Data sharing method, device, medium and electronic equipment applied to vehicle formation

Abstract

The embodiments of the present application provide a data sharing method, device, medium and electronic device for a vehicle formation. The vehicle formation includes multiple vehicles, and the data sharing method includes: obtaining status information of each vehicle in the vehicle formation, the status information including sensor parameter information on the vehicle; generating data sharing configuration information for the vehicle formation based on the status information of each vehicle, the data sharing configuration information is used to represent the sensor data sharing strategy of each vehicle; transmitting the data sharing configuration information to each vehicle in the vehicle formation, so that each vehicle performs sensor data sharing processing according to the data sharing configuration information. The technical solution of the embodiment of the present application can improve the coordination of sensor data sharing within the vehicle formation, which is conducive to improving the safety of formation driving.

Description

Technical Field

[0001] The present application relates to the field of computer and communication technology, and more specifically, to a data sharing method, device, medium, and electronic device for vehicle platooning. Background Art

[0002] A platoon is a fleet of multiple vehicles. In platooning scenarios, there are four vehicle roles: leader vehicle, follower vehicle, tail vehicle (optional), and free vehicle (optional). The leader vehicle is defined as the lead vehicle in the platoon and is responsible for managing the entire platoon, such as providing data transmission and management such as vehicle location, route planning, and platoon process confirmation to the follower vehicles. The follower vehicle is defined as the following vehicle behind the leader vehicle in the platoon and is an important component of the platoon. The tail vehicle is the last vehicle in the platoon and can be set to this role or not, and the tail vehicle can be directly treated as a follower vehicle. Free vehicles are other vehicles outside the platoon and do not participate in data interaction operations within the platoon.

[0003] In related technologies, there is a lack of coordination in the sharing of sensor data within a vehicle formation, which leads to excessive dispersion of sensor data and affects the safety of formation driving. Summary of the Invention

[0004] The embodiments of the present application provide a data sharing method, device, medium and electronic device applied to vehicle platoons, which can improve the coordination of sensor data sharing within the vehicle platoon, at least to a certain extent, and is conducive to improving the safety of platoon driving.

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

[0006] According to one aspect of an embodiment of the present application, a data sharing method applied to a vehicle formation is provided, wherein the vehicle formation includes multiple vehicles, and the data sharing method includes: obtaining status information of each vehicle in the vehicle formation, the status information including sensor parameter information on the vehicle; generating data sharing configuration information for the vehicle formation based on the status information of each vehicle, the data sharing configuration information being used to represent the sensor data sharing strategy of each vehicle; and transmitting the data sharing configuration information to each vehicle in the vehicle formation, so that each vehicle performs sensor data sharing processing according to the data sharing configuration information.

[0007] According to one aspect of an embodiment of the present application, a data sharing method applied to a vehicle formation is provided, wherein the vehicle formation includes multiple vehicles, and the data sharing method includes: obtaining vehicle status information, wherein the status information includes sensor parameter information on the vehicle; reporting the vehicle status information to a designated device, so that the designated device generates data sharing configuration information for the vehicle formation based on the status information of each vehicle in the vehicle formation, and the data sharing configuration information is used to represent the sensor data sharing strategy of each vehicle.

[0008] According to one aspect of an embodiment of the present application, a data sharing device for a vehicle formation is provided, wherein the vehicle formation includes a plurality of vehicles, and the data sharing device includes: a first acquisition unit, configured to acquire status information of each vehicle in the vehicle formation, wherein the status information includes sensor parameter information on the vehicle; a generation unit, configured to generate data sharing configuration information for the vehicle formation based on the status information of each vehicle, wherein the data sharing configuration information is used to represent a sensor data sharing strategy for each vehicle; and a transmission unit, configured to transmit the data sharing configuration information to each vehicle in the vehicle formation, so that each vehicle performs sensor data sharing processing according to the data sharing configuration information.

[0009] In some embodiments of the present application, based on the aforementioned scheme, the multiple vehicles include a lead vehicle, and the data sharing device is arranged in a cloud server that communicates with the lead vehicle; the transmission unit is configured to: transmit the data sharing configuration information to the lead vehicle, so that the lead vehicle parses the data sharing configuration information to obtain the sensor data sharing strategy of each vehicle, and distributes the sensor data sharing strategy of other vehicles in the vehicle formation except the lead vehicle to the other vehicles.

[0010] In some embodiments of the present application, based on the aforementioned scheme, the data sharing device is arranged in a cloud server that communicates with each vehicle in the vehicle formation; the transmission unit is configured to: determine the sensor data sharing strategy of each vehicle in the vehicle formation according to the data sharing configuration information; and distribute the sensor data sharing strategy of each vehicle in the vehicle formation to each vehicle respectively.

[0011] In some embodiments of the present application, based on the aforementioned scheme, the first acquisition unit is configured to: receive the status information of each vehicle sent by the head vehicle in the vehicle formation, wherein the status information of other vehicles in the vehicle formation except the head vehicle is transmitted to the head vehicle by the other vehicles.

[0012] In some embodiments of the present application, based on the aforementioned solution, the first acquisition unit is configured to: receive status information respectively sent by each vehicle in the vehicle formation.

[0013] In some embodiments of the present application, based on the aforementioned scheme, the multiple vehicles include a lead vehicle, and the data sharing device is arranged in the lead vehicle; the transmission unit is configured to: determine the sensor data sharing strategy of each vehicle in the vehicle formation according to the data sharing configuration information; and distribute the sensor data sharing strategies of other vehicles in the vehicle formation except the lead vehicle to the other vehicles respectively.

[0014] In some embodiments of the present application, based on the aforementioned solution, the first acquisition unit is configured to: receive status information sent by other vehicles in the vehicle formation except the lead vehicle through PC5 communication.

