Vehicle formation driving control method and related equipment

Abstract

The present disclosure provides a vehicle formation driving control method and related equipment. The current vehicle formation includes a leading vehicle and a following vehicle, the following vehicle includes a rear vehicle and a vehicle in the formation, the vehicle in the formation includes a target vehicle in the formation that is currently to leave the current vehicle formation, the method is applied to the leading vehicle, and includes: sending a first convoy disbanding message to the vehicle in the target formation, sending a second convoy disbanding message to the remaining following vehicles, the second vehicle receiving the message including a temporary disbanding instruction, which is used to instruct the temporary disbanding of the current vehicle formation, so that the vehicle in the target formation sets the state to a free state and leaves the current vehicle formation, and the remaining following vehicles set the state to a temporarily disbanded state; according to the second convoy disbanding message, sending a re-teaming invitation message to the remaining following vehicles; receiving a re-teaming confirmation message; and reorganizing the remaining following vehicles according to the re-teaming confirmation message to form a new vehicle formation.

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 fatigued drivers are frequently reported in the news. Applying autonomous driving technology to cars can effectively reduce the accident rate. In addition, autonomous driving greatly reduces the number of drivers required and reduces labor costs.

[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, which greatly improves road safety. In addition, 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 platooning, 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. 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 fleet disbanding message to the target team vehicle, sending a second fleet disbanding message to the remaining following vehicles except the target team vehicle, the second fleet disbanding message including a temporary disbanding instruction for indicating the temporary disbanding of the current vehicle formation, so that the target team vehicle receiving the first fleet disbanding message sets the state to a free state and drives away from the current vehicle formation, and the remaining following vehicles receiving the second fleet disbanding message set the state to a temporarily disbanded state; sending a re-teaming invitation message to the remaining following vehicles according to the second fleet disbanding message; receiving a re-teaming confirmation message returned by the remaining following vehicles in response to the re-teaming invitation message; and reorganizing the remaining following vehicles according to the re-teaming confirmation message to form a new vehicle formation, the new vehicle formation not including the target team vehicle and the remaining following vehicles that have not sent the re-teaming confirmation 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 formation disbanding message sent by the leading vehicle; in response to the first formation disbanding 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 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 following vehicles other than the target vehicle in the formation are the remaining following vehicles, and the method is applied to the remaining following vehicles. The method includes: receiving a second convoy disbanding message sent by the leading vehicle, wherein the second convoy disbanding message includes a temporary disbanding instruction for indicating the temporary disbanding of the current vehicle formation; in response to the temporary disbanding instruction in the second convoy disbanding message, the remaining following vehicles set the status of the remaining following vehicles to a temporary disbanding status; receiving a re-teaming invitation message sent by the leading vehicle in response to the second convoy disbanding message; and in response to the re-teaming invitation message, sending a re-teaming confirmation message to the leading vehicle, so that the leading vehicle reorganizes the remaining following vehicles according to the re-teaming confirmation message to form a new vehicle formation, wherein the new vehicle formation does not include the target vehicle in the formation and the remaining following vehicles that have not sent the re-teaming confirmation 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 fleet dissolution message sending unit, used to send a first fleet dissolution message to the target fleet vehicle, and send a second fleet dissolution message to the remaining following vehicles except the target fleet vehicle, wherein the second fleet dissolution message includes a temporary dissolution instruction, which is used to indicate the temporary dissolution of the current vehicle formation, so that the target fleet vehicle receiving the first fleet dissolution message sets the state to a free state and leaves the current vehicle formation, and the remaining following vehicles receiving the second fleet dissolution message set the state to a temporarily disbanded state; a re-teaming invitation message sending unit, used to send a re-teaming invitation message to the remaining following vehicles according to the second fleet dissolution message; a re-teaming confirmation message receiving unit, used to receive a re-teaming confirmation message returned by the remaining following vehicles in response to the re-teaming invitation message; and a vehicle formation reorganization unit, used to reorganize the remaining following vehicles according to the re-teaming confirmation message to form a new vehicle formation, wherein the new vehicle formation does not include the target fleet vehicle and the remaining following vehicles that have not sent the re-teaming confirmation message to the leading vehicle.

[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 formation disbanding message receiving unit, which is used to receive a first formation disbanding message sent by the leading vehicle; a target formation vehicle status setting unit, which is used to respond to the first formation disbanding message, and the target formation vehicle sets the status of the target formation vehicle to a free state; and a target formation vehicle departure unit, which is used to control the target formation vehicle 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 following vehicles other than the target vehicle within the formation are the remaining following vehicles, and the device is applied to the remaining following vehicles. The device includes: a second fleet dissolution message receiving unit, used to receive a second fleet dissolution message sent by the lead vehicle, wherein the second fleet dissolution message includes a temporary dissolution instruction to indicate the temporary dissolution of the current vehicle formation; a remaining following vehicle state setting unit, used to respond to the temporary dissolution instruction in the second fleet dissolution message, and the remaining following vehicles set the state of the remaining following vehicles to a temporary dissolution state; a re-teaming invitation message receiving unit, used to receive a re-teaming invitation message sent by the lead vehicle in response to the second fleet dissolution message; and a re-teaming confirmation message sending unit, used to respond to the re-teaming invitation message and send a re-teaming confirmation message to the lead vehicle, so that the lead vehicle reorganizes the remaining following vehicles according to the re-teaming confirmation message to form a new vehicle formation, and the new vehicle formation does not include the vehicles in the target team and the remaining following vehicles that have not sent the re-teaming confirmation message to the lead vehicle.

[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 the 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 sends a first convoy disbanding message and a second convoy disbanding message to the target vehicle and the remaining following vehicles other than the target vehicle, respectively, and the second convoy disbanding message sent by the leading vehicle to the remaining following vehicles includes a special temporary disbanding indication to inform the remaining following vehicles that the current vehicle formation is temporarily disbanded, and after the target vehicle leaves the formation and becomes free, the remaining following vehicles will be reorganized to form a new vehicle formation, so that the remaining following vehicles can respond to the temporary disbanding indication to set their own status to a temporary disbanding status. The leading vehicle can wait until the vehicles in the target team leave the current vehicle formation, and then send a re-teaming invitation message to the remaining following vehicles. If the remaining following vehicles wish to continue to join the fleet, they can return a re-teaming confirmation message to the leading vehicle. The leading vehicle can re-team the remaining following vehicles based on the re-teaming confirmation messages received from the remaining following vehicles to form a new vehicle formation. The new vehicle formation no longer includes the vehicles in the target team and the remaining following vehicles that have not sent the re-teaming confirmation message to the leading vehicle. That is, the disclosed embodiment proposes a solution for when there are vehicles other than the tail end of the formation that need to leave the formation during vehicle formation driving. The solution for the departure of vehicles in the target team can minimize the interference with the driving of other vehicles in the fleet, and is an efficient solution for vehicle formation 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 4A 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, which also includes the platoon behavior processes such as creating a platoon, disbanding a platoon, vehicles joining a platoon, and vehicles leaving 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 1 The 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 convoy disbanding message is sent to the target convoy vehicle, and a second convoy disbanding message is sent to the remaining following vehicles except the target convoy vehicle. The second convoy disbanding message includes a temporary disbanding instruction for indicating the temporary disbanding of the current vehicle formation, so that the target convoy vehicle receiving the first convoy disbanding message sets the state to a free state and drives away from the current vehicle formation, and the remaining following vehicles receiving the second convoy disbanding message set the state to a temporary disbanding state.

