A vehicle formation control method, device, equipment and medium

Abstract

The embodiments of the present application provide a platoon vehicle control method, device, equipment and medium. The method can be applied to scenarios such as ports, mines, highways or parks. The method includes: during the driving of the platoon vehicles, obtaining the platoon information sent by the vehicles; judging whether there is a vehicle with abnormal communication in the platoon vehicles according to the platoon information; in the case of the presence of a vehicle with abnormal communication, sending communication information to the first terminal device associated with the vehicle with abnormal communication, the communication information is used to instruct the first terminal device to establish wireless communication with the second terminal device associated with the preceding vehicle of the vehicle with abnormal communication and the leading vehicle of the platoon vehicles to receive or send the platoon information. The method of the present application improves the stability of communication during the driving of the platoon vehicles and reduces the driving danger caused by unstable communication between vehicles by increasing the wireless communication mode between vehicles.

Description

Technical Field

[0001] The present application belongs to the field of autonomous driving technology, and in particular relates to a platoon vehicle control method, device, equipment and medium, which can be applied to scenes such as ports, highways, logistics, mines, closed parks, or urban transportation. Background Art

[0002] A collaborative autonomous driving convoy is generally a fleet of vehicles in which a lead vehicle is driven by an operator, and other vehicles follow the path of the lead vehicle and / or the front vehicle at a corresponding distance. Therefore, the vehicles in a collaborative autonomous driving convoy are also called platoon vehicles.

[0003] The platoon vehicles communicate with each other through V2V (Vehicle-to-Vehicle) communication technology. Therefore, smooth V2V communication is particularly important for the normal driving of the platoon vehicles. In the prior art, during the driving of the platoon vehicles, the pilot vehicle sends the platoon driving information to each following vehicle by V2V vehicle-to-vehicle communication. At the same time, each following vehicle will also communicate with the corresponding preceding vehicle and the pilot vehicle by V2V vehicle-to-vehicle communication to exchange platoon information, thereby ensuring the normal driving of the platoon vehicles. However, V2V communication mainly depends on the vehicle communication module installed on the vehicle. When the software or hardware of the vehicle communication module has problems, the V2V communication between vehicles will also be interrupted, affecting the normal driving of the platoon vehicles and even causing driving danger. In addition, V2V communication will also be affected by the environment. When the platoon vehicles drive to scenes such as tunnels, the V2V signal is usually poor, which will also affect the normal driving of the platoon vehicles.

[0004] Therefore, a platoon vehicle control scheme with more stable communication is needed. Summary of the invention

[0005] The present application provides a platoon vehicle control method, device, equipment and medium, which are used to solve the problem that the existing platoon vehicles cannot drive normally due to unstable communication during driving.

[0006] In a first aspect, the present application provides a platoon vehicle control method, comprising:

[0007] During the driving process of the convoy of vehicles, obtaining the convoy information of the vehicles;

[0008] Determining whether there is a vehicle with abnormal communication among the vehicles in the formation according to the formation information;

[0009] In the event of a vehicle with abnormal communication, communication information is sent to a first terminal device associated with the vehicle with abnormal communication, and the communication information is used to instruct the first terminal device to establish wireless communication with the second terminal devices respectively associated with the preceding vehicle of the vehicle with abnormal communication and the lead vehicle of the formation vehicles to receive or send the formation information.

[0010] In this embodiment, on the basis of the communication between the platoon vehicles through the V2V signal, an alternative communication method for communicating between the platoon vehicles through the base station is additionally added. During the driving process of the platoon vehicles, the pilot vehicle can obtain the platoon information sent by each vehicle through the vehicle wireless communication method. If the pilot vehicle finds that the information sent by a certain vehicle is abnormal, the vehicle may have a V2V vehicle wireless communication failure, and cannot communicate with the vehicle in front of the vehicle and the pilot vehicle. The vehicle is a communication abnormality vehicle. In order to ensure the normal sending and receiving of the vehicle formation information and avoid driving hazards caused by V2V vehicle wireless communication failures, the pilot vehicle can send communication information to the first terminal device associated with the communication abnormal vehicle to instruct the first terminal to establish wireless communication with the second terminal devices associated with the vehicle in front of the communication abnormal vehicle and the pilot vehicle of the platoon vehicles. Through such a setting, the vehicle with communication abnormality can continue to exchange information with the preceding vehicle and the lead vehicle through base station wireless communication when the vehicle wireless communication fails, so as to normally receive or send formation information and ensure the normal driving of the formation vehicles. By increasing the base station wireless communication between vehicles, the communication stability of the formation vehicles during driving is improved, avoiding driving hazards caused by unstable communication between vehicles.