[0015] In some embodiments of the present application, based on the aforementioned scheme, the first acquisition unit is configured to: receive status information of other vehicles in the vehicle formation except the head vehicle sent by the cloud server, and the status information of the other vehicles is transmitted to the cloud server by the other vehicles.

[0016] In some embodiments of the present application, based on the aforementioned scheme, the sensor parameter information includes the type of sensor installed on the vehicle, and at least one of the following information: whether the vehicle is allowed to share sensor data, the type of sensor data allowed to be shared by the vehicle, and the frequency of the vehicle sharing sensor data.

[0017] In some embodiments of the present application, based on the aforementioned solution, the sensor data sharing strategy includes at least one of the following: vehicles with which the sensor data needs to be shared, types of sensor data that need to be shared, and frequency of sharing the sensor data.

[0018] According to one aspect of an embodiment of the present application, a data sharing device for a vehicle formation is provided, wherein the vehicle formation includes multiple vehicles, and the data sharing device includes: a second acquisition unit, configured to acquire status information of the vehicle, wherein the status information includes sensor parameter information on the vehicle; and a reporting unit, configured to report the status information of the vehicle to a designated device, so that the designated device generates data sharing configuration information for the vehicle formation based on the status information of each vehicle in the vehicle formation, wherein the data sharing configuration information is used to represent the sensor data sharing strategy of each vehicle.

[0019] In some embodiments of the present application, based on the aforementioned scheme, the data sharing device further includes: a sending unit, configured to send a sensor data sharing request to a designated vehicle in the vehicle formation, wherein the sensor data sharing request is used to request the designated vehicle to return designated sensor data; and a receiving unit, configured to receive a response result returned by the designated vehicle for the sensor data sharing request, wherein the response result includes the designated sensor data.

[0020] 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 data sharing method applied to a vehicle platoon as described in the above embodiment is implemented.

[0021] 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 data sharing method applied to vehicle formations as described in the above embodiments.

[0022] According to one aspect of an embodiment of the present application, a computer program product or computer program is provided. The computer program product or computer program includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the data sharing method for vehicle platooning provided in the various optional embodiments described above.

[0023] In the technical solutions provided in some embodiments of the present application, by acquiring the status information of each vehicle in a vehicle formation, data sharing configuration information for the vehicle formation is generated according to the status information of each vehicle, and then the data sharing configuration information is transmitted to each vehicle in the vehicle formation, so that each vehicle performs sensor data sharing processing according to the data sharing configuration information, so that the status information of each vehicle in the vehicle formation can be integrated to generate data sharing configuration information for the vehicle formation, thereby avoiding the blindness caused by autonomous coordination between vehicles, improving the coordination of sensor data sharing within the vehicle formation, and helping to improve the safety of formation driving.

[0024] 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

[0025] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, explaining the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0026] Figure 1 A schematic diagram of an application scenario of an embodiment of the present application is shown;

[0027] Figure 2 A schematic diagram of an application scenario of an embodiment of the present application is shown;

[0028] Figure 3 A schematic diagram of an application scenario of an embodiment of the present application is shown;

[0029] Figure 4 A flow chart showing a data sharing method applied to a vehicle platoon according to an embodiment of the present application is shown;

[0030] Figure 5 A flow chart showing a data sharing method applied to a vehicle platoon according to an embodiment of the present application is shown;

[0031] Figure 6 A flow chart showing a method for sharing data within a vehicle platoon according to an embodiment of the present application is shown;

[0032] Figure 7 A flow chart showing a method for sharing data within a vehicle platoon according to an embodiment of the present application is shown;

[0033] Figure 8 A flow chart showing a method for sharing data within a vehicle platoon according to an embodiment of the present application is shown;

[0034] Figure 9 A flow chart showing a method for sharing data within a vehicle platoon according to an embodiment of the present application is shown;

[0035] Figure 10 A block diagram of a data sharing device applied to a vehicle platoon according to an embodiment of the present application is shown;

[0036] Figure 11 A block diagram of a data sharing device applied to a vehicle platoon according to an embodiment of the present application is shown;

[0037] Figure 12 A schematic diagram of the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0038] Example embodiments will now be described in a more complete manner with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to these examples; rather, these embodiments are provided to make this application more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art.

[0039] 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, it will be appreciated by those skilled in the art that when implementing the technical solution of the present application, it is not necessary to use all the detailed features in the embodiments, one or more specific details may be omitted, or other methods, elements, devices, steps, etc. may be adopted.

[0040] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0041] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0042] It should be noted that the term "plurality" used in this document refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0043] Figure 1 A schematic diagram of an application scenario of an embodiment of the present application is shown.

[0044] like Figure 1As shown, in an application scenario of the present application, multiple vehicles form a vehicle formation, and each following vehicle can communicate with the lead vehicle. The lead vehicle can transmit sensor data to the following vehicle, and the lead vehicle can also send a sensor data acquisition request to the following vehicle to obtain the data sensed by the following vehicle (such as the data sensed by the sensor installed on the following vehicle). The lead vehicle can communicate with the remote control terminal 101 through a network, which can be, for example, a 4G network, a 5G network, or a next-generation wireless communication network. The remote control terminal 101 can be a cloud server, and the cloud server can be an edge cloud server or a central cloud server. As the name implies, the edge cloud server is a server closer to the edge end, such as 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.

[0045] In one embodiment of the present application, the remote control terminal 101 can obtain the status information of each vehicle in the vehicle formation, and the status information may include sensor parameter information on the vehicle. Figure 1 In the system architecture shown, each follower vehicle can send its own status information to the lead vehicle, which then uploads it to the remote control terminal 101 via the network; or each vehicle can report its own status information to the remote control terminal 101 via the network.

