Control method, device, computer-readable medium and electronic device for platoon driving

Abstract

The embodiments of the present application provide a control method, device, computer-readable medium and electronic device for platoon driving. The control method for platoon driving includes: receiving vehicle status information reported by a vehicle terminal, the vehicle status information at least including the platoon driving capability information of the vehicle terminal; determining a plurality of vehicle terminals capable of platoon driving according to the vehicle status information and the expected driving path of the vehicle terminal; sending a platoon driving control instruction to the plurality of vehicle terminals to instruct the plurality of vehicle terminals to form a vehicle formation for platoon driving. The technical solution of the embodiments of the present application can improve the flexibility of platoon driving, thereby better optimizing traffic efficiency and meeting the needs of various platoon driving scenarios.

Description

Technical Field

[0001] The present application relates to the field of computer and communication technology, and in particular, to a control method, device, computer-readable medium and electronic device for platoon driving. Background Art

[0002] A vehicle formation is a fleet of multiple vehicles. In the application scenario of vehicle formation, there are four vehicle roles: leader vehicle, follower vehicle, tail vehicle (optional) and free vehicle (optional). The leader vehicle is defined as the head vehicle in the vehicle formation, responsible for the management of the entire vehicle formation, such as providing data transmission and management such as vehicle location, path planning and fleet process confirmation to the follower vehicle; the follower vehicle is defined as the follower vehicle behind the leader vehicle in the vehicle formation, which is an important component of the vehicle formation; the tail vehicle is the last vehicle in the fleet formation, and this role can be set according to needs, or it can be not set and the tail vehicle can be directly treated as a follower vehicle; the free vehicle is other vehicles outside the vehicle formation, and the free vehicle does not participate in the data interaction operation in the vehicle formation.

[0003] In related technologies, vehicle platoons are usually formed spontaneously by vehicles offline, but this method has great limitations and is difficult to meet the needs of platoon driving scenarios. Summary of the invention

[0004] The embodiments of the present application provide a control method, device, computer-readable medium and electronic device for platoon driving, which can improve the flexibility of platoon driving at least to a certain extent, thereby better optimizing traffic efficiency and meeting the needs of various platoon driving scenarios.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0006] According to one aspect of an embodiment of the present application, a control method for platoon driving is provided, the control method comprising: receiving vehicle status information reported by a vehicle terminal, the vehicle status information comprising at least platoon driving capability information of the vehicle terminal; determining a plurality of vehicle terminals capable of platoon driving according to the vehicle status information and an expected driving path of the vehicle terminal; and sending a platoon driving control instruction to the plurality of vehicle terminals to instruct the plurality of vehicle terminals to form a vehicle formation for platoon driving.

[0007] According to one aspect of an embodiment of the present application, a control method for platoon driving is provided, the control method comprising: acquiring vehicle status information of a vehicle end, the vehicle status information at least including platoon driving capability information of the vehicle end; reporting the vehicle status information to a cloud server, so that the cloud server determines a plurality of vehicle ends capable of platoon driving according to the vehicle status information and an expected driving path of the vehicle end; receiving a control instruction for platoon driving sent by the cloud server, the control instruction being sent by the cloud server after determining the plurality of vehicle ends; and forming a vehicle formation with other vehicle ends among the plurality of vehicle ends according to the control instruction to perform platoon driving.

[0008] According to one aspect of an embodiment of the present application, a control device for platoon driving is provided, the control device comprising: a first receiving unit, configured to receive vehicle status information reported by a vehicle end, the vehicle status information at least including platoon driving capability information of the vehicle end; a first processing unit, configured to determine a plurality of vehicle ends capable of platoon driving according to the vehicle status information and an expected driving path of the vehicle end; and a sending unit, configured to send a control instruction for platoon driving to the plurality of vehicle ends, so as to instruct the plurality of vehicle ends to form a vehicle formation for platoon driving.

[0009] In some embodiments of the present application, based on the aforementioned scheme, the platoon driving capability information includes whether it has the ability to drive in platoon; the first processing unit is configured as: if it is determined according to the vehicle status information that multiple vehicle ends have the ability to drive in platoon, and there is an overlapping part in the expected driving paths of the multiple vehicle ends, then it is determined that the multiple vehicle ends are capable of platoon driving.

[0010] In some embodiments of the present application, based on the aforementioned scheme, the platoon driving capability information also includes whether the vehicle end has the ability to drive in platoon, and whether platoon driving is allowed; the first processing unit is configured as: if it is determined according to the vehicle status information that multiple vehicle ends have the ability to drive in platoon, the multiple vehicle ends are allowed to drive in platoon, and there is an overlapping part in the expected driving paths of the multiple vehicle ends, then it is determined that the multiple vehicle ends are capable of driving in platoon.

[0011] In some embodiments of the present application, based on the aforementioned scheme, the first processing unit is configured to: determine a target vehicle terminal that has subscribed to a platoon driving service; and determine a plurality of vehicle terminals capable of platoon driving based on the vehicle status information of the target vehicle terminal and the expected driving path of the target vehicle terminal.

[0012] In some embodiments of the present application, based on the aforementioned scheme, the first processing unit is configured to: select vehicle ends whose distances to each other are within a set range as candidate vehicle ends according to the position information of the vehicle ends; determine multiple vehicle ends that can travel in formation according to the vehicle status information of the candidate vehicle ends and the expected driving paths of the candidate vehicle ends.

[0013] In some embodiments of the present application, based on the aforementioned scheme, the control device also includes: a first acquisition unit, configured to receive the location information reported by the vehicle end; or to acquire road perception information, and acquire the location information of the vehicle end according to the road perception information.

[0014] In some embodiments of the present application, based on the aforementioned scheme, the sending unit is configured to: send control instructions including speed indication information and lane indication information to the multiple vehicle terminals respectively, the speed indication information is used to instruct the multiple vehicle terminals to adjust the driving speed according to the speed indication information, and the lane indication information is used to instruct the multiple vehicle terminals to drive to the lane indicated by the lane indication information, so that the multiple vehicle terminals establish a communication connection to form a vehicle formation.