[0036] In the embodiments of the present disclosure, the pilot vehicle can set the status (status) of the vehicles in the current vehicle formation to include "pilot status", "following status", "free status" and "temporary disbanding 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 disbanding status refers to the temporary disbanding of the vehicles in the current vehicle formation rather than the formal disbanding (after the formal disbanding, the status of the vehicles in the current vehicle formation are all converted to the free status). After the predetermined conditions are met (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 disbanding timer is reached, etc., which is not limited by the present disclosure), the team will be re-formed.

[0037] In the disclosed embodiment, the leading vehicle can be set to have four different roles for the vehicles in the current vehicle formation, which can be "leader", "free vehicle", "follower" and "temporary free vehicle". Among them, the role of the leading vehicle is set to the leading vehicle, the role of the following vehicle is set to the following 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 the temporary dissolution of the vehicles in the current vehicle formation instead of the formal dissolution (after the formal dissolution, the roles of the vehicles in the current vehicle formation are all converted to free vehicles), and after meeting the predetermined conditions, the team will be reorganized into a role between the free vehicle and the follower vehicle.

[0038] In some embodiments, the leading vehicle can set the status of the vehicles in the current vehicle formation, and can also set the role of the vehicles in the current vehicle formation. In other embodiments, the leading vehicle can set the status and role of the vehicles in the current vehicle formation at the same time. For example, the role of the leading vehicle is the leading vehicle, and its corresponding status is the leading status; the role of the following vehicle is the following vehicle, and its corresponding status is the following status; the role of the free vehicle is the free vehicle, and its corresponding status is the free status; when the remaining following vehicles receive the second fleet dissolution message containing a temporary dissolution instruction, their corresponding roles can be converted from the original following vehicle to a temporary free vehicle, and their corresponding status can be converted from the original following status to the temporary dissolution status. When the vehicles in the target team receive the first fleet dissolution message, their corresponding roles can be converted from the original following vehicle to the free vehicle, and their corresponding status can be converted from the original following status to the free status.

[0039] In an exemplary embodiment, the second fleet dissolution message includes a dissolution status field, and the value of the temporary dissolution field indicates the temporary dissolution indication. The first fleet dissolution message does not include the temporary dissolution field; or the first fleet dissolution message includes the temporary dissolution field, and the value of the temporary dissolution field indicates a non-temporary dissolution indication; or the first fleet dissolution message includes the temporary dissolution field, and the value of the temporary dissolution field indicates the temporary dissolution indication.

[0040] For example, the leading vehicle may send a first convoy dissolution message and a second convoy dissolution message to the target convoy and each remaining following vehicle in a unicast manner, respectively. The data packet corresponding to the second convoy dissolution message sent to each remaining following vehicle may include a dissolution status field. By setting the value of the dissolution status field, for example, assuming a first value (such as "1", but the present disclosure is not limited thereto), the above-mentioned temporary dissolution indication is indicated. After each remaining following vehicle receives the second convoy dissolution message, it can be known that it is temporarily disbanded according to the value of the dissolution status field included therein. The data packet corresponding to the first convoy dissolution message sent to the target convoy may not include the above-mentioned dissolution status field, or may include the above-mentioned dissolution status field, but the value corresponding to the dissolution status field is assumed to be a second value (such as "2", but the present disclosure is not limited thereto), indicating a non-temporary dissolution indication. After receiving the first convoy dissolution message, the target convoy vehicle knows that it is non-temporarily disbanded and can freely leave the current vehicle formation.

[0041] For another example, the leading vehicle may broadcast a first convoy dissolution message and a second convoy dissolution message to the target team vehicles and the remaining following vehicles respectively (in this case, the contents of the first convoy dissolution message and the second convoy dissolution message are the same, and may also be collectively referred to as convoy dissolution messages), and the data packets corresponding to the convoy dissolution messages sent to the remaining following vehicles and the target team vehicles may include a dissolution status field, and the value of the dissolution 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 dissolution indication. After receiving the convoy dissolution message, each remaining following vehicle can know that it is temporarily disbanded according to the value of the dissolution status field included therein. Although the vehicles in the target team also know that the current vehicle formation is temporarily disbanded, they can choose to ignore the temporary dissolution indication and choose to leave the current vehicle formation.

[0042] In the disclosed embodiment, the leading vehicle sending the first convoy disbanding message and the second convoy disbanding message to the target team vehicles and the remaining following vehicles respectively may include the following two situations: one is that the target team vehicles apply to leave the team, and the triggering 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 vehicles in the target team changes; the other is that the leading vehicle actively clears the target team vehicles, and the triggering condition may be that the formation strategy of the current vehicle formation changes or the leading vehicle finds that the target team vehicles are not suitable to continue driving in the current vehicle formation.

[0043] In an exemplary embodiment, before sending a first convoy disbanding message to the target vehicle in the convoy and sending a second convoy disbanding message to the remaining following vehicles except the target vehicle in the convoy, it may also include: receiving a leaving-team application message sent by the target vehicle in the convoy. Wherein, sending a first convoy disbanding message to the target vehicle in the convoy and sending a second convoy disbanding message to the remaining following vehicles except the target vehicle in the convoy may include: the leading vehicle responding to the leaving-team application message, sending a first convoy disbanding message to the target vehicle in the convoy, and sending a second convoy disbanding message to the remaining following vehicles.

[0044] In an exemplary embodiment, the departure application message carries the identity information of the target team vehicle. The pilot vehicle responds to the departure application message, sends a first team disbanding message to the target team vehicle, and sends a second team disbanding message to the remaining following vehicles except the target team vehicle, which may include: obtaining team member 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 tail vehicle according to the team member information of the current vehicle formation, sending the first team disbanding message to the target team vehicle, and sending the second team disbanding message to the remaining following vehicles. After sending the first team disbanding message to the target team vehicle and sending the second team disbanding message to the remaining following vehicles except 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 pilot vehicle sets the state of the remaining following vehicles to the temporary disbanding state.

[0045] 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 member information of the entire current vehicle formation according to the identity information of the target team vehicle carried in the departure application message. The fleet member 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. Thus, the leading vehicle can determine that the target team vehicle that sent the departure application message is not the last vehicle in the team, and then trigger and send the first fleet disbanding message and the second fleet disbanding message to the target team vehicle and each remaining following vehicle in the current vehicle formation respectively, and include a special temporary disbanding indication in the second fleet disbanding message sent to each remaining following vehicle, which indicates that the current vehicle formation will be re-formed after being temporarily disbanded.

