiment, the current vehicle formation may include a leading vehicle and a following vehicle, the following vehicle may include a rear vehicle and vehicles within the formation, the vehicles within the formation may include a target vehicle within the formation that is currently to leave the current vehicle formation, and the vehicle formation driving control device 700 may be applied to the leading vehicle.

[0122] Figure 7The vehicle formation driving control device 700 provided in the embodiment may include a vehicle withdrawal message sending unit 710 , a queue joining message receiving unit 720 , and a vehicle formation reorganizing unit 730 .

[0123] 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 second vehicle withdrawal message can include a temporary withdrawal instruction to indicate the temporary withdrawal of the following vehicle behind the vehicle in the target team, so that the vehicle in the target team that receives the first vehicle withdrawal message sets the state to a free state and leaves the current vehicle formation, and the following vehicle behind the vehicle in the target team that receives the second vehicle withdrawal message sets the state to a temporary withdrawal state. 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 in the second vehicle withdrawal message. 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, and 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 pilot vehicle and is behind the vehicle in the target team.

[0124] 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 indication. 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 indication; or the first vehicle withdrawal message may include the withdrawal status field, and the value of the withdrawal status field indicates the temporary withdrawal indication.

[0125] 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 identity information of the vehicles in the target team, and the temporary departure list may include identity information of the following vehicles behind the vehicles in the target team. The temporary departure list is used as the temporary clearance indication.

[0126] 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 send a first vehicle withdrawal message to the target vehicle in the team, and before sending a second vehicle withdrawal message to the following vehicle behind the target vehicle in the team, receive a departure application message sent by the target vehicle in the team. The vehicle withdrawal message sending unit 710 may include: a fleet temporary withdrawal message sending unit, which may be used for the leading vehicle to respond to the departure application message, send a first vehicle withdrawal message to the target vehicle in the team, and send a second vehicle withdrawal message to the following vehicle behind the target vehicle in the team.

[0127] In an exemplary embodiment, the de-team application message may carry the identity information of the target team vehicle. The team temporary withdrawal message sending unit may include: a current team information obtaining unit, which may be used to obtain the team information of the current vehicle formation according to the identity information of the target team vehicle carried in the de-team application message; a non-tail vehicle determination unit, which may be used to determine that the target team vehicle is not the tail vehicle according to the team information of the current vehicle formation, send a first vehicle withdrawal message to the target team vehicle, and send a second vehicle withdrawal message to the following vehicle behind the target team vehicle. The vehicle formation driving control device 700 may also include: a target team vehicle free state setting unit, which may be used to send a first vehicle withdrawal message to the target team vehicle, send a second vehicle withdrawal message to the following vehicle behind the target team vehicle, and then put the vehicle identification of the target team vehicle into the de-team list, so that the state of the target team vehicle is set to the free state; a temporary withdrawal state setting unit, which may be used for the leading vehicle to set the state of the following vehicle behind the target team vehicle to the temporary withdrawal state.

[0128] 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 when abnormal behavior is detected in the vehicle within the target team; or, in response to an adjustment instruction to adjust the current vehicle formation, a first vehicle clearance message is sent to the vehicle within the target team, and a second vehicle clearance message is sent to the following vehicle behind the vehicle within the target team.

[0129] In an exemplary embodiment, the temporary withdrawal instruction may include a temporary withdrawal timer. The vehicle formation driving control device 700 may further include: a vehicle formation information maintaining unit, which may be used to maintain the vehicle formation information of the following vehicle behind the vehicle in the target formation in the leading vehicle before the time specified by the temporary withdrawal timer after sending the second vehicle withdrawal message to the following vehicle behind the vehicle in the target formation.

[0130] In an exemplary embodiment, the temporary withdrawal indication may include a temporary withdrawal timer. The vehicle formation driving control device 700 may further include: a target following vehicle state conversion unit, which may be used to put the vehicle identifier of the target following vehicle into a dequeue list if the target following vehicle in the following vehicle behind the vehicle in the target team is not received within the time specified by the temporary withdrawal timer, and the leading vehicle sets the state of the target following vehicle to the free state.