[0015] In some embodiments of the present application, based on the aforementioned scheme, the sending unit is configured to: send a control instruction containing position indication information to the multiple vehicle terminals, and the position indication information is used to instruct the multiple vehicle terminals to travel to the positions indicated by the position indication information, so that the multiple vehicle terminals establish a communication connection to form a vehicle formation.

[0016] In some embodiments of the present application, based on the aforementioned scheme, the control device also includes: a second acquisition unit, configured to receive the expected driving path reported by the vehicle end; or to obtain the expected driving path of the vehicle end from the path planning service end requested by the vehicle end; or to predict the expected driving path of the vehicle end based on the identified driving trajectory of the vehicle end.

[0017] In some embodiments of the present application, based on the aforementioned scheme, the sending unit is also configured to send role indication information to the multiple vehicle terminals, and the role indication information is used to indicate the role of a specified vehicle terminal among the multiple vehicle terminals, and the role of the specified vehicle terminal includes the lead vehicle.

[0018] According to one aspect of an embodiment of the present application, a control device for platoon driving is provided, the control device comprising: a third acquisition unit, configured to acquire vehicle status information of a vehicle end, the vehicle status information at least including platoon driving capability information of the vehicle end; a reporting unit, configured to report the vehicle status information to a cloud server, so that the cloud server determines a plurality of vehicle ends capable of platoon driving according to the vehicle status information and an expected driving path of the vehicle end; a second receiving unit, configured to receive a control instruction for platoon driving sent by the cloud server, the control instruction being sent by the cloud server after determining the plurality of vehicle ends; and a second processing unit, configured to form a vehicle formation with other vehicle ends among the plurality of vehicle ends according to the control instruction to perform platoon driving.

[0019] According to one aspect of an embodiment of the present application, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the control method for platoon driving as described in the above embodiment is implemented.

[0020] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the control method for convoy driving as described in the above embodiments.

[0021] According to one aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, and the computer instructions are 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 control method of platoon driving provided in the above various optional embodiments.

[0022] In the technical solutions provided in some embodiments of the present application, multiple vehicle terminals capable of platoon driving are determined based on the vehicle status information of the vehicle terminals and the expected driving path of the vehicle terminals, and then platoon driving control instructions are sent to the multiple vehicle terminals to instruct the multiple vehicle terminals to form a vehicle formation for platoon driving, so that the cloud server can comprehensively evaluate the vehicle terminals capable of platoon driving based on the relevant information of the vehicle terminals (vehicle status information, expected driving path, etc.), thereby improving the flexibility of platoon driving, and further optimizing traffic efficiency and meeting the needs of various platoon driving scenarios.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0025] Figure 1 A schematic diagram showing an application scenario of an embodiment of the present application is shown;

[0026] Figure 2 A flow chart showing a method for controlling platoon driving according to an embodiment of the present application is shown;

[0027] Figure 3 A flow chart showing a method for controlling platoon driving according to an embodiment of the present application is shown;

[0028] Figure 4 A flow chart showing a method for controlling platoon driving according to an embodiment of the present application is shown;

[0029] Figure 5 A flow chart showing a method for controlling platoon driving according to an embodiment of the present application is shown;

[0030] Figure 6 A flow chart showing a method for controlling platoon driving according to an embodiment of the present application is shown;

[0031] Figure 7 A flow chart showing a method for controlling platoon driving according to an embodiment of the present application is shown;

[0032] Figure 8 A block diagram of a control device for platoon driving according to an embodiment of the present application is shown;

[0033] Fig. 9 A block diagram of a control device for platoon driving according to an embodiment of the present application is shown;

[0034] Fig.10 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0035] The exemplary embodiments are now described in a more comprehensive manner with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be understood as being limited to these examples; on the contrary, the purpose of providing these embodiments is to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0036] In addition, the features, structures or characteristics described in the present application may be combined in one or more embodiments in any suitable manner. In the following description, there are many specific details so that the embodiments of the present application can be fully understood. However, those skilled in the art will appreciate that when implementing the technical scheme of the present application, all the detailed features in the embodiments may not be needed, one or more specific details may be omitted, or other methods, elements, devices, steps, etc. may be adopted.

[0037] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0038] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0039] It should be noted that the "multiple" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0040] Figure 1 A schematic diagram showing an application scenario of an embodiment of the present application is shown.

[0041] exist Figure 1 In the application scenario shown, there are multiple vehicles traveling on the road, such as vehicle 101, vehicle 102, vehicle 103, and vehicle 104 (the number is for illustration only). Among them, vehicle 101 and vehicle 102 are within the range of direct communication, and vehicle 103 and vehicle 104 are within the range of direct communication, but vehicle 101 and vehicle 103, vehicle 101 and vehicle 104, vehicle 102 and vehicle 103, and vehicle 102 and vehicle 104 are not within the range of direct communication.

[0042] Each vehicle may be equipped with sensors, such as laser sensors, visual sensors, speed sensors, acceleration sensors, position sensors, radars, etc. Sensor data may be shared between vehicles, such as data measured by laser sensors, image data detected by visual sensors, speed data detected by speed sensors, acceleration data detected by acceleration sensors, position data detected by position sensors, and detection data of radars, etc. Optionally, sensor data may be shared between vehicles via a PC5 link, or via Uu communication.

[0043] In one embodiment of the present application, each vehicle terminal (such as Figure 1 The vehicle 101, vehicle 102, vehicle 103 and vehicle 104 shown in the figure can report their own vehicle status information to the cloud server through the network, and the vehicle status information at least includes the platoon driving capability information of the vehicle end, such as whether the vehicle end has the ability to drive in platoon, whether platoon driving is allowed, etc. After receiving the vehicle status information reported by multiple vehicle ends, the cloud server can determine multiple vehicle ends that can drive in platoon according to the vehicle status information reported by the multiple vehicles and the expected driving paths of the vehicle ends, and then send platoon driving control instructions to the multiple vehicle ends to instruct the multiple vehicle ends to form a vehicle formation for platoon driving.