[0046] 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 .

[0047] In an exemplary embodiment, sending a first convoy disbanding message to the target vehicle and sending a second convoy disbanding message to the remaining following vehicles except the target vehicle may include: when abnormal behavior is detected in the target vehicle; or, in response to an adjustment instruction to adjust the current vehicle formation, sending a first convoy disbanding message to the target vehicle and sending a second convoy disbanding message to the remaining following vehicles.

[0048] 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 .

[0049] In step S120, according to the second convoy disbanding message, a re-formation invitation message is sent to the remaining following vehicles.

[0050] In the disclosed embodiment, the pilot vehicle sends a re-entry invitation message to each remaining following vehicle in the current vehicle formation, and the re-entry invitation message may include the team member information of the current vehicle formation (except the vehicles in the target team mentioned above). It is understandable that from the perspective of security and privacy protection, or from the perspective of saving transmission messages, the team member information sent by the pilot vehicle to each remaining following vehicle can be simplified compared to the team member information stored in the pilot vehicle. For example, the team member information sent to each remaining following vehicle only includes the relevant information of the remaining following vehicle and the two adjacent remaining following vehicles in front and behind it.

[0051] In an exemplary embodiment, the temporary disbanding indication may include a temporary disbanding timer (hereinafter referred to as T1, but the present disclosure is not limited thereto).

[0052] Wherein, after sending the second convoy disbanding message to the remaining following vehicles except the vehicle in the target convoy, the method may further include: maintaining the convoy member information of the remaining following vehicles in the current vehicle formation in the leading vehicle before the time specified by the temporary disbanding timer. Wherein, sending the re-teaming invitation message to the remaining following vehicles according to the second convoy disbanding message may include: sending the re-teaming invitation message to the remaining following vehicles within the time specified by the temporary disbanding timer.

[0053] Specifically, after the pilot vehicle sends the first convoy disbanding message and the second convoy disbanding message to the target convoy vehicle and the remaining following vehicles respectively, the pilot vehicle will not clear the convoy member information of the remaining following vehicles in the current vehicle formation within the time specified by the temporary disbanding timer T1. In other embodiments, the convoy member information of the target convoy vehicle can even be continued to be stored in the pilot vehicle, and only the vehicle identification of the target convoy vehicle is put into the leaving list.

[0054] In the disclosed embodiment, the fleet member information may include member management information, basic information basicInfo, identity information identityInfo, route information pathInfo, vehicle capability information vehAbilityInfo, and the like.

[0055] 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.

[0056] In the disclosed embodiment, by maintaining the fleet member information of the remaining following vehicles in the current vehicle formation in the lead vehicle before the time specified by the temporary disbanding timer, when these remaining following vehicles subsequently re-team, there is no need to re-send this information to the lead vehicle, and only a simple reply to the re-teaming confirmation message is required. The lead vehicle also does not need to re-store and authenticate this information, thereby greatly simplifying the re-teaming process of the remaining following vehicles in the temporarily disbanded state.

[0057] It should be noted that in the disclosed embodiment, after the time T1 specified by the temporary disbanding timer, if the leading vehicle does not receive a re-teaming confirmation message from a remaining following vehicle, the team member information of the remaining following vehicle in the current vehicle formation may continue to be saved in the leading vehicle for a while, and it is not required to clear the team member information of the remaining following vehicle immediately after T1 is reached, as long as it is ensured to continue to be saved within T1.

[0058] In step S130, a re-teaming confirmation message returned by the remaining following vehicles in response to the re-teaming invitation message is received.

[0059] In an exemplary embodiment, the method may further include: if the re-teaming confirmation message returned by the target remaining following vehicle among the remaining following vehicles is not received within the time specified by the temporary disbanding timer, the vehicle identification of the target remaining following vehicle is placed in a de-teaming list, and the leading vehicle sets the state of the target remaining following vehicle to the free state.

[0060] When the temporary disbanding instruction further includes a temporary disbanding timer T1, the current vehicle formation will be temporarily disbanded within the time specified by the temporary disbanding timer T1, and each remaining following vehicle may receive a re-teaming invitation message sent by the pilot vehicle. After receiving the re-teaming invitation message, if each remaining following vehicle wishes to continue to join the team, it will return a re-teaming confirmation message to the pilot vehicle, indicating that the remaining following vehicles agree to continue to join the team. When the temporary disbanding timer T1 times out and a target remaining following vehicle does not send a re-teaming confirmation message to the pilot vehicle in response to the re-teaming invitation message, the pilot vehicle will deem that the target remaining following vehicle refuses to re-team and the target remaining following vehicle leaves the team, and the target remaining following vehicle will be converted from a temporarily disbanded state to a free state, and its role can also be converted from a temporary free vehicle to a free vehicle.

[0061] When the temporary disbanding timer T1 times out and the remaining following vehicles do not receive the re-teaming invitation message sent by the leading vehicle, the current vehicle formation will be officially disbanded, that is, the status of all vehicles will be converted to a free state.

[0062] In an exemplary embodiment, the method may further include: the leading vehicle receives a team-joining application message from the remaining target following vehicles, the team-joining application message carrying basic information, route information, identity information and capability information of the remaining target following vehicles; the leading vehicle determines whether the remaining target following vehicles meet admission conditions based on the basic information, route information, identity information and capability information of the remaining target following vehicles carried in the team-joining application message; if it is determined that the remaining target following vehicles meet the admission conditions, the leading vehicle sends a joining instruction message to the remaining target following vehicles, so that the remaining target following vehicles respond to the joining instruction message and join a new vehicle formation, wherein the new vehicle formation does not include vehicles in the target team and the remaining following vehicles that have not sent the re-teaming confirmation message to the leading vehicle.

[0063] In the embodiment of the present disclosure, the interactive process of the target team vehicle whose role has been converted to a free vehicle and the target remaining following vehicle applying to the pilot vehicle to join the team can be exemplified as follows. The present disclosure does not limit the process of free vehicle 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, the adjacent preceding vehicle (the remaining following vehicle immediately preceding the current remaining following vehicle) and the vehicle itself (the current remaining following vehicle) assigned by the pilot car. The set includes the sequence number and ID list in the team (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 S140, the remaining following vehicles are reorganized according to the re-teaming confirmation message to form a new vehicle formation, wherein the new vehicle formation does not include the vehicles in the target team and the remaining following vehicles that have not sent the re-teaming confirmation message to the leading vehicle.

[0077] In an exemplary embodiment, reorganizing the remaining following vehicles according to the re-teaming confirmation message to form a new vehicle formation may include: reorganizing the vehicle team member information according to the re-teaming confirmation message; and sending the reorganized vehicle team member information to the remaining following vehicles to form the new vehicle formation.

[0078] Specifically, the leading vehicle reorganizes the team member information according to the received team re-forming confirmation message returned by the remaining following vehicles, and sends the final confirmed team member information to the remaining following vehicles that have returned the team re-forming confirmation message.