[0046] After receiving the status information of each vehicle, the remote control terminal 101 may generate data sharing configuration information for the vehicle formation according to the status information of each vehicle. The data sharing configuration information is used to represent the sensor data sharing strategy of each vehicle.

[0047] Optionally, the remote control terminal 101 can generate data sharing configuration information using artificial intelligence (AI) technology. AI technology refers to theories, methods, techniques, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. In other words, AI is a comprehensive technology within computer science that attempts to understand the essence of intelligence and produce new intelligent machines that can respond in a manner similar to human intelligence. AI is the study of the design principles and implementation methods of various intelligent machines, enabling them to possess the capabilities of perception, reasoning, and decision-making.

[0048] Artificial intelligence (AI) is a comprehensive discipline encompassing a wide range of fields, encompassing both hardware and software technologies. Foundational AI technologies generally include sensors, specialized AI chips, cloud computing, distributed storage, big data processing, operating / interaction systems, and mechatronics. AI software technologies primarily encompass computer vision, speech processing, natural language processing, and machine learning / deep learning.

[0049] Computer vision (CV) is the science of making machines "see." Specifically, it refers to the use of cameras and computers to replace the human eye in identifying, tracking, and measuring objects. Further image processing is performed to transform the computer-generated images into images more suitable for human observation or transmission to instruments for inspection. As a scientific discipline, computer vision studies related theories and technologies, attempting to build artificial intelligence systems capable of extracting information from images or multidimensional data. Computer vision technologies typically include image processing, image recognition, image semantic understanding, image retrieval, optical character recognition (OCR), video processing, video semantic understanding, video content / behavior recognition, three-dimensional object reconstruction, 3D technology, virtual reality, augmented reality, simultaneous localization and mapping, and common biometric recognition technologies such as facial recognition and fingerprint recognition.

[0050] Continue to refer to Figure 1 As shown, after generating the data sharing configuration information, the remote control terminal 101 can transmit the data sharing configuration information to the lead vehicle, which then parses the data sharing configuration information to obtain the sensor data sharing strategy of each vehicle, and distributes the sensor data sharing strategy of other vehicles in the vehicle formation except the lead vehicle to other vehicles. Then, each vehicle in the vehicle formation can share sensor data with other vehicles in the vehicle formation based on its own sensor data sharing strategy.

[0051] In one embodiment of the present application, Figure 2As shown, each following vehicle can also communicate with the remote control terminal 201 via the network. Based on this system architecture, each vehicle (including the lead vehicle and the following vehicles) can report its status information to the remote control terminal 201 via the network. Of course, the following vehicle can also send its status information to the lead vehicle, which will then upload it to the remote control terminal 201 via the network. After the remote control terminal 201 receives the status information of each vehicle, it can generate data sharing configuration information for the vehicle formation based on the status information of each vehicle, that is, determine the sensor data sharing strategy of each vehicle in the vehicle formation, and then distribute the sensor data sharing strategy of each vehicle to each vehicle via the network. Then, each vehicle in the vehicle formation can share sensor data with other vehicles in the vehicle formation based on its own sensor data sharing strategy.

[0052] In one embodiment of the present application, Figure 3 As shown, each following vehicle can report its own status information to the lead vehicle. After receiving the status information of each following vehicle, the lead vehicle can generate data sharing configuration information for the vehicle formation based on the status information of each following vehicle and its own status information. In other words, it determines the sensor data sharing strategy of each vehicle in the vehicle formation. Then, the sensor data sharing strategy of each following vehicle is distributed to each following vehicle via the network. Then, each vehicle in the vehicle formation can share sensor data with other vehicles in the vehicle formation based on its own sensor data sharing strategy.

[0053] It can be seen that the technical solution of the embodiment of the present application can integrate the status information of each vehicle in the vehicle formation to generate data sharing configuration information for the vehicle formation, avoiding the blindness caused by autonomous coordination between vehicles, improving the coordination of sensor data sharing within the vehicle formation, and helping to improve the safety of formation driving.

[0054] The following is a detailed description of the implementation details of the technical solution of the embodiment of the present application:

[0055] Figure 4 A flow chart of a data sharing method for a vehicle platoon according to an embodiment of the present application is shown. The data sharing method can be executed by a cloud server or by a leading vehicle in a vehicle platoon. The cloud server can be Figure 1 and Figure 2 The remote controller shown in . Figure 4 As shown, the data sharing method includes at least steps S410 to S430, which are described in detail as follows:

[0056] In step S410 , status information of each vehicle in the vehicle formation is obtained, where the status information includes sensor parameter information on the vehicle.

[0057] In one embodiment of the present application, the sensor parameter information includes the type of sensor installed on the vehicle, and at least one of the following information: whether the vehicle is allowed to share sensor data, the type of sensor data allowed to be shared by the vehicle, and the frequency of the vehicle sharing sensor data.

[0058] Optionally, sensor types may include one or more of the following: laser sensors, visual sensors, speed sensors, acceleration sensors, position sensors, radars, etc. The types of sensor data that a vehicle is allowed to share may include one or more of the following: 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 radar detection data. The frequency of vehicle sensor data sharing indicates how often a vehicle shares sensor data.

[0059] In one embodiment of the present application, if Figure 4 The data sharing method shown is executed by a cloud server (the cloud server can be an edge cloud server or a central cloud server), and the process of the cloud server obtaining the status information of each vehicle in the vehicle formation can be: receiving the status information of each vehicle sent by the head vehicle in the vehicle formation. Specifically, other vehicles in the vehicle formation except the head vehicle can transmit their own status information to the head vehicle, which is then aggregated and sent to the cloud server by the head vehicle. In other embodiments of the present application, if each vehicle in the vehicle formation can communicate with the cloud server, then the cloud server can also receive the status information sent by each vehicle in the vehicle formation.