[0044] Specifically, if the cloud server determines Figure 1 If the vehicles 101, 102, 103 and 104 shown in the figure are capable of platoon driving, a platoon driving control instruction may be sent to the vehicles 101, 102, 103 and 104 to instruct these multiple vehicle ends to form a vehicle formation and drive in platoon.

[0045] Optionally, the control instruction includes position indication information, and then the multiple vehicle terminals can travel to the position indicated by the position indication information, and then establish a communication connection to form a vehicle formation.

[0046] Optionally, the control instruction may include speed indication information and lane indication information, wherein the speed indication information is used to instruct the multiple vehicle ends to adjust the driving speed according to the speed indication information, and the lane indication information is used to instruct the multiple vehicle ends to drive into the indicated lane, and then the multiple vehicle ends can form a vehicle formation by adjusting the speed and lane to enter a certain area and establish a communication connection.

[0047] Optionally, the cloud server can use artificial intelligence (AI) technology to determine whether multiple vehicle terminals are suitable for platooning. Artificial intelligence technology is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can respond in a similar way to human intelligence. Artificial intelligence is to study the design principles and implementation methods of various intelligent machines so that machines have the functions of perception, reasoning and decision-making.

[0048] At the same time, artificial intelligence technology is a comprehensive discipline that covers a wide range of fields, including both hardware-level and software-level technologies. The basic technologies of artificial intelligence generally include sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, mechatronics and other technologies. Artificial intelligence software technology mainly includes computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0049] Computer vision (CV) is a science that studies how to make machines "see". To put it more specifically, it refers to the use of cameras and computers to replace human eyes to identify, track and measure targets, and further perform image processing to make computer processing into images that are more suitable for human eye observation or transmission to instruments for detection. As a scientific discipline, computer vision studies related theories and technologies, and attempts to establish an artificial intelligence system that can obtain information from images or multi-dimensional data. Computer vision technology usually includes image processing, image recognition, image semantic understanding, image retrieval, OCR (Optical Character Recognition), video processing, video semantic understanding, video content / behavior recognition, three-dimensional object reconstruction, 3D technology, virtual reality, augmented reality, simultaneous positioning and mapping, and other technologies, as well as common biometric recognition technologies such as face recognition and fingerprint recognition.

[0050] It should be noted that the cloud server in the embodiment of the present application can be an edge cloud server or a central cloud server. As the name suggests, the edge cloud server is a server closer to the edge, such as being set on the roadside to provide services nearby and improve data response speed. Compared with the edge cloud server, the central cloud server is set at a remote end and can provide a wider range of services.

[0051] It can be seen that based on Figure 1The technical solution of the illustrated embodiment enables the cloud server to comprehensively evaluate the vehicles capable of platoon driving based on relevant information of the vehicle (vehicle status information, expected driving path, etc.), thereby improving the flexibility of platoon driving, and further optimizing traffic efficiency and meeting the needs of various platoon driving scenarios.

[0052] The implementation details of the technical solution of the embodiment of the present application are described in detail below:

[0053] Figure 2 A flowchart showing a control method for platoon driving according to an embodiment of the present application is shown. The control method for platoon driving can be executed by a server, which can be Figure 1 The cloud server shown in . Figure 2 As shown, the control method of the platoon driving includes at least steps S210 to S230, which are described in detail as follows:

[0054] In step S210, vehicle status information reported by the vehicle side is received, and the vehicle status information at least includes the platoon driving capability information of the vehicle side.

[0055] In one embodiment of the present application, the platoon driving capability information of the vehicle side may include whether the vehicle side has the capability of platoon driving and whether platoon driving is allowed.

[0056] Optionally, the vehicle status information may also include one or more of the following: vehicle position information, vehicle speed information, lane information, vehicle acceleration information, the vehicle's expected driving path, etc.

[0057] In step S220, a plurality of vehicle ends capable of platoon travel are determined based on the vehicle status information and the expected travel path of the vehicle end.

[0058] In one embodiment of the present application, the cloud server may receive the expected driving path reported by the vehicle. Alternatively, the cloud server may obtain the expected driving path of the vehicle from the path planning server requested by the vehicle. For example, if the vehicle requests a path to a specified destination from a server of a map application, the cloud server may obtain the expected driving path of the vehicle by communicating with the server.

[0059] Optionally, the cloud server may also obtain the destination address reported by the vehicle, and then plan a path to the destination address as the expected driving path.

[0060] Optionally, the cloud server can also predict the expected driving path of the vehicle based on the identified driving trajectory of the vehicle. For example, the cloud server determines the driving trajectory of the vehicle based on the location information reported by the vehicle multiple times, and then predicts the expected driving path of the vehicle based on the driving trajectory, the road section traveled by the vehicle, and the historical driving conditions of the vehicle. Alternatively, the cloud server can also identify the vehicle's trajectory based on the perception information collected by the roadside perception equipment (such as the roadside camera), and then predict the expected driving path of the vehicle.

[0061] In one embodiment of the present application, if the platoon driving capability information of a vehicle terminal includes whether it has the capability of platoon driving, then the process by which the cloud server determines multiple vehicle terminals capable of platoon driving based on the vehicle status information and the expected driving path of the vehicle terminal may be: If it is determined based on the vehicle status information that multiple vehicle terminals have the capability of platoon driving, and there is an overlapping portion in the expected driving paths of the multiple vehicle terminals, then it is determined that the multiple vehicle terminals are capable of platoon driving.

[0062] Specifically, for example Figure 1 Vehicles 101, 102, 103 and 104 shown in the figure all need to pass through a certain road section and all have the ability to travel in convoy. Therefore, even if the final destinations of these vehicles are different, they can form a vehicle convoy to travel in convoy on the road section that they pass through together.