[0079] The vehicle formation driving control method provided by the embodiment of the present disclosure comprises the following steps: when a target team vehicle that is not the tail vehicle in the current vehicle formation needs to leave the current vehicle formation during the driving of the current vehicle formation, the leading vehicle in the current vehicle formation sends a first team disbanding message and a second team disbanding message to the target team vehicle and the remaining following vehicles except the target team vehicle, respectively, and the second team disbanding message sent by the leading vehicle to the remaining following vehicles includes a special temporary disbanding instruction to inform the remaining following vehicles that the current vehicle formation is temporarily disbanded, and after the target team vehicle leaves the team and becomes a free state, the remaining following vehicles will be reorganized to form a new vehicle formation, so that the remaining following vehicles can respond to the temporary disbanding instruction to set their own state to a temporary disbanding state. The leading vehicle can wait until the vehicles in the target team leave the current vehicle formation, and then send a re-teaming invitation message to the remaining following vehicles. If the remaining following vehicles wish to continue to join the fleet, they can return a re-teaming confirmation message to the leading vehicle. The leading vehicle can re-team the remaining following vehicles based on the re-teaming confirmation messages received from the remaining following vehicles to form a new vehicle formation. The new vehicle formation no longer includes the vehicles in the target team and the remaining following vehicles that have not sent the re-teaming confirmation message to the leading vehicle. That is, the disclosed embodiment proposes a solution for when there are vehicles other than the tail end of the formation that need to leave the formation during vehicle formation driving. The solution for the departure of vehicles in the target team can minimize the interference with the driving of other vehicles in the fleet, and is an efficient solution for vehicle formation driving control.

[0080] Figure 2 The schematic diagram of the vehicle formation driving control method according to an embodiment of the present disclosure is schematically shown. Figure 2 As shown, when a target vehicle in the current vehicle formation needs to actively leave the current vehicle formation, its departure process may include the following steps.

[0081] In step S21, the vehicle in the target team sends a leaving request message to the leading vehicle.

[0082] Specifically, when a vehicle in the target team that is not the tail vehicle needs to leave the current vehicle formation, for example, the vehicle in the target team itself breaks down, or the vehicle in the target team needs to enter the service area, or the 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.

[0083] In step S22, the leading vehicle triggers the disbanding of the convoy toward the target vehicle in the convoy and the remaining following vehicles respectively.

[0084] In the disclosed embodiment, after the leading vehicle receives the leaving request message sent by the vehicle in the target team, it triggers the disbanding of the team to the vehicle in the target team and each remaining following vehicle, that is, it sends a first team disbanding message and a second team disbanding message to the vehicle in the target team and each remaining following vehicle respectively, and includes a special temporary disbanding instruction in the second team disbanding message sent to each remaining following vehicle. The temporary disbanding instruction can also be sent in the form of a team disbanding reason value, and there is no restriction on the name of the temporary disbanding instruction. The main purpose is to tell the vehicles in the current vehicle formation that the current vehicle formation needs to be temporarily disbanded and will be re-formed.

[0085] 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 vehicle in the target team) message to the target team and the remaining following vehicles as the first team disbanding message and the second team disbanding message, respectively. After receiving the above-mentioned first team disbanding message, the vehicle in the target team 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. The leading vehicle responds to the (Status = leaving) message and clears the leavinglist.

[0086] In step S23, the leading vehicle sends a regrouping invitation message to the remaining following vehicles.

[0087] The temporary disbanding instruction may include a temporary disbanding timer T1. Within the time specified by the temporary disbanding timer T1, the current vehicle formation will be temporarily disbanded, and the leading vehicle can send a re-entry invitation message to each remaining following vehicle in the formation. If T1 times out and the re-entry invitation message sent by the leading vehicle is not received, the remaining following vehicles believe that the current vehicle formation will be formally disbanded, and clear the saved information of the current vehicle formation after T1 times out.

[0088] In step S24, the remaining following vehicles return a re-teaming confirmation message to the lead vehicle.

[0089] Specifically, the pilot vehicle can send a data packet containing a second convoy disbanding message to each remaining follower vehicle, and the data packet includes a disbanding status field and a temporary disbanding timer. After receiving the disbanding status field, all remaining follower vehicles know that they will rejoin the team later. Therefore, before the temporary disbanding timer T1 times out, the remaining follower vehicles will save the team member information of the current vehicle formation and basically maintain the original formation, and the pilot vehicle will not clear the team member information of each remaining follower vehicle in the original current vehicle formation. For example, the normal joining process is very complicated. The pilot vehicle needs to collect various information of each vehicle, such as color, ID, speed and position, etc., and also perform authentication, etc. When rejoining the team, since this information is still maintained, the joining process can be simplified. For example, the re-teaming invitation message sent by the pilot vehicle only contains basic information such as the team number, and the remaining follower vehicles only need to send ID, speed and position information (which can be included in the re-teaming confirmation message) to the pilot vehicle, so that the pilot vehicle can determine whether the remaining follower vehicle can rejoin the team.

[0090] After receiving the re-teaming invitation message, if the remaining following vehicles wish to continue to join the team, they will send a re-teaming confirmation message to the pilot vehicle, indicating that the remaining following vehicles agree to continue to join the team. If the target remaining following vehicle does not send a re-teaming confirmation message before T1 times out, the pilot vehicle will consider that the target remaining following vehicle refuses to re-team and determines that the target remaining following vehicle has left the team.

[0091] Figure 3 The schematic diagram of the vehicle formation driving control method according to an embodiment of the present disclosure is schematically shown. Figure 3 As shown, assuming that the current vehicle formation includes, in addition to the lead vehicle, five following vehicles, namely the 1st vehicle, the 2nd vehicle, the 3rd vehicle, the 4th vehicle and the 5th vehicle, in sequence, then the 1st vehicle, the 2nd vehicle, the 3rd vehicle and the 4th vehicle are vehicles in the team, and the 5th vehicle is the rear vehicle. Assuming that the 3rd vehicle is a vehicle in the target team, the 1st vehicle, the 2nd vehicle, the 4th vehicle and the 5th vehicle are the remaining following vehicles, and the 3rd vehicle applies to the lead vehicle for leaving the team. If, when the time specified by the temporary disbanding timer T1 is reached, the vehicles in the target team have not completely left the current vehicle formation, then at this time, the 1st vehicle and the 2nd vehicle can return the re-teaming confirmation message to the lead vehicle to re-enter the team. If the 4th vehicle and the 5th vehicle find that the 3rd vehicle is still in front of them after T1, then the 4th vehicle and the 5th vehicle can leave the team, and when the conditions are met, they can re-issue a normal team-entry application to the lead vehicle.

[0092] In step S25, the leading vehicle returns a convoy member information confirmation message to the remaining following vehicles.

[0093] Specifically, the leading vehicle removes the fleet member information of the leaving vehicle in the memberlist (here is the information of the target vehicle in the fleet), and sends a PMM (leadingExt: leavinglist is empty, memberlist does not contain the identity information of the leaving vehicle) message to the remaining following vehicles that have returned the re-teaming confirmation message as a fleet member information confirmation message.