[0131] In an exemplary embodiment, the vehicle formation reorganization unit 730 may include: a vehicle formation information sorting unit, which can be used to reorganize the vehicle formation information according to the join queue message; a new vehicle formation forming unit, which can be used to send the reorganized vehicle formation information to the following vehicle located behind the vehicle in the target team 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 leading vehicle and is located behind the vehicle in the target team.

[0132] In an exemplary embodiment, the specific implementation of each unit in the vehicle formation driving control device provided by the embodiment of the present disclosure can refer to the content of the above-mentioned vehicle formation driving control method, which will not be repeated here.

[0133] Figure 8 A block diagram of a vehicle platoon driving control device according to an embodiment of the present disclosure is schematically shown. Figure 8 In an embodiment, the current vehicle formation may include a leading vehicle and a following vehicle, the following vehicle may include a rear vehicle and vehicles within the formation, the vehicles within the formation may include a target vehicle within the formation that is currently to leave the current vehicle formation, and the vehicle formation driving control device 800 may be applied to the target vehicle within the formation.

[0134] like Figure 8 As shown, the vehicle formation driving control device 800 provided in the embodiment of the present disclosure may include a first vehicle withdrawal message receiving unit 810, a target vehicle within the formation state setting unit 820, and a target vehicle within the formation driving away unit 830.

[0135] In the disclosed embodiment, the first vehicle withdrawal message receiving unit 810 may be used to receive the first vehicle withdrawal message sent by the pilot vehicle. The target team vehicle state setting unit 820 may be used to respond to the first vehicle withdrawal message, and the target team vehicle sets the state of the target team vehicle to a free state. The target team vehicle departure unit 830 may be used to control the target team vehicle to leave the current vehicle formation and stop sending heartbeat messages to the pilot vehicle.

[0136] 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.

[0137] In an exemplary embodiment, the first vehicle clearance 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 behind the vehicle in the target team. The temporary departure list is used as a temporary clearance indication.

[0138] 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.

[0139] In an exemplary embodiment, the specific implementation of each unit in the vehicle formation driving control device provided by the embodiment of the present disclosure can refer to the content of the above-mentioned vehicle formation driving control method, which will not be repeated here.

[0140] Fig. 9 A block diagram of a vehicle platoon driving control device according to an embodiment of the present disclosure is schematically shown. Fig. 9 In an embodiment, the current vehicle formation may include a leading vehicle and a following vehicle, the following vehicles may include a rear vehicle and vehicles within the formation, the vehicles within the formation may include a target vehicle within the formation that is currently to leave the current vehicle formation, and the device may be applied to a following vehicle located behind the target vehicle within the formation.

[0141] like Fig. 9 As shown, the vehicle formation driving control device 900 provided in the embodiment of the present disclosure may include: a second vehicle withdrawal message receiving unit 910, a temporary withdrawal state setting unit 920 and a queue joining message sending unit 930.

[0142] In the disclosed embodiment, the second vehicle withdrawal message receiving unit 910 can be used to receive the second vehicle withdrawal message sent by the pilot vehicle, wherein the second vehicle withdrawal message includes a temporary withdrawal instruction to indicate the temporary withdrawal of the following vehicles located behind the vehicle in the target team. The temporary withdrawal state setting unit 920 can be used to respond to the temporary withdrawal instruction in the second vehicle withdrawal message and set the state of the following vehicle located behind the vehicle in the target team to a temporary withdrawal 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 withdrawal instruction in the second vehicle withdrawal 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, and 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.

[0143] In an exemplary embodiment, the second vehicle clearance 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 the temporary clearance indication.

[0144] In an exemplary embodiment, the vehicle formation driving control device 900 may also include: a current formation information continuing storage unit, which can be used to continue to store the formation information of the current vehicle formation in the following vehicle behind the vehicle in the target formation when the following vehicle behind the vehicle in the target formation is in the temporary clearance state.

[0145] In an exemplary embodiment, the temporary withdrawal indication may include a temporary withdrawal timer. The vehicle formation driving control device 900 may further include: a target following vehicle state setting unit, which may be used to set the state of the target following vehicle to a free state if the target following vehicle in the following vehicle behind the target vehicle in the formation does not return the queue joining message to the leading vehicle after exceeding the time specified by the temporary withdrawal timer.