[0011] In a possible implementation manner, judging whether there is a vehicle with abnormal communication in the convoy vehicles according to the convoy information specifically includes:

[0012] Determine whether there is fault information in the formation information, if so, the vehicle corresponding to the fault information is a communication abnormality vehicle, and the fault information is used to indicate that the communication signal of the vehicle wireless communication method does not meet the preset condition;

[0013] or,

[0014] It is determined whether the formation information corresponding to all the vehicles in the formation is obtained according to the formation information. If not, the vehicle that has not obtained the corresponding formation information is a communication abnormality vehicle.

[0015] In this embodiment, each vehicle will periodically send formation information to the lead vehicle. Therefore, by determining whether there is fault information in the formation information indicating that a V2V communication failure has occurred in the vehicle, or by determining whether the formation information corresponding to all the formation vehicles has been obtained, it is possible to simply and accurately determine whether there is a vehicle with abnormal communication in the formation vehicles.

[0016] In a possible implementation manner, sending communication information to a first terminal device associated with the vehicle with communication abnormality includes:

[0017] Communication information is sent to a first terminal device associated with the vehicle with communication abnormality, the communication information including a vehicle identification and formation information, the communication information being specifically used to instruct the first terminal device to determine the preceding vehicle of the vehicle with communication abnormality according to the vehicle identification, and to establish wireless communication with second terminal devices respectively associated with the preceding vehicle and the lead vehicle of the formation vehicles to receive or send the formation information.

[0018] In this embodiment, the communication abnormal vehicle identifier in the communication information can not only accurately determine the preceding vehicle of the communication abnormal vehicle, but also perform a secondary match with the communication abnormal vehicle associated with the first terminal device to determine that the vehicle associated with the first terminal device is indeed a communication abnormal vehicle, so that the first terminal device and the preceding vehicle of the communication abnormal vehicle can be correctly identified, thereby avoiding information sending errors and ensuring that correct base station wireless communication can be established between the first terminal device and the second terminal device, so as to normally receive or send formation information through base station wireless communication.

[0019] In a possible implementation, after sending the communication information to the first terminal device associated with the vehicle with abnormal communication, the method further includes:

[0020] Acquire first formation information received by a second terminal device associated with the pilot vehicle;

[0021] Determining whether the first formation information is consistent with the second formation information sent by the communication abnormal vehicle through the vehicle wireless communication method;

[0022] If not, formation correction information is sent to the first terminal device, where the formation correction information is used to instruct the first terminal device to correct the first formation information according to the second formation information in the formation correction information.

[0023] In this embodiment, after the first terminal device sends the first formation information to the second terminal device associated with the pilot vehicle through the base station wireless communication method, the first formation information can be compared with the second formation information previously sent by the vehicle with abnormal communication through the vehicle wireless communication method to determine whether the formation information exchanged between vehicles has changed after the communication method has changed. If the formation information has changed, the first formation information is corrected according to the second formation information. Through such a setting, it is possible to avoid changes in the formation information exchanged between vehicles after the communication method has changed, ensure the correctness of the formation information, and allow the formation vehicles to travel normally according to the correct formation information.

[0024] In a possible implementation, after sending the communication instruction to the first terminal device associated with the vehicle with abnormal communication, the method further includes:

[0025] Acquire formation information sent by the vehicle with abnormal communication through vehicle wireless communication;

[0026] When the formation information corresponding to the vehicle with communication abnormality is received or the formation information corresponding to the vehicle with communication abnormality is not fault information, a communication change instruction is sent to the first terminal device after a preset time period, and the communication change instruction is used to instruct the first terminal device to close the wireless communication between the first terminal device and the second terminal device, and to receive or send the formation information again via vehicle wireless communication.