[0094] The vehicle formation driving control method provided by the embodiment of the present disclosure can proactively send a departure request message to the lead vehicle when any target vehicle in the current vehicle formation needs to leave the formation. The lead vehicle can respond to the departure request message, triggering the temporary disbanding of the current vehicle formation.

[0095] 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 leading vehicle actively triggering the vehicle in the target team to leave the team may include the following steps.

[0096] In step S41, the leading vehicle triggers the disbanding of the convoy towards the target convoy vehicle and the remaining following vehicles respectively, and puts the target convoy vehicle into a leaving list.

[0097] In step S42, the leading vehicle sends a regrouping invitation message to the remaining following vehicles.

[0098] In step S43, the remaining following vehicles return a re-teaming confirmation message to the lead vehicle.

[0099] In step S44, the leading vehicle returns a convoy member information confirmation message to the remaining following vehicles.

[0100] The specific implementation process of the above steps S41-S44 can refer to the above Figure 2 Steps S22-S25 of the embodiment.

[0101] According to the vehicle formation driving control method provided by the embodiment of the present disclosure, when necessary, the leading vehicle can also actively clear the target team vehicles in the current vehicle formation, triggering the temporary dissolution of the current vehicle formation.

[0102] 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.

[0103] like Figure 5 As shown, the method provided by the embodiment of the present disclosure may include the following steps.

[0104] In step S510, a first convoy disbanding message sent by the pilot vehicle is received.

[0105] In an exemplary embodiment, the first fleet dissolution message may not include the temporary dissolution field; or the first fleet dissolution message may include the temporary dissolution field, and the value of the temporary dissolution field represents a non-temporary dissolution indication; or the first fleet dissolution message may include the temporary dissolution field, and the value of the temporary dissolution field represents the temporary dissolution indication.

[0106] In an exemplary embodiment, before receiving the first convoy disbanding message sent by the pilot vehicle, the method may include: sending a leaving-convoy request message to the pilot vehicle, so that the pilot vehicle returns the first convoy disbanding message in response to the leaving-convoy request message.

[0107] In step S520, in response to the first team disbanding message, the target team's vehicle sets the state of the target team's vehicle to a free state.

[0108] 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.

[0109] Figure 5 The specific implementation of the embodiment can refer to the above Figures 1 to 4 Contents of the embodiment.

[0110] 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, the following vehicle may include a rear vehicle and vehicles in the formation, the vehicles in the formation may include a target vehicle in the formation that is currently to leave the current vehicle formation, and the following vehicles other than the target vehicle in the formation are the remaining following vehicles. Figure 6 The method described in the embodiment may be applied to the remaining following vehicles.

[0111] like Figure 6 As shown, the method provided by the embodiment of the present disclosure may include the following steps.

[0112] In step S610, a second convoy disbanding message sent by the pilot vehicle is received, wherein the second convoy disbanding message includes a temporary disbanding instruction for indicating temporary disbanding of the current vehicle formation.

[0113] In step S620, in response to the temporary disbanding indication in the second vehicle group disbanding message, the remaining following vehicles set the status of the remaining following vehicles to a temporary disbanding status.

[0114] In an exemplary embodiment, the method may further include: when the remaining following vehicles are in the temporarily disbanded state, continuing to store the fleet member information of the current vehicle formation in the remaining following vehicles.

[0115] In step S630, a regrouping invitation message sent by the pilot vehicle in response to the second group disbanding message is received.

[0116] In step S640, in response to the re-teaming invitation message, a re-teaming confirmation message is sent to the lead vehicle, so that the lead vehicle reorganizes the remaining following vehicles according to the re-teaming confirmation message to form a new vehicle formation, and the new vehicle formation does not include the vehicles in the target team and the remaining following vehicles that have not sent the re-teaming confirmation message to the lead vehicle.

[0117] In an exemplary embodiment, the temporary disbanding indication may include a temporary disbanding timer. The method may further include: if a target remaining following vehicle among the remaining following vehicles does not return the regrouping confirmation message to the leading vehicle after exceeding the time specified by the temporary disbanding timer, the target remaining following vehicle sets the state of the target remaining following vehicle to a free state.

[0118] In an exemplary embodiment, the temporary disbanding indication includes a temporary disbanding timer. The method may further include: if the remaining following vehicles do not receive the regrouping invitation message sent by the leading vehicle after a time specified by the temporary disbanding timer has expired, the remaining following vehicles setting the state of the remaining following vehicles to a free state.

[0119] 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.

[0120] Figure 7 The vehicle formation driving control device 700 provided in the embodiment may include a vehicle formation disbanding message sending unit 710 , a re-formation invitation message sending unit 720 , a re-formation confirmation message receiving unit 730 , and a vehicle formation re-organizing unit 740 .

[0121] Among them, the fleet dissolution message sending unit 710 can be used to send a first fleet dissolution message to the target fleet vehicle, and send a second fleet dissolution message to the remaining following vehicles except the target fleet vehicle. The second fleet dissolution message may include a temporary dissolution instruction to indicate the temporary dissolution of the current vehicle formation, so that the target fleet vehicle that receives the first fleet dissolution message sets the state to a free state and leaves the current vehicle formation, and the remaining following vehicles that receive the second fleet dissolution message set the state to a temporarily disbanded state. The re-teaming invitation message sending unit 720 can be used to send a re-teaming invitation message to the remaining following vehicles according to the second fleet dissolution message. The re-teaming confirmation message receiving unit 730 can be used to receive a re-teaming confirmation message returned by the remaining following vehicles in response to the re-teaming invitation message. The vehicle formation reorganization unit 740 can be used to reorganize the remaining following vehicles according to the re-teaming confirmation message to form a new vehicle formation, and the new vehicle formation does not include the target fleet vehicle and the remaining following vehicles that have not sent the re-teaming confirmation message to the leading vehicle.

[0122] The vehicle formation driving control device provided by the disclosed embodiment is that when the current vehicle formation is driving in formation, when a target team vehicle that is not the tail vehicle in the current vehicle formation needs to leave the current vehicle formation, the leading vehicle in the current vehicle formation sends a first team disbanding message and a second team disbanding message to the target team vehicle and the remaining following vehicles except the target team vehicle, respectively, and the second team disbanding message sent by the leading vehicle to the remaining following vehicles includes a special temporary disbanding instruction to inform the remaining following vehicles that the current vehicle formation is temporarily disbanded, and after the target team vehicle leaves the team and becomes a free state, the remaining following vehicles will be reorganized to form a new vehicle formation, so that the remaining following vehicles can respond to the temporary disbanding instruction to set their own state to a temporary disbanding state. The leading vehicle can wait until the vehicles in the target team leave the current vehicle formation, and then send a re-teaming invitation message to the remaining following vehicles. If the remaining following vehicles wish to continue to join the fleet, they can return a re-teaming confirmation message to the leading vehicle. The leading vehicle can re-team the remaining following vehicles based on the re-teaming confirmation messages received from the remaining following vehicles to form a new vehicle formation. The new vehicle formation no longer includes the vehicles in the target team and the remaining following vehicles that have not sent the re-teaming confirmation message to the leading vehicle. That is, the disclosed embodiment proposes a solution for when there are vehicles other than the tail end of the formation that need to leave the formation during vehicle formation driving. The solution for the departure of vehicles in the target team can minimize the interference with the driving of other vehicles in the fleet, and is an efficient solution for vehicle formation driving control.