[0146] In an exemplary embodiment, the specific implementation of each unit in the vehicle formation driving control device provided by the embodiment of the present disclosure can refer to the content of the above-mentioned vehicle formation driving control method, which will not be repeated here.

[0147] Fig.10 A schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present disclosure is shown.

[0148] It should be noted that Fig.10The electronic device 100 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0149] like Fig.10 As shown, 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. In the RAM 103, various programs and data required for system operation are also stored. The CPU 101, the ROM 102 and the RAM 103 are connected to each other through a bus 104. An input / output (I / O) interface 105 is also connected to the bus 104.

[0150] The following components are connected to the I / O interface 105: an input section 106 including a keyboard, a mouse, etc.; an output section 107 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 108 including a hard disk, etc.; and a communication section 109 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. 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. A removable medium 111, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 110 as needed so that a computer program read therefrom is installed into the storage section 108 as needed.

[0151] In particular, according to an embodiment of the present disclosure, the process described below with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains 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 through the communication part 109, and / or installed from a removable medium 111. When the computer program is executed by the central processing unit (CPU) 101, various functions defined in the method and / or device of the present application are executed.

[0152] It should be noted that the computer-readable storage medium shown in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above.

[0153] 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 embodiment; or 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 embodiment. For example, the electronic device may implement the following Figure 1 or Figure 2 or Figure 3 or Figure 4 or Figure 5 The steps shown.

[0154] The technical solution according to the embodiment of the present disclosure 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, a USB flash drive, a 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, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiment of the present disclosure.

Claims

1. A vehicle platoon driving control method, characterized in that: The current vehicle formation includes a leading vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles in the formation, wherein the vehicles in the formation include a target vehicle in the formation that is currently to leave the current vehicle formation, and the method is applied to the leading vehicle; wherein 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, wherein the second vehicle clearing message includes a temporary clearing instruction for indicating the temporary clearing of the following vehicle behind the target vehicle in the team, so that the target vehicle in the team that receives the first vehicle clearing message sets its state to a free state and drives away from the current vehicle formation, and the following vehicle behind the target vehicle in the team that receives the second vehicle clearing message sets its state to a temporary clearing state; receiving a queue joining message returned by a following vehicle behind the vehicle in the target team in response to a temporary withdrawal indication in the second vehicle withdrawal message; The following vehicles behind the target vehicle are reorganized according to the queue joining message to form a new vehicle formation, wherein the new vehicle formation does not include the target vehicle and the following vehicles behind the target vehicle that have not sent the queue joining message to the leading vehicle.

2. The method according to claim 1, characterized in that 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 withdrawal message includes the withdrawal status field, and the value of the withdrawal status field indicates a non-temporary withdrawal 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. The method according to claim 1, characterized in that 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 vehicles in the target team, and the temporary departure list includes the identity information of the following vehicles behind the vehicles in the target team. The temporary departure list is used as the temporary clearance indication.

4. The method according to claim 1, characterized in that Before sending a first vehicle clearing message to the vehicle in the target team and sending a second vehicle clearing message to the following vehicle behind the vehicle in the target team, the method further includes: Receiving a leaving request message sent by a vehicle in the target team; The step of sending a first vehicle clearing message to the vehicle in the target team and sending a second vehicle clearing message to the following vehicle behind the vehicle in the target team includes: The leading vehicle responds to the departure application message, sends the first vehicle withdrawal message to the vehicle in the target team, and sends the second vehicle withdrawal message to the following vehicle behind the vehicle in the target team.

5. The method according to claim 4, characterized in that The departure application message carries the identity information of the target vehicle in the team; wherein the leading vehicle responds to the departure application 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 current vehicle formation according to the identity information of the vehicle in the target fleet carried in the departure application message; According to the fleet information of the current vehicle formation, it is determined that the vehicle in the target fleet is not the rear vehicle of the fleet, 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; Wherein, after sending a first vehicle clearing message to the vehicle in the target team and sending a second vehicle clearing message to the following vehicle behind the vehicle in the target team, the method further includes: Putting the vehicle identification of the vehicle in the target team into the de-team 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, characterized in that Sending a first vehicle clearing message to the vehicle in the target team, and sending a second vehicle clearing message to the following vehicle behind the vehicle in the target team, comprises: When abnormal behavior is detected in the target team vehicle; or in response to an adjustment instruction to adjust the current vehicle formation, the first vehicle clearing message is sent to the target team vehicle, and the second vehicle clearing message is sent to the following vehicle behind the target team vehicle.