[0027] In this embodiment, while wireless communication is being performed between the first terminal device and the second terminal device, the vehicle with communication abnormality associated with the first terminal device still maintains vehicle wireless communication with the preceding vehicle and the pilot vehicle, that is, the pilot vehicle still obtains the formation information sent by the vehicle with communication abnormality through vehicle wireless communication. If the pilot vehicle receives the formation information sent by the vehicle with communication abnormality through vehicle wireless communication, or receives normal formation information instead of fault information, it indicates that the vehicle wireless communication of the vehicle with communication abnormality has returned to normal, and information can be exchanged with the preceding vehicle and the pilot vehicle through vehicle wireless communication. At this time, there is no need for the two communication modes to exist at the same time. After ensuring that the vehicle wireless communication is stable, the wireless communication between the first terminal device and the second terminal device can be turned off, thereby avoiding consumption and waste of resources while ensuring stable communication between vehicles.

[0028] In a possible implementation manner, the formation information includes: formation vehicle identifications and a formation information interaction period.

[0029] In this embodiment, the vehicles belonging to the formation can be driven correctly and orderly according to the formation information through the formation vehicle identification. At the same time, the formation information of each vehicle can be periodically received or sent through the formation information interaction cycle to ensure the real-time circulation and update of the formation information. According to the periodically flowing formation information, it can be monitored whether each vehicle is driving normally.

[0030] In a possible implementation manner, after determining whether there is a vehicle with abnormal communication in the convoy according to the convoy information, the method further includes:

[0031] Determining whether the vehicles with abnormal communication are all vehicles in the convoy;

[0032] If yes, a communication instruction is sent to each terminal device associated with each vehicle, wherein the communication instruction is used to instruct the terminal device to establish wireless communication with the preceding vehicle of the associated vehicle and the terminal device associated with the lead vehicle of the convoy of vehicles;

[0033] Sending information interaction instructions to terminal devices associated with each vehicle respectively, wherein the information interaction instructions are used to instruct the terminal devices to send formation information to the pilot vehicle through wireless communication;

[0034] After receiving the formation information sent by all terminal devices, the formation information is received or sent through wireless communication according to the formation information interaction period in the formation information.

[0035] In this embodiment, if the vehicle wireless communication of all vehicles in the formation vehicle is interrupted and the formation information cannot be received or sent, the pilot vehicle can send communication instructions to the terminal devices associated with each vehicle respectively, so that the terminal devices respectively establish wireless communication with the leading vehicle of the associated vehicle and the terminal devices associated with the pilot vehicle of the formation vehicle. After the base station wireless communication is established, each terminal device needs to send the formation information to the pilot vehicle by wireless communication to ensure that the pilot vehicle can perform normal wireless communication with the terminal devices corresponding to each vehicle and can receive the formation information sent by each vehicle by wireless communication. At the same time, each terminal device can also send the formation information of the formation vehicle associated with each other to the pilot vehicle, so that the pilot vehicle continues to control the normal driving of each vehicle according to the formation information. After receiving the formation information sent by all terminal devices, the pilot vehicle will continue to periodically receive or send the formation information by wireless communication to ensure that the formation information of each vehicle will be received or sent at the same time, and the periodicity and consistency of information reception or sending are ensured. Through such a setting, the wireless communication of all vehicles in the platoon is interrupted, and the leading vehicle can also exchange information with the following vehicles normally through wireless communication, normally receive or send platoon information, and ensure the normal driving of the platoon vehicles. By increasing the wireless communication between vehicles, the stability of communication during the driving of the platoon vehicles can be improved, avoiding driving hazards caused by unstable communication between vehicles.

[0036] In a second aspect, the present application provides a platoon vehicle control device, comprising:

[0037] An information acquisition module, used to acquire the vehicle formation information during the driving process of the vehicle formation;

[0038] An abnormality judgment module, used for judging whether there is a vehicle with abnormal communication in the formation vehicles according to the formation information;

[0039] A communication change module is used to send communication information to a first terminal device associated with a vehicle with abnormal communication when there is one. The communication information is used to instruct the first terminal device to establish wireless communication with the second terminal devices respectively associated with the preceding vehicle of the vehicle with abnormal communication and the leading vehicle of the formation vehicle to receive or send the formation information.

[0040] In a possible implementation manner, the vehicle control device is used to implement the method in any possible implementation manner of the first aspect described above.

[0041] In a third aspect, the present application provides a platoon vehicle control device, comprising: a processor, and a memory communicatively connected to the processor;

[0042] The memory stores computer-executable instructions;

[0043] The processor executes the computer-executable instructions stored in the memory to implement the above method.

[0044] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the above-mentioned method when executed by a processor.