[0123] In an exemplary embodiment, the second fleet dissolution message may include a dissolution status field, and the value of the temporary dissolution field indicates the temporary dissolution indication. The first fleet dissolution message may not include the temporary dissolution field; or the first fleet dissolution message may include the temporary dissolution field, and the value of the temporary dissolution field indicates a non-temporary dissolution indication; or the first fleet dissolution message may include the temporary dissolution field, and the value of the temporary dissolution field indicates the temporary dissolution indication.

[0124] 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 convoy disbanding message to the target convoy vehicle, and receive a departure application message sent by the target convoy vehicle before sending a second convoy disbanding message to the remaining following vehicles other than the target convoy vehicle. The convoy disbanding message sending unit 710 may include: a convoy temporary disbanding message sending unit, which may be used for the leading vehicle to respond to the departure application message, send the first convoy disbanding message to the target convoy vehicle, and send the second convoy disbanding message to the remaining following vehicles.

[0125] In an exemplary embodiment, the departure application message may carry the identity information of the target team vehicle. The team temporary disbanding message sending unit may include: a current team member information obtaining unit, which may be used to obtain the team member information of the current vehicle formation according to the identity information of the target team vehicle carried in the departure application message; a non-rear vehicle determination unit, which may be used to determine that the target team vehicle is not the rear vehicle according to the team member information of the current vehicle formation, send the first team disbanding message to the target team vehicle, and send the second team disbanding message to the remaining following vehicles. The vehicle formation driving control device 700 may also include: a target team vehicle free state setting unit, which may be used to put 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; and a remaining following vehicle temporary disbanding state setting unit, which may be used by the leading vehicle to set the state of the remaining following vehicles to the temporary disbanding state.

[0126] In an exemplary embodiment, the fleet disbanding message sending unit 710 may include: a unit for actively clearing vehicles in the target fleet, which can be used when abnormal behavior is detected in the vehicles in the target fleet; or, in response to an adjustment instruction to adjust the current vehicle formation, sending a first fleet disbanding message to the vehicles in the target fleet and sending a second fleet disbanding message to the remaining following vehicles.

[0127] In an exemplary embodiment, the temporary disbanding instruction may include a temporary disbanding timer. The vehicle formation driving control device 700 may further include: a team member information maintaining unit, which may be used to maintain the team member information of the remaining following vehicles in the current vehicle formation in the leading vehicle before the time specified by the temporary disbanding timer. The regrouping invitation message sending unit 720 may include: a regrouping invitation message broadcasting unit, which may be used to send the regrouping invitation message to the remaining following vehicles within the time specified by the temporary disbanding timer.

[0128] In an exemplary embodiment, the temporary disbanding instruction may include a temporary disbanding timer. The vehicle formation driving control device 700 may further include: a remaining following vehicle state conversion unit, which may be used to put the vehicle identification of the target remaining following vehicle into the departure list if the regrouping confirmation message returned by the target remaining following vehicle among the remaining following vehicles is not received within the time specified by the temporary disbanding timer, and the leading vehicle sets the state of the target remaining following vehicle to the free state.

[0129] In an exemplary embodiment, the vehicle formation reorganization unit 740 may include: a vehicle formation member information sorting unit, which can be used to reorganize the vehicle formation member information according to the reorganization confirmation message; a new vehicle formation forming unit, which can be used to send the reorganized vehicle formation member information to the remaining following vehicles to form a new vehicle formation, and the new vehicle formation does not include the target team vehicles and the remaining following vehicles that have not sent the reorganization confirmation message to the leading vehicle.

[0130] 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.

[0131] 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.

[0132] 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 formation disbanding message receiving unit 810 , a target vehicle formation state setting unit 820 , and a target vehicle formation leaving unit 830 .

[0133] In the disclosed embodiment, the first convoy disbanding message receiving unit 810 may be used to receive the first convoy disbanding message sent by the pilot vehicle. The target convoy vehicle state setting unit 820 may be used to respond to the first convoy disbanding message, and the target convoy vehicle sets the state of the target convoy vehicle to a free state. The target convoy vehicle departure unit 830 may be used to control the target convoy vehicle to leave the current vehicle formation and stop sending heartbeat messages to the pilot vehicle.

[0134] In an exemplary embodiment, the first fleet dissolution message may not include the temporary dissolution field; or the first fleet dissolution message may include the temporary dissolution field, and the value of the temporary dissolution field represents a non-temporary dissolution indication; or the first fleet dissolution message may include the temporary dissolution field, and the value of the temporary dissolution field represents the temporary dissolution indication.

[0135] In an exemplary embodiment, the vehicle formation driving control device 800 may also include: a departure request message sending unit, which can be used to send a departure request message to the pilot vehicle before receiving the first fleet dissolution message sent by the pilot vehicle, so that the pilot vehicle responds to the departure request message and returns the first fleet dissolution message.

[0136] 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.

[0137] 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 following vehicles other than the target vehicle within the formation are the remaining following vehicles, and the device may be applied to the remaining following vehicles.

[0138] 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 formation disbanding message receiving unit 910, a remaining following vehicle status setting unit 920, a re-teaming invitation message receiving unit 930 and a re-teaming confirmation message sending unit 940.

[0139] In the disclosed embodiment, the second fleet dissolution message receiving unit 910 may be used to receive a second fleet dissolution message sent by the pilot vehicle, wherein the second fleet dissolution message includes a temporary dissolution instruction to indicate the temporary dissolution of the current vehicle formation. The remaining following vehicle state setting unit 920 may be used to respond to the temporary dissolution instruction in the second fleet dissolution message, and the remaining following vehicles set the state of the remaining following vehicles to a temporary dissolution state. The re-teaming invitation message receiving unit 930 may be used to receive a re-teaming invitation message sent by the pilot vehicle in response to the second fleet dissolution message. The re-teaming confirmation message sending unit 940 may be used to respond to the re-teaming invitation message and send a re-teaming confirmation message to the pilot vehicle, so that the pilot vehicle reorganizes the remaining following vehicles according to the re-teaming confirmation message to form a new vehicle formation, and the new vehicle formation does not include the target team vehicles and the remaining following vehicles that have not sent the re-teaming confirmation message to the pilot vehicle.

[0140] In an exemplary embodiment, the vehicle formation driving control device 900 may also include: a current vehicle formation member information continuing storage unit, which may be used to continue to store the vehicle formation member information of the current vehicle formation in the remaining following vehicles when the remaining following vehicles are in the temporarily disbanded state.