[0060] In one embodiment of the present application, if Figure 4 The data sharing method shown is performed by the lead vehicle in the platoon. The process by which the lead vehicle obtains status information about each vehicle in the platoon may include receiving status information sent by other vehicles in the platoon, excluding the lead vehicle, via communication with PC 5. In other embodiments of the present application, if each vehicle in the platoon can communicate with a cloud server, then other vehicles in the platoon, excluding the lead vehicle, may also send their status information to the cloud server, which then forwards it to the lead vehicle.

[0061] In step S420 , data sharing configuration information for the vehicle formation is generated based on the status information of each vehicle. The data sharing configuration information is used to represent the sensor data sharing strategy of each vehicle.

[0062] Optionally, the data sharing configuration information may include a sensor data sharing strategy for each vehicle, where the sensor data sharing strategy includes at least one of the following: vehicles with which the sensor data needs to be shared, types of sensor data to be shared, and a frequency of sharing the sensor data.

[0063] Specifically, for example, the sensor data sharing strategy of vehicle 1 in the vehicle formation may be that vehicle 1 needs to provide image data collected by the visual sensor to vehicles 2 and 3, and needs to share it once every 10 seconds.

[0064] Continue to refer to Figure 4 As shown, in step S430, the data sharing configuration information is transmitted to each vehicle in the vehicle formation, so that each vehicle performs sensor data sharing processing according to the data sharing configuration information.

[0065] In one embodiment of the present application, if Figure 4 The data sharing method shown is executed by a cloud server, so the process of the cloud server transmitting the data sharing configuration information to each vehicle in the vehicle formation can be: transmitting the data sharing configuration information to the lead vehicle, and then the lead vehicle parses the data sharing configuration information to obtain the sensor data sharing strategy of each vehicle, and then the lead vehicle distributes the sensor data sharing strategy of other vehicles in the vehicle formation except the lead vehicle to other vehicles.

[0066] Alternatively, if Figure 4 The data sharing method shown is executed by a cloud server, so the process of the cloud server transmitting the data sharing configuration information to each vehicle in the vehicle formation can also be: the cloud server determines the sensor data sharing strategy of each vehicle in the vehicle formation based on the data sharing configuration information, and then distributes the sensor data sharing strategy of each vehicle in the vehicle formation to each vehicle respectively.

[0067] In one embodiment of the present application, if Figure 4 The data sharing method shown is executed by the lead vehicle in the vehicle formation, so the process of the lead vehicle transmitting the data sharing configuration information to each vehicle in the vehicle formation can be: according to the data sharing configuration information, the sensor data sharing strategy of each vehicle in the vehicle formation is determined, and then the lead vehicle distributes the sensor data sharing strategies of other vehicles in the vehicle formation except the lead vehicle to other vehicles respectively.

[0068] The following combination Figure 5 The technical solution of the embodiment of the present application is described from the perspective of the vehicles in the vehicle formation:

[0069] Figure 5FIG2 shows a flow chart of a data sharing method applied to a vehicle platoon according to an embodiment of the present application. The data sharing method can be executed by vehicles in the vehicle platoon. Figure 5 As shown, the data sharing method includes at least steps S510 to S520, which are described in detail as follows:

[0070] In step S510 , the vehicle status information is acquired, where the status information includes sensor parameter information on the vehicle.

[0071] Optionally, each vehicle in the vehicle formation can obtain its own status information, where the sensor parameter information includes the type of sensor installed on the vehicle, and at least one of the following information: whether the vehicle is allowed to share sensor data, the type of sensor data the vehicle is allowed to share, and the frequency of the vehicle sharing sensor data.

[0072] In one embodiment of the present application, sensor types may include one or more of the following: laser sensors, visual sensors, speed sensors, acceleration sensors, position sensors, radars, etc. The types of sensor data that a vehicle is allowed to share may include one or more of the following: data measured by a laser sensor, image data detected by a visual sensor, speed data detected by a speed sensor, acceleration data detected by an acceleration sensor, position data detected by a position sensor, and radar detection data. The frequency of vehicle sensor data sharing indicates how often a vehicle shares sensor data.

[0073] In step S520, the vehicle status information is reported to a designated device so that the designated device generates data sharing configuration information for the vehicle formation based on the status information of each vehicle in the vehicle formation. The data sharing configuration information is used to represent the sensor data sharing strategy of each vehicle.

[0074] In one embodiment of the present application, the designated device may be a cloud server (which may be an edge cloud server or a central cloud server). In this case, the cloud server may generate data sharing configuration information for the vehicle formation based on the status information of each vehicle in the vehicle formation. Optionally, each vehicle may directly send status information to the cloud server, or may send status information to the lead vehicle in the vehicle formation via PC5 communication, which may then aggregate the information and send it to the cloud server.

[0075] In one embodiment of the present application, the designated device may also be the lead vehicle in a platoon. In this case, the lead vehicle may generate data sharing configuration information specific to the platoon based on the status information of each vehicle in the platoon. Alternatively, each vehicle may directly transmit status information to the lead vehicle via PC5 communication, or the status information may be transmitted to a cloud server, which then aggregates the information and transmits it to the lead vehicle in the platoon.

[0076] In one embodiment of the present application, a vehicle in a platoon can also send a sensor data sharing request to a designated vehicle in the platoon. This sensor data sharing request is used to request that the designated vehicle return designated sensor data. The vehicle then receives a response from the designated vehicle to the sensor data sharing request, which includes the designated sensor data. The technical solution of this embodiment enables vehicles in the platoon to obtain sensor data from a designated vehicle as needed by sending a sensor data sharing request.