[0045] In a fifth aspect, the present application provides a computer program product, including a computer program, which implements the above method when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a communication schematic diagram of platoon vehicles in the prior art;

[0047] Figure 2 A system architecture diagram of an embodiment of the present application;

[0048] Figure 3 A flowchart of a platoon vehicle control method according to an embodiment of the present application;

[0049] Figure 4 A flowchart of a platoon vehicle control method according to another embodiment of the present application;

[0050] Figure 5 This is a schematic structural diagram of a platoon vehicle control device according to an embodiment of the present application;

[0051] Figure 6 This is a schematic diagram of the structure of a platoon vehicle control device according to an embodiment of the present application.

[0052] Figure numerals: 1, pilot vehicle; 21, first follower vehicle; 22, second follower vehicle; 31, first terminal device associated with the second follower vehicle; 32, second terminal device associated with the first follower vehicle; 33, second terminal device associated with the pilot vehicle; 4, base station; 51, information acquisition module; 52, abnormality judgment module; 53, communication change module. DETAILED DESCRIPTION

[0053] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0054] First, the nouns involved in this application are explained exemplarily:

[0055] Vehicle-to-vehicle wireless communication refers to the communication between vehicles through V2V communication technology. V2V communication technology is a communication technology that is not limited to fixed base stations and provides direct end-to-end wireless communication for moving vehicles. Through V2V communication technology, vehicle terminals directly exchange wireless information with each other without forwarding through base stations.

[0056] Base station wireless communication refers to the communication technology that is limited by fixed base stations. When terminals exchange wireless information, it needs to be forwarded through the base station. After a terminal sends out wireless information, it can only reach another terminal after being forwarded by a fixed base station.

[0057] The platoon vehicle control method of the present application can be applied to scenarios such as ports, highways, logistics, mines, closed parks, or urban traffic, or scenarios involving coordinated autonomous driving of platoon vehicles, and the platoon vehicle control method of the present application can be applied.

[0058] During the driving process of the platoon vehicles, each vehicle communicates with each other through V2V (Vehicle-to-Vehicle) communication technology. Therefore, smooth V2V communication is particularly important for the normal driving of the platoon vehicles.

[0059] Figure 1 It is a communication diagram of platoon vehicles in the prior art, such as Figure 1 As shown, during the driving process of the platoon vehicles, the lead vehicle 1 sends the platoon driving information to each following vehicle 2 by V2V vehicle-to-vehicle communication. At the same time, each following vehicle 2 will also communicate with the corresponding preceding vehicle and the lead vehicle 1 by V2V vehicle-to-vehicle communication to exchange the platoon information, thereby ensuring the normal driving of the platoon vehicles.

[0060] However, V2V communication mainly relies on the vehicle communication module installed on the vehicle. When the software or hardware of the vehicle communication module has problems, the V2V communication between vehicles will also be interrupted, affecting the normal driving of the platoon vehicles and even causing driving danger. In addition, V2V communication is also affected by the environment. When the platoon vehicles drive into scenes such as tunnels, the V2V signal is usually poor, which will also affect the normal driving of the platoon vehicles.

[0061] The formation vehicle control method provided in the present application is intended to solve the above technical problems. On the basis of the existing communication between formation vehicles through V2V signals, this method also adds an alternative communication method for communication between formation vehicles through base stations. During the driving of the formation vehicles, the pilot vehicle can periodically obtain the formation information sent by each vehicle through vehicle wireless communication. If the pilot vehicle finds that the information sent by a certain vehicle in a certain period is abnormal, the vehicle may have a V2V vehicle wireless communication failure and cannot communicate with the vehicle in front of the vehicle and the pilot vehicle. The vehicle is a communication abnormal vehicle. In order to ensure the normal sending and receiving of the vehicle formation information and avoid driving hazards caused by V2V vehicle wireless communication failures, the pilot vehicle can send communication information to the first terminal device associated with the communication abnormal vehicle to instruct the first terminal to establish base station wireless communication with the second terminal devices associated with the vehicle in front of the communication abnormal vehicle and the pilot vehicle of the formation vehicle. Through such a setting, the vehicle with communication abnormality can continue to exchange information with the preceding vehicle and the lead vehicle through base station wireless communication when the vehicle wireless communication fails, so as to normally receive or send formation information and ensure the normal driving of the formation vehicles. By increasing the base station wireless communication between vehicles, the communication stability of the formation vehicles during driving can be improved, avoiding driving hazards caused by unstable communication between vehicles.