[0063] In one embodiment of the present application, the platoon driving capability information includes whether the vehicle end has the ability to drive in platoon and whether platoon driving is allowed. Then the process of the cloud server determining multiple vehicle ends capable of platoon driving based on the vehicle status information and the expected driving path of the vehicle end can be: if it is determined based on the vehicle status information that multiple vehicle ends have the ability to drive in platoon, multiple vehicle ends are allowed to drive in platoon, and there is an overlapping part in the expected driving paths of the multiple vehicle ends, then it is determined that the multiple vehicle ends are capable of platoon driving.

[0064] Specifically, for example Figure 1 Vehicles 101, 102, 103 and 104 shown in the figure all need to pass through a certain road section and all have the ability to travel in platoon, but vehicle 104 is not allowed to travel in platoon, while vehicles 101, 102 and 103 are allowed to travel in platoon. Then vehicles 101, 102 and 103 can form a vehicle formation to travel in platoon in the road section that they pass through together.

[0065] In one embodiment of the present application, the process of the cloud server determining multiple vehicle terminals capable of platoon driving based on the vehicle status information and the expected driving path of the vehicle terminal can be: determining the target vehicle terminal that has subscribed to the platoon driving service, and determining multiple vehicle terminals capable of platoon driving based on the vehicle status information of the target vehicle terminal and the expected driving path of the target vehicle terminal. That is, in this embodiment, only the target vehicle terminal that has subscribed to the platoon driving service can perform platoon driving, and the process of determining multiple vehicle terminals capable of platoon driving based on the vehicle status information of the target vehicle terminal and the expected driving path of the target vehicle terminal can refer to the technical solution of the aforementioned embodiment.

[0066] In one embodiment of the present application, the process by which the cloud server determines multiple vehicle terminals capable of platooning based on vehicle status information and the expected driving path of the vehicle terminal can be: based on the location information of the vehicle terminal, select vehicle terminals whose distances to each other are within a set range as candidate vehicle terminals, and determine multiple vehicle terminals capable of platooning based on the vehicle status information of the candidate vehicle terminals and the expected driving path of the candidate vehicle terminals. That is, in this embodiment, when selecting vehicles for platooning, selection can be made only within a set distance range to avoid the long time required to form a vehicle formation due to a long range. The process of determining multiple vehicle terminals capable of platooning based on the vehicle status information of the candidate vehicle terminals and the expected driving path of the candidate vehicle terminals can refer to the technical solutions of the aforementioned embodiments.

[0067] In one embodiment of the present application, the location information of the vehicle side may be reported by the vehicle side to the cloud server, or may be obtained by the cloud server based on the received road perception information. For example, the cloud server may obtain the vehicle information perceived by the roadside perception device (such as a camera, etc.), and then determine the location information of the vehicle side based on the information.

[0068] Continue to refer to Figure 2 As shown, in step S230, a platoon driving control instruction is sent to a plurality of vehicle ends that are determined to be capable of platoon driving, so as to instruct the plurality of vehicle ends to form a vehicle formation and perform platoon driving.

[0069] In one embodiment of the present application, the cloud server can send control instructions including speed indication information and lane indication information to multiple vehicle terminals that can travel in formation. The speed indication information is used to instruct the multiple vehicle terminals to adjust the driving speed according to the speed indication information, and the lane indication information is used to instruct the multiple vehicle terminals to travel in the lane indicated by the lane indication information. Then, the multiple vehicle terminals can enter adjacent areas by adjusting the speed and lane information, and then establish a communication connection to form a vehicle formation.

[0070] In one embodiment of the present application, a cloud server may send a control instruction containing position indication information to multiple vehicle terminals capable of platoon travel, and the position indication information is used to instruct the multiple vehicle terminals to travel to the position indicated by the position indication information. Then, the multiple vehicle terminals may travel to the position indicated by the position indication information to establish a communication connection to form a vehicle formation.

[0071] In one embodiment of the present application, the cloud server may also send role indication information to multiple vehicle terminals, where the role indication information is used to indicate the role of a specified vehicle terminal among the multiple vehicle terminals, such as designating a certain vehicle terminal as the lead vehicle. Of course, other vehicle terminals may also be indicated as follower vehicles or not indicated.

[0072] Figure 2 This is an explanation of the embodiment of the present application from the perspective of a cloud server, which can be an edge cloud server or a central cloud server. Figure 3 The technical solution of the embodiment of the present application is described from the perspective of the vehicle side:

[0073] Figure 3 A flow chart of a control method for platoon driving according to an embodiment of the present application is shown, and the control method for platoon driving can be executed by a vehicle end. Figure 3 As shown, the control method for platoon driving at least includes steps S310 to S340, which are described in detail as follows:

[0074] In step S310, vehicle status information of the vehicle side is obtained, and the vehicle status information at least includes platoon driving capability information of the vehicle side.

[0075] In one embodiment of the present application, the platoon driving capability information of the vehicle side may include whether the vehicle side has the capability of platoon driving and whether platoon driving is allowed.

[0076] Optionally, the vehicle status information may also include one or more of the following: vehicle position information, vehicle speed information, lane information, vehicle acceleration information, the vehicle's expected driving path, etc.

[0077] In step S320, the vehicle status information is reported to the cloud server so that the cloud server can determine a plurality of vehicle terminals that can perform platoon driving according to the vehicle status information and the expected driving paths of the vehicle terminals.

[0078] Optionally, the process by which the cloud server determines multiple vehicle terminals capable of platoon driving can refer to the technical solution of the aforementioned embodiment and will not be repeated here.

[0079] In step S330, a control instruction for platoon driving sent by a cloud server is received. The control instruction is sent by the cloud server after determining multiple vehicle terminals.

[0080] In one embodiment of the present application, the cloud server can send control instructions including speed indication information and lane indication information to multiple vehicle terminals that can travel in formation. The speed indication information is used to instruct the multiple vehicle terminals to adjust the driving speed according to the speed indication information, and the lane indication information is used to instruct the multiple vehicle terminals to travel in the lane indicated by the lane indication information. Then, the multiple vehicle terminals can enter adjacent areas by adjusting the speed and lane information, and then establish a communication connection to form a vehicle formation.