[0077] The following combination Figures 6 to 9 The implementation details of the technical solution of the embodiment of this application are elaborated in detail:

[0078] like Figure 6 As shown, a data sharing method within a vehicle formation according to an embodiment of the present application includes the following steps:

[0079] In step S601, each vehicle in the vehicle formation (including the lead vehicle and the following vehicles, two following vehicles are used as an example for illustration) reports vehicle information and formation configuration information to the cloud server.

[0080] Optionally, the vehicle information includes sensor parameter information on the vehicle, the sensor parameter information includes the type of sensor installed on the vehicle, and at least one of the following information: whether the vehicle is allowed to share sensor data, the type of sensor data the vehicle is allowed to share, and the frequency of the vehicle sharing sensor data.

[0081] Optionally, sensor types may include one or more of the following: laser sensors, visual sensors, speed sensors, acceleration sensors, position sensors, radars, etc. The types of sensor data that a vehicle is allowed to share may include one or more of the following: 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 radar detection data. The frequency of vehicle sensor data sharing indicates how often a vehicle shares sensor data.

[0082] Optionally, the formation configuration information may include identification information of the vehicle formation to which the vehicle belongs, role information of the vehicle in the vehicle formation (such as the lead vehicle, the following vehicle), etc.

[0083] In step S602 , the cloud server generates sensor data sharing configuration information based on the vehicle information and the formation configuration information.

[0084] Optionally, the sensor data sharing configuration information may include a sensor data sharing policy for each vehicle. The sensor data sharing policy includes at least one of the following: which vehicles the sensor data is to be shared with, the type of sensor data to be shared, and the frequency of sensor data sharing. It may also include the data format and data volume for sensor data sharing.

[0085] In step S603, the cloud server sends the sensor data sharing configuration information to the lead vehicle.

[0086] In step S604, the lead vehicle analyzes the sensor data configuration information to obtain the sensor data sharing strategy of each vehicle.

[0087] In step S605 , the lead vehicle distributes the sensor data sharing strategy to each following vehicle via PC5 communication, and then each vehicle in the vehicle formation can share sensor data according to the sensor data sharing strategy.

[0088] based on Figure 6 The technical solution of the embodiment shown in the figure, in one embodiment of the present application, as Figure 7 As shown, steps S701a and S701b can be replaced Figure 6 In step S601 shown in FIG, specifically:

[0089] In step S701a, each following vehicle in the vehicle formation (two following vehicles are used as an example in the figure) reports vehicle information and formation configuration information to the lead vehicle.

[0090] In step S701b, the lead vehicle aggregates the information reported by each vehicle in the vehicle formation and sends it to the cloud server.

[0091] That is Figure 7 In the illustrated embodiment, each following vehicle does not communicate directly with the cloud server, but instead reports vehicle information and platoon configuration information to the lead vehicle, which then aggregates the information and sends it to the cloud server. Figure 7 Other steps in Figure 6 The same is true in the text, so I will not repeat it here.

[0092] like Figure 8 As shown, a data sharing method within a vehicle formation according to an embodiment of the present application includes the following steps:

[0093] In step S801, each vehicle in the vehicle formation (including the lead vehicle and the following vehicles, two following vehicles are used as an example for illustration) reports vehicle information and formation configuration information to the cloud server.

[0094] Optionally, the vehicle information includes sensor parameter information on the vehicle, the sensor parameter information includes the type of sensor installed on the vehicle, and at least one of the following information: whether the vehicle is allowed to share sensor data, the type of sensor data the vehicle is allowed to share, and the frequency of the vehicle sharing sensor data.

[0095] Optionally, sensor types may include one or more of the following: laser sensors, visual sensors, speed sensors, acceleration sensors, position sensors, radars, etc. The types of sensor data that a vehicle is allowed to share may include one or more of the following: 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 radar detection data. The frequency of vehicle sensor data sharing indicates how often a vehicle shares sensor data.

[0096] Optionally, the formation configuration information may include identification information of the vehicle formation to which the vehicle belongs, role information of the vehicle in the vehicle formation (such as the lead vehicle, the following vehicle), etc.

[0097] In step S802 , the cloud server generates sensor data sharing configuration information based on the vehicle information and the formation configuration information.

[0098] Optionally, the sensor data sharing configuration information may include a sensor data sharing policy for each vehicle. The sensor data sharing policy includes at least one of the following: which vehicles the sensor data is to be shared with, the type of sensor data to be shared, and the frequency of sensor data sharing. It may also include the data format and data volume for sensor data sharing.

[0099] In step S803 , the cloud server distributes the sensor data sharing strategy to each vehicle in the vehicle formation according to the sensor data sharing configuration information.

[0100] In step S804 , each vehicle in the vehicle formation may share sensor data according to the sensor data sharing strategy.

[0101] That is Figure 8 In the embodiment shown, after the cloud server generates the sensor data sharing configuration information, it is no longer forwarded by the lead vehicle, but is directly distributed to each vehicle in the vehicle formation. Figure 8 The step S801 shown in FIG can also be performed by Figure 7, that is, the lead vehicle collects and summarizes the information of each vehicle in the vehicle formation and then reports it to the cloud server.

[0102] like Figure 9 As shown, a data sharing method within a vehicle formation according to an embodiment of the present application includes the following steps:

[0103] In step S901, each following vehicle in the vehicle formation (two following vehicles are used as an example in the figure) reports vehicle information and formation configuration information to the lead vehicle.

[0104] Optionally, the vehicle information includes sensor parameter information on the vehicle, the sensor parameter information includes the type of sensor installed on the vehicle, and at least one of the following information: whether the vehicle is allowed to share sensor data, the type of sensor data the vehicle is allowed to share, and the frequency of the vehicle sharing sensor data.