[0141] In an exemplary embodiment, the temporary disbanding instruction may include a temporary disbanding timer. The vehicle formation driving control device 900 may further include: a target remaining following vehicle state setting unit, which may be used to set the state of the target remaining following vehicle to a free state if the target remaining following vehicle among the remaining following vehicles does not return the re-teaming confirmation message to the leading vehicle after exceeding the time specified by the temporary disbanding timer.

[0142] In an exemplary embodiment, the temporary disbandment indication may include a temporary disbandment timer; wherein, the vehicle formation driving control device 900 may also include: a remaining following vehicle free state conversion unit, which can be used to set the state of the remaining following vehicles to a free state if the remaining following vehicles do not receive the re-teaming invitation message sent by the leading vehicle after exceeding the time specified by the temporary disbandment timer.

[0143] 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.

[0144] Fig.10 A schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present disclosure is shown.

[0145] It should be noted that Fig.10 The 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.

[0146] 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.

[0147] 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 1008 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.

[0148] 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.

[0149] 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. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM (Erasable Programmable Read Only Memory, Erasable Programmable Read Only Memory) or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable storage medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical cable, RF (Radio Frequency), etc., or any suitable combination of the above.

[0150] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the methods, devices and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0151] 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.

[0152] 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 convoy disbanding message to the target vehicle in the convoy, and sending a second convoy disbanding message to the remaining following vehicles except the target vehicle in the convoy, wherein the second convoy disbanding message includes a temporary disbanding instruction for indicating the temporary disbanding of the current vehicle formation, so that the target vehicle in the convoy that receives the first convoy disbanding message sets its state to a free state and drives away from the current vehicle formation, and the remaining following vehicles that receive the second convoy disbanding message set their state to a temporarily disbanded state; Sending a regrouping invitation message to the remaining following vehicles according to the disbanding message of the second group; receiving a re-teaming confirmation message returned by the remaining following vehicles in response to the re-teaming invitation message; The remaining following vehicles are reorganized according to the re-teaming confirmation message to form a new vehicle formation, wherein the new vehicle formation does not include the vehicles in the target team and the remaining following vehicles that have not sent the re-teaming confirmation message to the leading vehicle.

2. The method according to claim 1, characterized in that The second fleet dissolution message includes a temporary dissolution field, and the value of the temporary dissolution field represents the temporary dissolution indication; wherein, The first fleet dissolution message does not include the temporary dissolution field; or The first fleet dissolution message includes the temporary dissolution field, and a value of the temporary dissolution field indicates a non-temporary dissolution indication; or The first fleet dissolution message includes the temporary dissolution field, and the value of the temporary dissolution field represents the temporary dissolution indication.

3. The method according to claim 1, characterized in that Before sending a first convoy disbanding message to the target vehicle in the convoy and sending a second convoy disbanding message to the remaining following vehicles except the target vehicle in the convoy, the method further includes: Receiving a leaving request message sent by a vehicle in the target team; The step of sending a first convoy disbanding message to the target vehicle in the convoy and sending a second convoy disbanding message to the remaining following vehicles except the target vehicle in the convoy includes: The leading vehicle responds to the leaving team application message, sends the first team disbanding message to the vehicles in the target team, and sends the second team disbanding message to the remaining following vehicles.

4. The method according to claim 3, characterized in that The departure application message carries the identity information of the target team vehicle; wherein the leading vehicle responds to the departure application message, sends a first team disbanding message to the target team vehicle, and sends a second team disbanding message to the remaining following vehicles except the target team vehicle, including: Obtaining team member information of the current vehicle formation according to the identity information of the target team vehicle carried in the team leaving application message; According to the fleet member information of the current vehicle formation, determining that the vehicle in the target fleet is not the rear vehicle of the fleet, sending the first fleet disbanding message to the vehicle in the target fleet, and sending the second fleet disbanding message to the remaining following vehicles; Wherein, after sending a first convoy disbanding message to the target vehicle in the convoy, and sending a second convoy disbanding message to the remaining following vehicles except the target vehicle in the convoy, 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 lead vehicle sets the status of the remaining following vehicles to the temporary disbanded status.

5. The method according to claim 1, characterized in that Sending a first convoy disbanding message to the target vehicle in the convoy, and sending a second convoy disbanding message to the remaining following vehicles except the target vehicle in the convoy, comprises: When abnormal behavior is detected in the target team vehicles; or in response to an adjustment instruction to adjust the current vehicle formation, a first team disbanding message is sent to the target team vehicles, and a second team disbanding message is sent to the remaining following vehicles.

6. The method according to claim 1, characterized in that The temporary disbanding instruction includes a temporary disbanding timer; wherein, after sending the second convoy disbanding message to the remaining following vehicles except the vehicle in the target convoy, the method further includes: Before the time specified by the temporary disbanding timer, maintaining the team member information of the remaining following vehicles in the current vehicle formation in the leading vehicle; The sending of a regrouping invitation message to the remaining following vehicles according to the disbanding message of the second group includes: Within the time specified by the temporary disbanding timer, the regrouping invitation message is sent to the remaining following vehicles.

7. The method according to claim 1, characterized in that The temporary disbanding indication includes a temporary disbanding timer; wherein the method further includes: If the re-teaming confirmation message returned by the target remaining following vehicle among the remaining following vehicles is not received within the time specified by the temporary disbanding timer, the vehicle identifier of the target remaining following vehicle is placed in the de-teaming list, and the leading vehicle sets the state of the target remaining following vehicle to the free state.

8. The method according to claim 1, characterized in that Reorganizing the remaining following vehicles according to the regrouping confirmation message to form a new vehicle formation, including: Reorganize the team member information according to the team reorganization confirmation message; The reorganized convoy member information is sent to the remaining following vehicles to form the new vehicle formation.

9. 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 convoy disbanding message sent by the pilot vehicle; In response to the first team disbanding message, the target team's vehicle sets the state of the target team's vehicle to a free state; Control the vehicles in the target team to drive away from the current vehicle formation, and stop sending heartbeat messages to the pilot vehicle; Among them, the leading vehicle is used to send a second fleet dissolution message to the remaining following vehicles except the vehicles in the target fleet, and the second fleet dissolution message includes a temporary dissolution instruction, which is used to instruct the temporary dissolution of the current vehicle formation, so that the remaining following vehicles that receive the second fleet dissolution message will set their status to a temporary dissolution status.

10. The method according to claim 9, characterized in that The first fleet dissolution message does not include a temporary dissolution field; or The first fleet dissolution message includes the temporary dissolution field, and a value of the temporary dissolution field indicates a non-temporary dissolution indication; or The first fleet dissolution message includes the temporary dissolution field, and the value of the temporary dissolution field represents the temporary dissolution indication.

11. The method according to claim 9, characterized in that Before receiving the first convoy disbanding message sent by the pilot vehicle, the method further includes: A leaving team request message is sent to the pilot vehicle, so that the pilot vehicle returns the first team disbanding message in response to the leaving team request message.