[0081] In one embodiment of the present application, a cloud server may send a control instruction containing position indication information to multiple vehicle terminals capable of platoon travel, and the position indication information is used to instruct the multiple vehicle terminals to travel to the position indicated by the position indication information. Then, the multiple vehicle terminals may travel to the position indicated by the position indication information to establish a communication connection to form a vehicle formation.

[0082] In step S340, a vehicle formation is formed with other vehicle terminals among the multiple vehicle terminals to perform platoon driving according to the platoon driving control instruction sent by the cloud server.

[0083] Optionally, if the control instructions for platoon driving sent by the cloud server include speed indication information and lane indication information, the vehicle side can adjust the driving speed according to the speed indication information, and adjust the lane according to the lane indication information, and then the vehicle side can enter an adjacent area with other vehicle sides, and then establish a communication connection to form a vehicle formation.

[0084] If the control instruction for platoon driving sent by the cloud server contains position indication information, then the vehicle end can drive to the position indicated by the position indication information, and then the vehicle end can enter an adjacent area with other vehicle ends, and then establish a communication connection to form a vehicle formation.

[0085] The following is an explanation of the technical solution of the embodiment of the present application from the perspective of interaction between the cloud server and the vehicle end:

[0086] like Figure 4 As shown, a control method for platoon driving according to an embodiment of the present application includes the following steps:

[0087] In step S410, the vehicle reports status information to the cloud server, including information such as the vehicle's location, speed, destination, and the vehicle's platoon driving capability information.

[0088] In step S420, the cloud server selects vehicles that can form a vehicle formation according to the vehicle information and the formation driving capability information, and sends instructions to the vehicle end.

[0089] Optionally, the cloud server can select vehicles that can form a vehicle formation based on the collected vehicle status information, according to parameters such as the vehicle's current geographic location, speed, lane, driving destination, and owner identity information (such as whether the owner has subscribed to a platoon driving service).

[0090] Specifically, geographical proximity, such as within a 2km radius, the existence of a common portion of the expected path determined by the driving destination, and the identity information of the vehicle owner indicating that the vehicle owner can obtain remote platooning services can all be used as conditions for selecting platooning. For example, if three vehicles are geographically close, the expected path determined by the driving destination has a common portion, and the identity information of the vehicle owner indicates that the vehicle owner can obtain remote platooning services, then these three vehicles can be selected to form a vehicle platoon.

[0091] In step S430, the vehicles receiving instructions from the cloud server gather by adjusting information such as speed and lane, and drive to a range where direct communication is possible.

[0092] Optionally, in addition to indicating the appropriate speed and lane to the vehicles, the cloud server may also indicate the assembly location to the vehicles. Alternatively, the assembly location may be indicated separately to instruct the vehicles that can perform platoon driving to drive to the location to form a vehicle platoon.

[0093] Optionally, once vehicles are within direct communication range, they can form a platoon using the PC5 mechanism.

[0094] In step S440, the cloud server does not specify a vehicle role and instructs communication based on a direct communication interface to establish a vehicle formation and enter a cruising state.

[0095] Figure 4 The specific implementation process of the technical solution shown is as follows Figure 5 As shown, the following steps are included:

[0096] In step S501, the vehicle side (i.e., vehicle A, vehicle B, and vehicle C) reports status information and platoon driving capability information to the cloud server. The status information includes vehicle location, speed, destination, and other information.

[0097] Optionally, the vehicle side can report status information and platoon driving capability information to the cloud server through the V2X network or 5G network.

[0098] In step S502, the cloud server selects vehicles that can form a vehicle formation according to the vehicle information and the formation driving capability information.

[0099] Optionally, the cloud server can select vehicles that can form a vehicle formation based on the collected vehicle status information, according to parameters such as the vehicle's current geographic location, speed, lane, driving destination, and owner identity information (such as whether the owner has subscribed to a platoon driving service).

[0100] Specifically, geographical proximity, such as within a 2km radius, the existence of a common portion of the expected path determined by the driving destination, and the identity information of the vehicle owner indicating that the vehicle owner can obtain remote platooning services can all be used as conditions for selecting platooning. For example, if three vehicles are geographically close, the expected path determined by the driving destination has a common portion, and the identity information of the vehicle owner indicates that the vehicle owner can obtain remote platooning services, then these three vehicles can be selected to form a vehicle platoon.

[0101] Step S503: the cloud server sends instructions to the selected vehicles that can form a vehicle formation.

[0102] Optionally, the cloud server may indicate speed and lane information to instruct the vehicles to assemble by adjusting the speed and lane information. Of course, in addition to indicating the appropriate speed and lane to the vehicles, the cloud server may also indicate the assembly location to the vehicles. Alternatively, the assembly location may be indicated separately to instruct the vehicles that can platoon to drive to the location to form a vehicle formation.

[0103] Step S504, the vehicles receiving the instruction from the cloud server gather by adjusting information such as speed and lane, and drive to a range where direct communication is possible.

[0104] Optionally, once vehicles are within direct communication range, they can form a platoon using the PC5 mechanism.

[0105] In step S505, the cloud server does not specify a vehicle role and instructs communication based on a direct communication interface to establish a vehicle formation and enter a cruising state.

[0106] like Figure 6 As shown, a control method for platoon driving according to an embodiment of the present application includes the following steps:

[0107] In step S610, the vehicle reports status information to the cloud server, including information such as the vehicle's location, speed, destination, and the vehicle's platoon driving capability information.

[0108] In step S620, the cloud server selects vehicles that can form a vehicle formation according to the vehicle information and the formation driving capability information, and sends instructions to the vehicle end.

[0109] Optionally, the cloud server can select vehicles that can form a vehicle formation based on the collected vehicle status information, according to parameters such as the vehicle's current geographic location, speed, lane, driving destination, and owner identity information (such as whether the owner has subscribed to a platoon driving service).