[0105] Optionally, sensor types may include one or more of the following: laser sensors, visual sensors, speed sensors, acceleration sensors, position sensors, radars, etc. The types of sensor data that a vehicle is allowed to share may include one or more of the following: 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 radar detection data. The frequency of vehicle sensor data sharing indicates how often a vehicle shares sensor data.

[0106] Optionally, the formation configuration information may include identification information of the vehicle formation to which the vehicle belongs, role information of the vehicle in the vehicle formation (such as the lead vehicle, the following vehicle), etc.

[0107] In step S902 , the lead vehicle generates sensor data sharing configuration information based on the vehicle information and the platoon configuration information.

[0108] Optionally, the sensor data sharing configuration information may include a sensor data sharing policy for each vehicle. The sensor data sharing policy includes at least one of the following: which vehicles the sensor data is to be shared with, the type of sensor data to be shared, and the frequency of sensor data sharing. It may also include the data format and data volume for sensor data sharing.

[0109] In step S903 , the leading vehicle distributes the sensor data sharing strategy to each following vehicle in the vehicle formation according to the sensor data sharing configuration information.

[0110] In step S904 , each vehicle in the vehicle formation may share sensor data according to the sensor data sharing strategy.

[0111] That is Figure 9 In the embodiment shown, the sensor data sharing configuration information can be generated by the lead vehicle without the aid of a cloud server, which requires the lead vehicle to have strong data processing capabilities.

[0112] It should be noted that: Figures 6 to 9 In the illustrated embodiment, while each vehicle shares sensor data based on the sensor data sharing strategy, it can also obtain certain sensor data of a specified vehicle by request. For example, follower vehicle 1 sends a request to follower vehicle 2 to obtain the visual sensor data of follower vehicle 2 to meet the business needs of follower vehicle 1.

[0113] In summary, the technical solution of the embodiment of the present application makes it possible to integrate the status information of each vehicle in the vehicle formation to generate data sharing configuration information for the vehicle formation, avoiding the blindness caused by autonomous coordination between vehicles, improving the coordination of sensor data sharing within the vehicle formation, and helping to improve the safety of formation driving.

[0114] The following describes an apparatus embodiment of the present application, which can be used to implement the data sharing method for vehicle platooning described in the above-mentioned embodiments of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the above-mentioned embodiment of the data sharing method for vehicle platooning described in the present application.

[0115] Figure 10 A block diagram of a data sharing device applied to a vehicle formation according to an embodiment of the present application is shown. The data sharing device can be set in a cloud server or in the lead vehicle in the vehicle formation.

[0116] Reference Figure 10 As shown, a data sharing device 1000 applied to a vehicle formation according to an embodiment of the present application includes: a first acquisition unit 1002 , a generation unit 1004 and a transmission unit 1006 .

[0117] Among them, the first acquisition unit 1002 is configured to obtain the status information of each vehicle in the vehicle formation, and the status information includes sensor parameter information on the vehicle; the generation unit 1004 is configured to generate data sharing configuration information for the vehicle formation based on the status information of each vehicle, and the data sharing configuration information is used to represent the sensor data sharing strategy of each vehicle; the transmission unit 1006 is configured to transmit the data sharing configuration information to each vehicle in the vehicle formation, so that each vehicle performs sensor data sharing processing according to the data sharing configuration information.

[0118] In some embodiments of the present application, based on the aforementioned scheme, the multiple vehicles include a lead vehicle, and the data sharing device 1000 is set in a cloud server that communicates with the lead vehicle; the transmission unit 1006 is configured to: transmit the data sharing configuration information to the lead vehicle, so that the lead vehicle parses the data sharing configuration information to obtain the sensor data sharing strategy of each vehicle, and distributes the sensor data sharing strategy of other vehicles in the vehicle formation except the lead vehicle to the other vehicles.

[0119] In some embodiments of the present application, based on the aforementioned scheme, the data sharing device 1000 is set in a cloud server that communicates with each vehicle in the vehicle formation; the transmission unit 1006 is configured to: determine the sensor data sharing strategy of each vehicle in the vehicle formation according to the data sharing configuration information; and distribute the sensor data sharing strategy of each vehicle in the vehicle formation to each vehicle respectively.

[0120] In some embodiments of the present application, based on the aforementioned scheme, the first acquisition unit 1002 is configured to: receive the status information of each vehicle sent by the head vehicle in the vehicle formation, wherein the status information of other vehicles in the vehicle formation except the head vehicle is transmitted to the head vehicle by the other vehicles.

[0121] In some embodiments of the present application, based on the aforementioned solution, the first acquiring unit 1002 is configured to: receive status information respectively sent by each vehicle in the vehicle formation.

[0122] In some embodiments of the present application, based on the aforementioned scheme, the multiple vehicles include a lead vehicle, and the data sharing device 1000 is arranged in the lead vehicle; the transmission unit 1006 is configured to: determine the sensor data sharing strategy of each vehicle in the vehicle formation according to the data sharing configuration information; and distribute the sensor data sharing strategies of other vehicles in the vehicle formation except the lead vehicle to the other vehicles respectively.

[0123] In some embodiments of the present application, based on the aforementioned solution, the first acquisition unit 1002 is configured to receive status information sent by other vehicles in the vehicle formation except the lead vehicle through PC5 communication.

[0124] In some embodiments of the present application, based on the aforementioned scheme, the first acquisition unit 1002 is configured to: receive status information of other vehicles in the vehicle formation except the head vehicle sent by the cloud server, and the status information of the other vehicles is transmitted to the cloud server by the other vehicles.