12. 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 following vehicles other than the target vehicle in the formation are the remaining following vehicles, and the method is applied to the remaining following vehicles; wherein the method includes: receiving a second convoy disbanding message sent by the pilot vehicle, wherein the second convoy disbanding message includes a temporary disbanding instruction for instructing to temporarily disband the current vehicle formation; In response to the temporary disbanding indication in the second fleet disbanding message, the remaining following vehicles set the states of the remaining following vehicles to the temporary disbanding state; receiving a regrouping invitation message sent by the pilot vehicle in response to the second group disbanding message; In response to the re-teaming invitation message, a re-teaming confirmation message is sent to the lead vehicle, so that the lead vehicle reorganizes the remaining following vehicles according to the re-teaming confirmation message to form a new vehicle formation, wherein the new vehicle formation does not include the vehicles in the target team and the remaining following vehicles that have not sent the re-teaming confirmation message to the lead vehicle.

13. The method according to claim 12, characterized in that Also includes: When the remaining following vehicles are in the temporarily disbanded state, the fleet member information of the current vehicle formation continues to be stored in the remaining following vehicles.

14. The method according to claim 12, characterized in that The temporary disbanding indication includes a temporary disbanding timer; wherein the method further includes: If the target remaining following vehicle among the remaining following vehicles does not return the regrouping confirmation message to the leading vehicle after the time specified by the temporary disbanding timer has expired, the target remaining following vehicle sets the state of the target remaining following vehicle to a free state.

15. The method according to claim 12, characterized in that The temporary disbanding indication includes a temporary disbanding timer; wherein the method further includes: If the remaining following vehicles do not receive the regrouping invitation message sent by the leading vehicle after the time specified by the temporary disbanding timer has expired, the remaining following vehicles set the state of the remaining following vehicles to a free state.

16. 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 convoy disbanding message sending unit, configured to send a first convoy disbanding message to the target convoy vehicle, and send a second convoy disbanding message to the remaining following vehicles except the target convoy vehicle, wherein the second convoy disbanding message includes a temporary disbanding instruction for indicating the temporary disbanding of the current vehicle formation, so that the target convoy vehicle receiving the first convoy disbanding message sets the state to a free state and drives away from the current vehicle formation, and the remaining following vehicles receiving the second convoy disbanding message set the state to a temporary disbanding state; a re-teaming invitation message sending unit, configured to send a re-teaming invitation message to the remaining following vehicles according to the second team disbanding message; a re-teaming confirmation message receiving unit, configured to receive a re-teaming confirmation message returned by the remaining following vehicles in response to the re-teaming invitation message; The vehicle formation reorganizing unit is used to reorganize the remaining following vehicles according to the reorganization confirmation message to form a new vehicle formation, wherein the new vehicle formation does not include the vehicles in the target team and the remaining following vehicles that have not sent the reorganization confirmation message to the leading vehicle.

17. The device according to claim 16, characterized in that The temporary disbanding indication includes a temporary disbanding timer, and the device further includes: a convoy member information maintaining unit, configured to maintain, in the lead vehicle, convoy member information of the remaining following vehicles in the current vehicle formation after sending a second convoy disbanding message to the remaining following vehicles except the vehicle in the target convoy and before a time specified by the temporary disbanding timer; The regrouping invitation message sending unit includes: The regrouping invitation message broadcasting unit is used to send the regrouping invitation message to the remaining following vehicles within the time specified by the temporary disbanding timer.

18. The device according to claim 16, characterized in that The temporary disbanding indication includes a temporary disbanding timer; wherein the apparatus further includes: The remaining following vehicle state conversion unit is used to put the vehicle identifier of the target remaining following vehicle into the de-team list if the re-teaming confirmation message returned by the target remaining following vehicle among the remaining following vehicles is not received within the time specified by the temporary disbanding timer, and the leading vehicle sets the state of the target remaining following vehicle to the free state.

19. 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 convoy disbanding message receiving unit, configured to receive a first convoy disbanding message sent by the pilot vehicle; a target team vehicle state setting unit, configured to respond to the first team disbanding message, and the target team vehicle sets the state of the target team vehicle to a free state; A target team vehicle departure unit, used to control the target team vehicle to leave the current vehicle formation and stop sending heartbeat messages to the pilot vehicle; Among them, the leading vehicle is used to send a second fleet dissolution message to the remaining following vehicles except the vehicles in the target fleet, and the second fleet dissolution message includes a temporary dissolution instruction, which is used to instruct the temporary dissolution of the current vehicle formation, so that the remaining following vehicles that receive the second fleet dissolution message will set their status to a temporary dissolution status.

20. 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 following vehicles other than the target vehicle in the formation are the remaining following vehicles, and the device is applied to the remaining following vehicles; wherein the device includes: a second convoy disbanding message receiving unit, configured to receive a second convoy disbanding message sent by the pilot vehicle, wherein the second convoy disbanding message includes a temporary disbanding instruction for instructing to temporarily disband the current vehicle formation; a remaining following vehicle state setting unit, configured to respond to a temporary disbanding indication in the second vehicle group disbanding message, and the remaining following vehicles setting the states of the remaining following vehicles to a temporary disbanding state; a re-teaming invitation message receiving unit, configured to receive a re-teaming invitation message sent by the pilot vehicle in response to the second team disbanding message; A re-teaming confirmation message sending unit is used to send a re-teaming confirmation message to the lead vehicle in response to the re-teaming invitation message, so that the lead vehicle reorganizes the remaining following vehicles according to the re-teaming confirmation message to form a new vehicle formation, and the new vehicle formation does not include the vehicles in the target team and the remaining following vehicles that have not sent the re-teaming confirmation message to the lead vehicle.

21. The device according to claim 20, characterized in that The temporary disbanding indication includes a temporary disbanding timer; wherein the apparatus further includes: The target remaining following vehicle state setting unit is used for setting the state of the target remaining following vehicle to a free state if the target remaining following vehicle among the remaining following vehicles does not return the re-teaming confirmation message to the leading vehicle after exceeding the time specified by the temporary disbanding timer.

22. The device according to claim 20, characterized in that The temporary disbanding indication includes a temporary disbanding timer; wherein the apparatus further includes: The remaining following vehicle free state conversion unit is used for setting the state of the remaining following vehicle to a free state if the remaining following vehicle does not receive the re-teaming invitation message sent by the leading vehicle after exceeding the time specified by the temporary disbanding 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 platoon driving control method as described in any one of claims 1 to 8, the vehicle platoon driving control method as described in any one of claims 9 to 11, or the vehicle platoon driving control method as described in any one of claims 12 to 15.

24. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle platoon driving control method according to any one of claims 1 to 8, the vehicle platoon driving control method according to any one of claims 9 to 11, or the vehicle platoon driving control method according to any one of claims 12 to 15 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 8, the vehicle platoon driving control method as described in any one of claims 9 to 11, or the vehicle platoon driving control method as described in any one of claims 12 to 15.

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