[0110] Specifically, geographical proximity, such as within a 2km radius, the existence of a common portion of the expected path determined by the driving destination, and the identity information of the vehicle owner indicating that the vehicle owner can obtain remote platooning services can all be used as conditions for selecting platooning. For example, if three vehicles are geographically close, the expected path determined by the driving destination has a common portion, and the identity information of the vehicle owner indicates that the vehicle owner can obtain remote platooning services, then these three vehicles can be selected to form a vehicle platoon.

[0111] In step S630, the vehicles receiving instructions from the cloud server gather by adjusting information such as speed and lane, and drive to a range where direct communication is possible.

[0112] Optionally, in addition to indicating the appropriate speed and lane to the vehicles, the cloud server may also indicate the assembly location to the vehicles. Alternatively, the assembly location may be indicated separately to instruct the vehicles that can perform platoon driving to drive to the location to form a vehicle platoon.

[0113] Optionally, once vehicles are within direct communication range, they can form a platoon using the PC5 mechanism.

[0114] In step S640, the cloud server specifies the vehicle roles (such as the lead vehicle, the following vehicle, etc., or only the lead vehicle is specified and other vehicles automatically become following vehicles), and instructs communication based on the direct communication interface to establish a vehicle formation and enter a cruising state.

[0115] Figure 6 The specific implementation process of the technical solution shown is as follows Figure 7 As shown, the following steps are included:

[0116] In step S701, the vehicle side (i.e., vehicle A, vehicle B, and vehicle C) reports status information and platoon driving capability information to the cloud server. The status information includes vehicle location, speed, destination, and other information.

[0117] Optionally, the vehicle side can report status information and platoon driving capability information to the cloud server through the V2X network or 5G network.

[0118] In step S702, the cloud server selects vehicles that can form a vehicle formation according to the vehicle information and the formation driving capability information.

[0119] Optionally, the cloud server can select vehicles that can form a vehicle formation based on the collected vehicle status information, according to parameters such as the vehicle's current geographic location, speed, lane, driving destination, and owner identity information (such as whether the owner has subscribed to a platoon driving service).

[0120] Specifically, geographical proximity, such as within a 2km radius, the existence of a common portion of the expected path determined by the driving destination, and the identity information of the vehicle owner indicating that the vehicle owner can obtain remote platooning services can all be used as conditions for selecting platooning. For example, if three vehicles are geographically close, the expected path determined by the driving destination has a common portion, and the identity information of the vehicle owner indicates that the vehicle owner can obtain remote platooning services, then these three vehicles can be selected to form a vehicle platoon.

[0121] Step S703: the cloud server sends instructions to the selected vehicles that can form a vehicle formation.

[0122] Optionally, the cloud server may indicate speed and lane information to instruct the vehicles to assemble by adjusting the speed and lane information. Of course, in addition to indicating the appropriate speed and lane to the vehicles, the cloud server may also indicate the assembly location to the vehicles. Alternatively, the assembly location may be indicated separately to instruct the vehicles that can platoon to drive to the location to form a vehicle formation.

[0123] In step S704, the vehicles receiving instructions from the cloud server gather by adjusting information such as speed and lane, and drive to a range where direct communication is possible.

[0124] Optionally, once vehicles are within direct communication range, they can form a platoon using the PC5 mechanism.

[0125] In step S705, the cloud server specifies the vehicle role and instructs communication based on the direct communication interface to establish a vehicle formation and enter a cruising state.

[0126] It should be noted that the cloud server in the embodiment of the present application can be an edge cloud server or a central cloud server. If it is an edge cloud server, then the edge cloud server and the roadside sensing device can be the same physical entity or different physical entities.

[0127] The technical solutions of the aforementioned embodiments of the present application enable the cloud server to comprehensively evaluate the vehicles capable of platoon driving based on relevant information of the vehicle (vehicle status information, expected driving path, etc.), thereby improving the flexibility of platoon driving, and further optimizing traffic efficiency and meeting the needs of various platoon driving scenarios.

[0128] The following describes an embodiment of the device of the present application, which can be used to execute the control method of platoon driving in the above embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the control method of platoon driving in the above embodiment of the present application.

[0129] Figure 8 A block diagram of a control device for platoon driving according to an embodiment of the present application is shown. The control device for platoon driving can be set in a server, which can be Figure 1 The cloud server shown in .

[0130] Reference Figure 8 As shown, a control device 800 for platoon driving according to an embodiment of the present application includes: a first receiving unit 802 , a first processing unit 804 and a sending unit 806 .

[0131] Among them, the first receiving unit 802 is configured to receive vehicle status information reported by the vehicle end, and the vehicle status information at least includes the formation driving capability information of the vehicle end; the first processing unit 804 is configured to determine a plurality of vehicle ends capable of platoon driving according to the vehicle status information and the expected driving path of the vehicle end; the sending unit 806 is configured to send platoon driving control instructions to the plurality of vehicle ends to instruct the plurality of vehicle ends to form a vehicle formation for platoon driving.

[0132] In some embodiments of the present application, based on the aforementioned scheme, the platoon driving capability information includes whether it has the capability of platoon driving; the first processing unit 804 is configured as: if it is determined according to the vehicle status information that a plurality of vehicle terminals have the capability of platoon driving, and there is an overlapping part in the expected driving paths of the plurality of vehicle terminals, then it is determined that the plurality of vehicle terminals are capable of platoon driving.

[0133] In some embodiments of the present application, based on the aforementioned scheme, the platoon driving capability information also includes whether the vehicle end has the capability of platoon driving, and whether platoon driving is allowed; the first processing unit 804 is configured as: if it is determined according to the vehicle status information that multiple vehicle ends have the capability of platoon driving, the multiple vehicle ends are allowed to drive in platoon, and there is an overlapping part in the expected driving paths of the multiple vehicle ends, then it is determined that the multiple vehicle ends are capable of platoon driving.

[0134] In some embodiments of the present application, based on the aforementioned scheme, the first processing unit 804 is configured to: determine the target vehicle end that has subscribed to the platoon driving service; and determine multiple vehicle ends that can perform platoon driving based on the vehicle status information of the target vehicle end and the expected driving path of the target vehicle end.