[0062] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0063] Figure 21 is a system architecture diagram of an embodiment of the present application, 1 represents a pilot vehicle, 21 represents a first following vehicle, 22 represents a second following vehicle, 31 represents a first terminal device associated with the second following vehicle, 32 represents a second terminal device associated with the first following vehicle, 33 represents a second terminal device associated with the pilot vehicle, and 4 represents a base station. During the driving process of the platoon vehicles, if the pilot vehicle 1 finds that it has not received the platoon information sent by the second following vehicle 22 in a certain period, then the second following vehicle 22 is a vehicle with abnormal communication. The pilot vehicle 1 sends communication information to the first terminal device 31 associated with the second following vehicle 22. After receiving the communication information, the first terminal device 31 determines that the leading vehicle is the first following vehicle 21 according to the identifier of the second following vehicle 22 in the communication information. The first terminal device 31 respectively establishes base station wireless communication with the second terminal device 32 associated with the first following vehicle and the second terminal device 33 associated with the pilot vehicle through the base station 4. The first terminal device 31 sends the platoon information to the second terminal device 32 associated with the first following vehicle and the second terminal device 33 associated with the pilot vehicle through the base station 4 in the form of base station wireless communication. At the same time, the second terminal device 32 associated with the first following vehicle and the second terminal device 33 associated with the pilot vehicle send the formation information to the first terminal device 31 via the base station 4 in a base station wireless communication manner.

[0064] Embodiment 1

[0065] Figure 3 1 is a flow chart of a platoon vehicle control method provided by an embodiment of the present application. The execution subject of the platoon vehicle control method provided by the embodiment of the present application can be a pilot vehicle of the platoon vehicle or a cloud server. This embodiment uses the pilot vehicle of the platoon vehicle (hereinafter referred to as the pilot vehicle) as the execution subject to illustrate the platoon vehicle control method. Figure 3 As shown, the platoon vehicle control method may include the following steps:

[0066] S101: During the driving process of the platoon vehicles, the platoon information sent by the vehicles is obtained.

[0067] In this embodiment, the platoon vehicles may include a pilot vehicle located in front of the platoon to lead the platoon, and a follower vehicle following the pilot vehicle. The follower vehicle generally has no driver and follows the front vehicle / pilot vehicle in the platoon by automatic driving. In order to ensure the real-time reception and transmission of platoon information and improve the efficiency of information exchange, each vehicle receives or sends information through vehicle wireless communication (V2V communication).

[0068] During the driving process, in order to ensure the normal and safe driving of the platoon vehicles, the leading vehicle will periodically send the formation information to the following vehicles, and the following vehicles will also periodically send the formation information to the corresponding front vehicle and the leading vehicle. Each vehicle drives in an orderly manner according to the received formation information.

[0069] In this embodiment, when the execution subject of this application is a cloud server, the cloud server can receive the formation information uploaded periodically by the pilot vehicle, and periodically send the formation information to the pilot vehicle, so that the pilot vehicle periodically sends the formation information to the following vehicle. Of course, the cloud server can also receive the formation information uploaded by all the vehicles in the formation, and periodically send the formation information to all the vehicles in the formation.

[0070] In a possible implementation, the formation information may include: formation vehicle identification and formation information exchange period. In addition, the formation information may also include formation vehicle speed, vehicle spacing, acceleration and path information.

[0071] In this embodiment, the platoon vehicle speed may be the speed of the platoon vehicles, and the speed of each vehicle is generally the same. The inter-vehicle distance refers to the distance between each vehicle and the preceding vehicle. The acceleration refers to the current acceleration of the platoon vehicles during their travel, and the acceleration of each vehicle is generally the same. The path information refers to the current location of the platoon vehicles, and each vehicle is generally provided with an onboard map, and the path information may be the current location of each vehicle on the map.

[0072] The platoon vehicle identification refers to the unique identification of the platoon vehicles that make up the platoon, that is, the platoon vehicle identification can be used to determine whether the vehicle belongs to the platoon. The platoon vehicle identification can be a text identification, a digital identification, a graphic identification, or a QR code identification. Those skilled in the art can flexibly set it, and no limitation is made here.

[0073] The formation information interaction period refers to the period during which each vehicle sends or receives formation information. Exemplarily, the formation information interaction period may be 100 ms or 200 ms. Those skilled in the art may set the period flexibly without any limitation.