7. The method according to claim 1, characterized in that The temporary withdrawal instruction includes a temporary withdrawal timer; wherein, after sending a second vehicle withdrawal message to a 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 behind the vehicle in the target fleet in the current vehicle formation is maintained in the leading vehicle.

8. The method according to claim 1, characterized in that The temporary clearing indication includes a temporary clearing timer; wherein the method further includes: If the joining queue message returned by the target following vehicle behind the vehicle in the target team is not received within the time specified by the temporary clearing timer, the vehicle identifier of the target following vehicle is placed in the leaving team list, and the leading vehicle sets the state of the target following vehicle to the free state.

9. The method according to claim 1, characterized in that: Reorganizing the following vehicles behind the vehicle in the target team according to the queue joining message to form a new vehicle team, including: Reorganize the fleet information according to the queue joining message; The reorganized vehicle fleet information is sent to the following vehicles behind the vehicles in the target vehicle fleet to form the new vehicle fleet.

10. A vehicle platoon driving control method, characterized in that: The current vehicle formation includes a leading vehicle and a following vehicle, the following vehicle includes a rear vehicle and vehicles in the formation, the vehicles in the formation include a target vehicle in the formation that is currently to leave the current vehicle formation, and the method is applied to the target vehicle in the formation; wherein the method includes: receiving a first vehicle clearing message sent by the pilot vehicle, wherein the first vehicle clearing 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 using the temporary departure list as a temporary clearing indication; In response to the first vehicle withdrawal message, the target vehicle in the fleet sets the state of the target vehicle in the fleet to a free state; The vehicles in the target team are controlled to leave the current vehicle formation, and the heartbeat messages are stopped from being sent to the leading vehicle.

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

12. The method according to claim 10, characterized in that Before receiving the first vehicle clearing message sent by the pilot vehicle, the method further includes: 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.

13. A vehicle platoon driving control method, characterized in that: The current vehicle formation includes a leading vehicle and a following vehicle, the following vehicles include a rear vehicle and vehicles in the formation, the vehicles in the formation include a target vehicle in the formation that is currently to leave the current vehicle formation, and the method is applied to a following vehicle located behind the target vehicle in the formation; wherein the method includes: receiving a second vehicle clearing message sent by the pilot vehicle, wherein the second vehicle clearing message includes a temporary clearing instruction for instructing to temporarily clear the following vehicles behind the vehicle in the target team; In response to the temporary withdrawal indication in the second vehicle withdrawal message, the following vehicle behind the vehicle in the target team sets the state of the following vehicle behind the vehicle in the target team to a temporary withdrawal state; 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 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 behind the vehicles in the target team.

14. The method according to claim 13, characterized in that 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 behind the vehicles in the target team. The temporary departure list is used as the temporary withdrawal indication.

15. The method according to claim 13, characterized in that Also includes: When the following vehicle behind the vehicle in the target team is in the temporary withdrawal state, the team information of the current vehicle formation continues to be saved in the following vehicle behind the vehicle in the target team.

16. The method according to claim 13, characterized in that The temporary clearing indication includes a temporary clearing timer; wherein the method further includes: If the target following vehicle among the following vehicles behind the vehicle in the target team does not return the joining queue message to the leading vehicle after the time specified by the temporary clearing timer has expired, the target following vehicle sets the state of the target following vehicle to a free state.