[0135] In some embodiments of the present application, based on the aforementioned scheme, the first processing unit 804 is configured to: select vehicle ends whose distances to each other are within a set range as candidate vehicle ends according to the position information of the vehicle ends; determine multiple vehicle ends that can travel in formation according to the vehicle status information of the candidate vehicle ends and the expected driving paths of the candidate vehicle ends.

[0136] In some embodiments of the present application, based on the aforementioned scheme, the control device 800 also includes: a first acquisition unit, configured to receive the location information reported by the vehicle end; or to acquire road perception information, and acquire the location information of the vehicle end according to the road perception information.

[0137] In some embodiments of the present application, based on the aforementioned scheme, the sending unit 806 is configured to: send control instructions including speed indication information and lane indication information to the multiple vehicle terminals respectively, the speed indication information is used to instruct the multiple vehicle terminals to adjust the driving speed according to the speed indication information, and the lane indication information is used to instruct the multiple vehicle terminals to drive to the lane indicated by the lane indication information, so that the multiple vehicle terminals establish a communication connection to form a vehicle formation.

[0138] In some embodiments of the present application, based on the aforementioned scheme, the sending unit 806 is configured to: send a control instruction containing position indication information to the multiple vehicle terminals, and the position indication information is used to instruct the multiple vehicle terminals to travel to the position indicated by the position indication information, so that the multiple vehicle terminals establish a communication connection to form a vehicle formation.

[0139] In some embodiments of the present application, based on the aforementioned scheme, the control device 800 also includes: a second acquisition unit, configured to receive the expected driving path reported by the vehicle end; or to obtain the expected driving path of the vehicle end from the path planning service end requested by the vehicle end; or to predict the expected driving path of the vehicle end based on the identified driving trajectory of the vehicle end.

[0140] In some embodiments of the present application, based on the aforementioned scheme, the sending unit 806 is also configured to send role indication information to the multiple vehicle terminals, and the role indication information is used to indicate the role of a specified vehicle terminal among the multiple vehicle terminals, and the role of the specified vehicle terminal includes the lead vehicle.

[0141] Fig. 9 A block diagram of a control device for platoon travel according to an embodiment of the present application is shown, and the control device for platoon travel may be disposed in a vehicle.

[0142] Reference Fig. 9As shown, a control device 900 for platoon driving according to an embodiment of the present application includes: a third acquisition unit 902 , a reporting unit 904 , a second receiving unit 906 and a second processing unit 908 .

[0143] Among them, the third acquisition unit 902 is configured to acquire vehicle status information of the vehicle end, and the vehicle status information at least includes the platoon driving capability information of the vehicle end; the reporting unit 904 is configured to report the vehicle status information to the cloud server, so that the cloud server determines a plurality of vehicle ends capable of platoon driving according to the vehicle status information and the expected driving path of the vehicle end; the second receiving unit 906 is configured to receive a platoon driving control instruction sent by the cloud server, and the control instruction is sent by the cloud server after determining the plurality of vehicle ends; the second processing unit 908 is configured to form a vehicle formation with other vehicle ends among the plurality of vehicle ends according to the control instruction to perform platoon driving.

[0144] Fig.10 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0145] It should be noted that Fig.10 The computer system 1000 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0146] like Fig.10 As shown, the computer system 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage part 1008 to the random access memory (RAM) 1003, such as executing the method described in the above embodiment. In the RAM 1003, various programs and data required for system operation are also stored. The CPU 1001, the ROM 1002 and the RAM 1003 are connected to each other through the bus 1004. The input / output (I / O) interface 1005 is also connected to the bus 1004.

[0147] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 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 1009 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed so that a computer program read therefrom is installed into the storage section 1008 as needed.

[0148] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 1009, and / or installed from a removable medium 1011. When the computer program is executed by a central processing unit (CPU) 1001, various functions defined in the system of the present application are executed.

[0149] It should be noted that the computer-readable medium shown in the embodiment of the present application 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), a 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 application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. 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 medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0150] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the 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] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0152] As another aspect, the present application also provides a computer-readable 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 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 above embodiment.

[0153] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0154] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several 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 implementation methods of the present application.

[0155] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0156] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A control method for platoon driving, It is characterized in that The control method is executed by a server that is in communication connection with the vehicle end, and the control method includes: Receiving vehicle status information reported by a vehicle end, wherein the vehicle status information at least includes platoon driving capability information of the vehicle end; Determining a plurality of vehicle terminals capable of platooning according to the vehicle status information and the expected driving paths of the vehicle terminals; Sending control instructions for platoon driving to the multiple vehicle terminals respectively, so as to instruct the multiple vehicle terminals to form a vehicle formation for platoon driving; Among them, the control instructions sent to the multiple vehicle terminals respectively include speed indication information and lane indication information for instructing the multiple vehicle terminals to assemble, the speed indication information is used to instruct the multiple vehicle terminals to adjust the driving speed according to the speed indication information, and the lane indication information is used to instruct the multiple vehicle terminals to drive into the lane indicated by the lane indication information, so that the multiple vehicle terminals adjust the driving speed and lane information according to the speed indication information and the lane indication information and drive to the range of direct communication, and then establish a communication connection based on the direct communication interface to form a vehicle formation for formation driving.

2. The control method for platoon driving according to claim 1, It is characterized in that The platoon driving capability information includes whether the platoon driving capability exists; Determining a plurality of vehicle terminals capable of platooning according to the vehicle state information and the expected driving path of the vehicle terminal includes: If it is determined based on the vehicle status information that a plurality of vehicle ends have the ability to travel in platoon, and if there is an overlap in the expected travel paths of the plurality of vehicle ends, it is determined that the plurality of vehicle ends are capable of traveling in platoon.

3. The control method for platoon driving according to claim 1, It is characterized in that The platoon driving capability information also includes whether the vehicle end has the capability of platoon driving and whether platoon driving is allowed; Determining a plurality of vehicle terminals capable of platooning according to the vehicle state information and the expected driving path of the vehicle terminal includes: If it is determined based on the vehicle status information that multiple vehicle ends have the ability to travel in platoon, the multiple vehicle ends are allowed to travel in platoon, and there are overlapping parts in the expected driving paths of the multiple vehicle ends, then it is determined that the multiple vehicle ends are able to travel in platoon.