[0125] In some embodiments of the present application, based on the aforementioned scheme, the sensor parameter information includes the type of sensor installed on the vehicle, and at least one of the following information: whether the vehicle is allowed to share sensor data, the type of sensor data allowed to be shared by the vehicle, and the frequency of the vehicle sharing sensor data.

[0126] In some embodiments of the present application, based on the aforementioned solution, the sensor data sharing strategy includes at least one of the following: vehicles with which the sensor data needs to be shared, types of sensor data that need to be shared, and frequency of sharing the sensor data.

[0127] Figure 11 A block diagram of a data sharing device applied to a vehicle platoon according to an embodiment of the present application is shown. The data sharing device can be set in a vehicle in the vehicle platoon.

[0128] Reference Figure 11 As shown, a data sharing device 1100 applied to a vehicle formation according to an embodiment of the present application includes: a second obtaining unit 1102 and a reporting unit 1104 .

[0129] Among them, the second acquisition unit 1102 is configured to obtain the status information of the vehicle, and the status information includes sensor parameter information on the vehicle; the reporting unit 1104 is configured to report the status information of the vehicle to a designated device, so that the designated device generates data sharing configuration information for the vehicle formation based on the status information of each vehicle in the vehicle formation, and the data sharing configuration information is used to represent the sensor data sharing strategy of each vehicle.

[0130] In some embodiments of the present application, based on the aforementioned scheme, the data sharing device 1100 further includes: a sending unit, configured to send a sensor data sharing request to a designated vehicle in the vehicle formation, wherein the sensor data sharing request is used to request the designated vehicle to return designated sensor data; and a receiving unit, configured to receive a response result returned by the designated vehicle for the sensor data sharing request, wherein the response result includes the designated sensor data.

[0131] Figure 12 A schematic diagram of the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application is shown.

[0132] It should be noted that Figure 12 The computer system 1200 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.

[0133] like Figure 12As shown, the computer system 1200 includes a central processing unit (CPU) 1201, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1202 or the program loaded from the storage part 1208 to the random access memory (RAM) 1203, such as executing the method described in the above embodiment. Various programs and data required for system operation are also stored in the RAM 1203. The CPU 1201, ROM 1202 and RAM 1203 are connected to each other via a bus 1204. An input / output (I / O) interface 1205 is also connected to the bus 1204.

[0134] The following components are connected to the I / O interface 1205: an input section 1206 including a keyboard, a mouse, and the like; an output section 1207 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 1208 including a hard disk; and a communication section 1209 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to the I / O interface 1205 as needed. Removable media 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 1210 as needed, so that computer programs read from the removable media can be installed in the storage section 1208 as needed.

[0135] 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 via the communication section 1209, and / or installed from a removable medium 1211. When the computer program is executed by the central processing unit (CPU) 1201, the various functions defined in the system of the present application are executed.

[0136] It should be noted that the computer-readable medium shown in the embodiments of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the 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 component, 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 that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable computer program. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0137] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that 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 the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0138] 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. In some cases, the names of these units do not constitute limitations on the units themselves.

[0139] As another aspect, the present application further provides a computer-readable medium, which may be included in the electronic device described in the above embodiments, or may exist independently without being incorporated into the electronic device. The computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device implements the method described in the above embodiments.

[0140] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiment of the application, the features and functions of two or more modules or units described above can be concretized in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0141] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments 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 embodiments of the present application.

[0142] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of this application and include common knowledge or customary techniques in the art that are not disclosed herein.

[0143] It should be understood that the present application is not limited to the exact structures 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 data sharing method applied to a vehicle formation, wherein the vehicle formation comprises a plurality of vehicles, characterized in that: The data sharing method is executed by a cloud server or a leading vehicle in the vehicle formation, and the data sharing method includes: Obtaining status information of the plurality of vehicles in the vehicle formation, the status information including sensor parameter information on the vehicles; wherein the sensor parameter information includes the type of sensor installed on the vehicles and at least one of the following information: whether the vehicle is allowed to share sensor data, the type of sensor data allowed to be shared by the vehicle, and the frequency of the vehicle sharing sensor data; Generating data sharing configuration information for the vehicle formation based on the status information of the plurality of vehicles, the data sharing configuration information being used to indicate a sensor data sharing strategy for each vehicle in the vehicle formation; wherein the sensor data sharing strategy includes at least one of the following: which other vehicles among the plurality of vehicles the sensor data of each vehicle needs to be shared with, the type of sensor data to be shared by each vehicle, and the frequency of sharing the sensor data of each vehicle; The data sharing configuration information is transmitted to each vehicle in the vehicle formation, so that each vehicle shares sensor data with other vehicles in the plurality of vehicles according to a sensor data sharing strategy indicated by the data sharing configuration information.

2. The data sharing method according to claim 1, wherein: The plurality of vehicles include a lead vehicle, and the data sharing method is executed by a cloud server communicating with the lead vehicle; Transmitting the data sharing configuration information to each vehicle in the vehicle formation includes: The data sharing configuration information is transmitted to the lead vehicle so that the lead vehicle parses the data sharing configuration information to obtain the sensor data sharing strategies of the respective vehicles, and distributes the sensor data sharing strategies of the other vehicles in the vehicle formation except the lead vehicle to the other vehicles.

3. The data sharing method according to claim 1, wherein: The data sharing method is performed by a cloud server that communicates with each vehicle in the vehicle formation; Transmitting the data sharing configuration information to each vehicle in the vehicle formation includes: determining, based on the data sharing configuration information, a sensor data sharing strategy for each vehicle in the vehicle formation; The sensor data sharing strategy of each vehicle in the vehicle formation is distributed to each vehicle respectively.