[0074] In this embodiment, the vehicles in the formation can be driven correctly and orderly according to the formation information through the formation vehicle speed, vehicle spacing, acceleration, path information and formation vehicle identification in the formation information. At the same time, the formation information of each vehicle can be periodically received or sent through the formation information interaction cycle in the formation information, so as to ensure the real-time circulation and update of the formation information, and whether each vehicle is driving normally can be monitored according to the periodically flowing formation information.

[0075] S102: Determine whether there is a vehicle with abnormal communication in the platoon according to the platoon information.

[0076] In this embodiment, the communication abnormal vehicle refers to a vehicle with V2V communication abnormality, that is, a vehicle that cannot receive or send information through the V2V communication method.

[0077] In a possible implementation, the above step S102 determines whether there is a vehicle with abnormal communication in the formation vehicles based on the formation information, and may include: determining whether there is fault information in the formation information, and if so, the vehicle corresponding to the fault information is a vehicle with abnormal communication, and the fault information is used to indicate that the communication signal of the vehicle's wireless communication method does not meet the preset conditions.

[0078] In this embodiment, the above fault information is only used to indicate that the communication signal of the vehicle wireless communication mode does not meet the preset conditions, that is, it is only information indicating that the vehicle V2V communication has a fault, and does not indicate other faults. Here, the communication signal of the vehicle wireless communication mode does not meet the preset conditions, which can mean that the communication signal of the vehicle wireless communication mode does not exist, or is less than a certain threshold. When the communication signal of the vehicle wireless communication mode does not meet the preset conditions, the vehicle will send fault information to the pilot vehicle.

[0079] For example, the driver can set corresponding fault information for faults of different reasons. When a V2V communication fault occurs in a vehicle, the terminal of the vehicle can send fault information corresponding to the V2V communication fault to the pilot vehicle. After receiving the fault information, the pilot vehicle can identify that the vehicle has a V2V communication fault and is a communication abnormal vehicle. The fault information can be text information, digital information, or graphic information. Those skilled in the art can flexibly set it, and no limitation is made here.

[0080] In this embodiment, when the software or hardware of the vehicle communication module installed on a certain vehicle fails, the V2V communication of the vehicle may fail, causing the vehicle to send fault information to the pilot vehicle. After the pilot vehicle receives the formation information of each vehicle, if it is found that a certain vehicle sends fault information instead of formation information, it can be considered that the vehicle is a communication abnormal vehicle. Therefore, by judging whether there is fault information representing that the vehicle has a V2V communication fault in the formation information, it can be simply and accurately determined whether there is a communication abnormal vehicle in the formation vehicles.

[0081] In another possible implementation, the above step S102 determines whether there is a vehicle with abnormal communication in the formation vehicles based on the formation information, and may also include: determining whether the formation information corresponding to all the formation vehicles is obtained based on the formation information, and if not, the vehicle for which the corresponding formation information is not obtained is a vehicle with abnormal communication.

[0082] In this embodiment, when the software or hardware of the vehicle communication module installed on a certain vehicle fails, the V2V communication of the vehicle may fail, resulting in the vehicle being unable to send messages to the pilot vehicle. In addition, when the vehicle travels to a tunnel or other scene, the V2V communication between vehicles will be disturbed, resulting in the vehicle being unable to send messages via V2V communication. Both of these methods will prevent the pilot vehicle from receiving the formation information sent by the vehicle. If the pilot vehicle finds that it has not received the formation information sent by a certain vehicle in a certain period, it can be considered that the vehicle is a vehicle with abnormal communication. Therefore, by judging whether the formation information corresponding to all the formation vehicles is obtained, it can be simply and accurately determined whether there are vehicles with abnormal communication in the formation vehicles.

[0083] In this embodiment, each vehicle will periodically send formation information to the lead vehicle. Therefore, by determining whether there is fault information in the formation information indicating that a V2V communication failure has occurred in the vehicle, or by determining whether the formation information corresponding to all the formation vehicles has been obtained, it is possible to simply and accurately determine whether there is a vehicle with abnormal communication in the formation vehicles.

[0084] S103: In the event of a vehicle with abnormal communication, communication information is sent to a first terminal device associated with the vehicle with abnormal communication, the communication information being used to instruct the first terminal device to establish wireless communication with the second terminal devices respectively associated with the preceding vehicle of the vehicle with abnormal communication and the leading vehicle of the convoy to receive or send convoy information.