4. The control method for platoon driving according to claim 1, It is characterized in that Determining a plurality of vehicle terminals capable of platooning according to the vehicle state information and the expected driving path of the vehicle terminal includes: Determine the target vehicle end that has subscribed to the platoon driving service; According to the vehicle status information of the target vehicle end and the expected driving path of the target vehicle end, a plurality of vehicle ends capable of platoon driving are determined.

5. The control method for platoon driving according to claim 1, It is characterized in that Determining a plurality of vehicle terminals capable of platooning according to the vehicle state information and the expected driving path of the vehicle terminal includes: According to the position information of the vehicle end, the vehicle ends whose distances to each other are within a set range are selected as candidate vehicle ends; Based on the vehicle status information of the candidate vehicle ends and the expected driving paths of the candidate vehicle ends, multiple vehicle ends capable of platoon driving are determined.

6. The control method for platoon driving according to claim 5, It is characterized in that The control method further comprises: Receiving the location information reported by the vehicle terminal; or Acquire road perception information, and acquire the position information of the vehicle end according to the road perception information.

7. The control method for platoon driving according to claim 1, characterized in that: The control instructions respectively sent to the multiple vehicle ends also include position indication information, and the position indication information is used to instruct the multiple vehicle ends to travel to the positions indicated by the position indication information, so that the multiple vehicle ends establish communication connections to form a vehicle formation.

8. The control method for platoon driving according to any one of claims 1 to 7, It is characterized in that The control method further comprises: Receiving the expected driving path reported by the vehicle terminal; or Obtaining the expected driving path of the vehicle from the path planning service requested by the vehicle; or Based on the identified driving trajectory of the vehicle, the expected driving path of the vehicle is predicted.

9. The control method for platoon driving according to any one of claims 1 to 7, It is characterized in that The control method further comprises: Sending role indication information to the multiple vehicle terminals, the role indication information is used to indicate the role of a specified vehicle terminal among the multiple vehicle terminals, the role of the specified vehicle terminal including the lead vehicle.

10. A control method for platoon driving, It is characterized in that The control method comprises: Acquiring vehicle status information of a vehicle end, wherein the vehicle status information at least includes platoon driving capability information of the vehicle end; Reporting the vehicle status information to a cloud server, so that the cloud server determines a plurality of vehicles capable of platooning according to the vehicle status information and the expected driving paths of the vehicles; receiving a control instruction for platoon driving sent by the cloud server, wherein the control instruction is sent by the cloud server after determining the plurality of vehicle terminals; According to the control instruction, the vehicle formation is formed with other vehicle terminals among the plurality of vehicle terminals to perform formation driving; Among them, the control instruction includes speed indication information and lane indication information for instructing the multiple vehicle terminals to assemble; according to the control instruction, a vehicle formation is formed with other vehicle terminals among the multiple vehicle terminals to travel in formation, including: adjusting the driving speed according to the speed indication information, and driving into the lane indicated by the lane indication information, so as to adjust the driving speed and lane information and drive with the other vehicle terminals to a range that can directly communicate, and establish a communication connection based on a direct communication interface to form a vehicle formation.

11. A control device for platoon driving, It is characterized in that The control device is applied to a server that is in communication connection with the vehicle end, and the control device includes: A first receiving unit is configured to receive vehicle status information reported by a vehicle end, wherein the vehicle status information at least includes platoon driving capability information of the vehicle end; A first processing unit is configured to determine a plurality of vehicle terminals capable of platooning according to the vehicle state information and the expected driving path of the vehicle terminal; A sending unit, configured to send a control instruction for platoon driving to the plurality of vehicle terminals respectively, so as to instruct the plurality of vehicle terminals to form a vehicle formation for platoon driving; Among them, the control instructions sent to the multiple vehicle terminals respectively include speed indication information and lane indication information for instructing the multiple vehicle terminals to assemble, the speed indication information is used to instruct the multiple vehicle terminals to adjust the driving speed according to the speed indication information, and the lane indication information is used to instruct the multiple vehicle terminals to drive into the lane indicated by the lane indication information, so that the multiple vehicle terminals adjust the driving speed and lane information according to the speed indication information and the lane indication information and drive to the range of direct communication, and then establish a communication connection based on the direct communication interface to form a vehicle formation for formation driving.

12. A control device for platoon driving, It is characterized in that The control device comprises: An acquisition unit, configured to acquire vehicle status information of a vehicle end, wherein the vehicle status information at least includes platoon driving capability information of the vehicle end; A reporting unit configured to report the vehicle status information to a cloud server, so that the cloud server determines a plurality of vehicle terminals capable of platooning according to the vehicle status information and the expected driving paths of the vehicle terminals; A second receiving unit is configured to receive a control instruction for platoon driving sent by the cloud server, wherein the control instruction is sent by the cloud server after determining the plurality of vehicle terminals; A second processing unit is configured to form a vehicle formation with other vehicle terminals among the plurality of vehicle terminals according to the control instruction and perform platoon driving; Among them, the control instruction includes speed indication information and lane indication information for instructing the multiple vehicle terminals to assemble; the second processing unit is configured to: adjust the driving speed according to the speed indication information, and drive into the lane indicated by the lane indication information, so as to adjust the driving speed and lane information to drive with the other vehicle terminals within the range of direct communication, and establish a communication connection based on a direct communication interface to form a vehicle formation.

13. A computer readable medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the control method for platoon driving according to any one of claims 1 to 10 is implemented.

14. An electronic device, It is characterized in that include: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the control method for platoon driving as described in any one of claims 1 to 10.

15. A computer program product, It is characterized in that The computer program product includes a computer program, which is stored in a computer-readable storage medium. A processor of a computer device reads and executes the computer program from the computer-readable storage medium, so that the computer device executes the control method for platoon driving according to any one of claims 1 to 10.

Images