4. The data sharing method according to claim 2 or 3, characterized in that: Obtaining status information of each vehicle in the vehicle formation, including: The status information of each vehicle in the vehicle formation is received from the leading vehicle in the vehicle formation, wherein the status information of other vehicles in the vehicle formation except the leading vehicle is transmitted to the leading vehicle by the other vehicles.

5. The data sharing method according to claim 2 or 3, characterized in that: Acquiring status information of each vehicle in the vehicle formation includes: receiving status information respectively sent by each vehicle in the vehicle formation.

6. The data sharing method according to claim 1, wherein: The plurality of vehicles include a lead vehicle, and the data sharing method is performed by the lead vehicle; Transmitting the data sharing configuration information to each vehicle in the vehicle formation includes: determining, based on the data sharing configuration information, a sensor data sharing strategy for each vehicle in the vehicle formation; The sensor data sharing strategies of the other vehicles in the vehicle formation except the lead vehicle are distributed to the other vehicles respectively.

7. The data sharing method according to claim 6, wherein: Obtaining status information of each vehicle in the vehicle formation, including: Receive status information sent by other vehicles in the vehicle formation except the lead vehicle through PC5 communication.

8. The data sharing method according to claim 6, wherein: Obtaining status information of each vehicle in the vehicle formation, including: Receive status information of other vehicles in the vehicle formation except the lead vehicle sent by the cloud server, where the status information of other vehicles is transmitted to the cloud server by the other vehicles.

9. A data sharing method applied to a vehicle formation, wherein the vehicle formation comprises a plurality of vehicles, characterized in that: The data sharing method is executed by a vehicle, and the data sharing method includes: Obtaining status information of the vehicle, the status information including sensor parameter information on the vehicle; wherein the sensor parameter information includes the type of sensor installed on the vehicle and at least one of the following information: whether the vehicle allows sharing of sensor data, the type of sensor data allowed to be shared by the vehicle, and the frequency of sharing of sensor data by the vehicle; Reporting the status information of the vehicle to a designated device, so that the designated device generates data sharing configuration information for the vehicle formation based on the status information of each vehicle in the vehicle formation, the data sharing configuration information being used to indicate a sensor data sharing policy for each vehicle; wherein the sensor data sharing policy includes at least one of the following: which other vehicles among the plurality of vehicles the sensor data of each vehicle needs to be shared with, the type of sensor data that each vehicle needs to share, and the frequency of sharing the sensor data of each vehicle; The data sharing configuration information sent by the designated device is received, and the sensor data is shared with other vehicles among the plurality of vehicles according to the sensor data sharing strategy indicated by the data sharing configuration information.

10. The data sharing method according to claim 9, wherein: The data sharing method further includes: Sending a sensor data sharing request to a designated vehicle in the vehicle formation, wherein the sensor data sharing request is used to request the designated vehicle to return designated sensor data; A response result returned by the designated vehicle in response to the sensor data sharing request is received, where the response result includes the designated sensor data.

11. A data sharing device for a vehicle formation, wherein the vehicle formation comprises a plurality of vehicles, characterized in that: The data sharing device is applied to a cloud server or a leading vehicle in the vehicle formation, and the data sharing device includes: a first acquiring unit configured to acquire status information of the plurality of vehicles in the vehicle formation, the status information including sensor parameter information on the vehicles; wherein the sensor parameter information includes a type of sensor installed on the vehicle, and at least one of the following information: whether the vehicle is allowed to share sensor data, a type of sensor data allowed to be shared by the vehicle, and a frequency of sharing sensor data by the vehicle; a generating unit configured to generate data sharing configuration information for the vehicle formation based on the status information of the plurality of vehicles, the data sharing configuration information being used to indicate a sensor data sharing strategy for each vehicle in the vehicle formation; wherein the sensor data sharing strategy comprises at least one of the following: which other vehicles among the plurality of vehicles the sensor data of each vehicle needs to be shared with, the type of sensor data to be shared by each vehicle, and the frequency of sharing the sensor data of each vehicle; The transmission unit is configured to transmit the data sharing configuration information to each vehicle in the vehicle formation, so that each vehicle shares sensor data with other vehicles in the plurality of vehicles according to the sensor data sharing strategy represented by the data sharing configuration information.

12. A data sharing device for a vehicle formation, wherein the vehicle formation comprises a plurality of vehicles, characterized in that: The data sharing device is applied to a vehicle, and includes: a second acquiring unit configured to acquire status information of the vehicle, the status information including sensor parameter information on the vehicle; wherein the sensor parameter information includes a type of sensor installed on the vehicle and at least one of the following information: whether the vehicle allows sharing of sensor data, a type of sensor data allowed to be shared by the vehicle, and a frequency of sharing of sensor data by the vehicle; a reporting unit configured to report the status information of the vehicle to a designated device, so that the designated device generates data sharing configuration information for the vehicle formation based on the status information of each vehicle in the vehicle formation, the data sharing configuration information being used to indicate a sensor data sharing policy for each vehicle; wherein the sensor data sharing policy includes at least one of the following: which other vehicles among the plurality of vehicles the sensor data of each vehicle needs to be shared with, the type of sensor data that each vehicle needs to share, and the frequency of sharing the sensor data of each vehicle; The processing unit is configured to receive the data sharing configuration information sent by the designated device, and share the sensor data with other vehicles among the multiple vehicles according to the sensor data sharing strategy represented by the data sharing configuration information.

13. A computer-readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the data sharing method for vehicle platooning according to any one of claims 1 to 10 is implemented.

14. An electronic device, 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 data sharing method applied to vehicle platoons as described in any one of claims 1 to 10.

15. A computer program product, 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 data sharing method applied between vehicles according to any one of claims 1 to 10.

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