17. A vehicle platoon driving control device, characterized in that: The current vehicle formation includes a leading vehicle and a following vehicle, wherein the following vehicle includes a rear vehicle and vehicles in the formation, wherein the vehicles in the formation include a target vehicle in the formation that is currently to leave the current vehicle formation, and the device is applied to the leading vehicle; wherein the device includes: A vehicle clearing message sending unit is used to send a first vehicle clearing message to the target vehicle in the team, and send a second vehicle clearing message to the following vehicle behind the target vehicle in the team, wherein the second vehicle clearing message includes a temporary clearing instruction for indicating the temporary clearing of the following vehicle behind the target vehicle in the team, so that the target vehicle in the team that receives the first vehicle clearing message sets its state to a free state and drives away from the current vehicle formation, and the following vehicle behind the target vehicle in the team that receives the second vehicle clearing message sets its state to 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 target team in response to a temporary withdrawal indication in the second vehicle withdrawal message; A vehicle formation reorganizing unit is used to reorganize the following vehicles behind the target vehicle in the formation according to the queue joining message to form a new vehicle formation, wherein the new vehicle formation does not include the target vehicle in the formation and the following vehicles that have not sent the queue joining message to the leading vehicle and are behind the target vehicle in the formation.

18. The device according to claim 17, characterized in that The temporary clearing indication includes a temporary clearing timer; wherein the device further includes: The convoy information maintaining unit is used to maintain the convoy information of the following vehicle behind the vehicle in the target team in the current vehicle formation in the leading vehicle after sending a second vehicle clearing message to the following vehicle behind the vehicle in the target team and before the time specified by the temporary clearing timer.

19. The device according to claim 17, characterized in that The temporary clearing indication includes a temporary clearing timer; wherein the device further includes: The target following vehicle state conversion unit is used to put the vehicle identifier of the target following vehicle into the dequeue list if the joining queue message returned by the target following vehicle behind the vehicle in the target team is not received within the time specified by the temporary clearing timer, and the leading vehicle sets the state of the target following vehicle to the free state.

20. A vehicle platoon driving control device, characterized in that: The current vehicle formation includes a leading vehicle and a following vehicle, the following vehicle includes a rear vehicle and vehicles in the formation, the vehicles in the formation include a target vehicle in the formation that is currently to leave the current vehicle formation, and the device is applied to the target vehicle in the formation; wherein the device includes: A first vehicle withdrawal message receiving unit is used to receive a first vehicle withdrawal message sent by the pilot vehicle, 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; A target team vehicle state setting unit, configured to respond to the first vehicle withdrawal message, and the target team vehicle sets the state of the target team vehicle to a free state; The target team vehicle driving-away unit is used to control the target team vehicles to drive away from the current vehicle formation and stop sending heartbeat messages to the leading vehicle.

21. A vehicle platoon driving control device, characterized in that: The current vehicle formation includes a leading vehicle and a following vehicle, the following vehicles include a rear vehicle and vehicles in the formation, the vehicles in the formation include a target vehicle in the formation that is currently to leave the current vehicle formation, and the device is applied to a following vehicle located behind the target vehicle in the formation; wherein the device includes: 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 for instructing temporary withdrawal of the following vehicles behind the vehicle in the target team; a temporary withdrawal state setting unit, configured to respond to the temporary withdrawal indication in the second vehicle withdrawal message, and cause the following vehicle behind the vehicle in the target team to set the state of the following vehicle behind the vehicle in the target team to a temporary withdrawal state; A queue joining message sending unit is used to send a queue joining message to the leading vehicle according to the temporary clearance indication in the second vehicle clearance message, so that the leading vehicle reorganizes the following vehicles behind the target team vehicles according to the queue joining 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 queue joining message to the leading vehicle and are behind the target team vehicles.

22. The device according to claim 21, characterized in that The temporary clearing indication includes a temporary clearing timer; wherein the device further includes: The target following vehicle state setting unit is used for setting 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 joining queue message to the leading vehicle after exceeding the time specified by the temporary clearing timer.

23. An electronic device, characterized in that: include: 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 formation driving control method as described in any one of claims 1 to 9, the vehicle formation driving control method as described in any one of claims 10 to 12, or the vehicle formation driving control method as described in any one of claims 13 to 16.

24. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle formation driving control method according to any one of claims 1 to 9, the vehicle formation driving control method according to any one of claims 10 to 12, or the vehicle formation driving control method according to any one of claims 13 to 16 is implemented.

25. A computer program product, comprising computer instructions, which are executed to perform 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 12, or the vehicle platoon driving control method as described in any one of claims 13 to 16.

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