[0085] In this embodiment, the first terminal device and the second terminal device may be vehicle-mounted terminal devices, or mobile terminal devices such as mobile phones and tablets, and are not limited here. When the first terminal device and the second terminal device are vehicle-mounted terminal devices, in order to ensure that base station wireless communication can be established between the first terminal device and the second terminal device, a SIM card or an eSIM card is provided on both the first terminal device and the second terminal device. When the first terminal device and the second terminal device are mobile terminal devices, the first terminal device and the second terminal device must be associated with corresponding vehicles respectively, that is, the first terminal device only receives or sends formation information of the associated vehicle.

[0086] In this embodiment, the wireless communication established between the first terminal and the second terminal device may be base station wireless communication, that is, a wireless communication method that needs to be forwarded by a base station. The base station may be a fixed base station or a mobile base station.

[0087] In one possible implementation, sending communication information to the first terminal device associated with the vehicle with communication abnormality in the above-mentioned step S103 may include: sending communication information to the first terminal device associated with the vehicle with communication abnormality, the communication information including the vehicle with communication abnormality identification and formation information, the communication information being specifically used to instruct the first terminal device to determine the preceding vehicle of the vehicle with communication abnormality according to the vehicle with communication abnormality identification, and to establish wireless communication with the second terminal devices respectively associated with the preceding vehicle and the lead vehicle of the formation vehicle to receive or send formation information.

[0088] In this embodiment, the communication information may include the communication abnormal vehicle identification and the formation information. After receiving the communication information, the first terminal device may first determine the preceding vehicle of the communication abnormal vehicle according to the communication abnormal vehicle identification, thereby determining the second terminal devices associated with the preceding vehicle and the leading vehicle. Afterwards, the first terminal device may establish base station wireless communication with the two second terminal devices respectively, send the formation information to the second terminal devices by means of base station wireless communication, and receive the formation information sent to the first terminal device by the second terminal device by means of base station wireless communication.

[0089] In this embodiment, the communication abnormal vehicle identification can be a text identification, a digital identification, a graphic identification, or a QR code identification. Those skilled in the art can flexibly set it without any limitation here.

[0090] In this embodiment, the platoon vehicles are formed in sequence according to the front and rear order. After the platoon is formed, the leading vehicle will obtain the identification of each vehicle and arrange the identification of each vehicle according to the position relationship of each vehicle in the queue to form an identification sequence, thereby determining the position of each following vehicle. Therefore, after determining the communication abnormal vehicle identification of the communication abnormal vehicle, the preceding vehicle of the communication abnormal vehicle can be accurately determined according to the identification sequence of the platoon vehicles.

[0091] In this embodiment, the communication abnormal vehicle identifier in the communication information can not only accurately determine the preceding vehicle of the communication abnormal vehicle, but also perform a secondary match with the communication abnormal vehicle associated with the first terminal device to determine that the vehicle associated with the first terminal device is indeed a communication abnormal vehicle, so that the first terminal device and the preceding vehicle of the communication abnormal vehicle can be correctly identified, thereby avoiding information sending errors and ensuring that correct base station wireless communication can be established between the first terminal device and the second terminal device, so as to normally receive or send formation information through base station wireless communication.

[0092] In one possible implementation, after sending communication information to the first terminal device associated with the vehicle with abnormal communication in the above step S103, it can include: obtaining the first formation information received by the second terminal device associated with the pilot vehicle; determining whether the first formation information is consistent with the second formation information sent by the vehicle with abnormal communication through vehicle wireless communication; if not, sending formation correction information to the first terminal device, the formation correction information being used to instruct the first terminal device to correct the first formation information according to the second formation information in the formation correction information.

[0093] In this embodiment, the above-mentioned correction of the first formation information according to the second formation information in the formation correction information may be to change the first formation information according to the second formation information. Of course, it is also possible to directly replace the first formation information with the second formation information, and there is no limitation here.

[0094] In this embodiment, after the first terminal device sends the first formation information to the second terminal device associated with the pilot vehicle through the base station wireless communication method, the first formation information can be compared with the second formation information previously sent by the vehicle with abnormal communication through the vehicle wireless communication method to determine whether the formation information exchanged between vehicles has changed after the communication method has changed. If the formation information has changed, the first formation information is corrected according to the second formation information. Through such a setting, it is possible to avoid changes in the formation information exchanged between vehicles after the communication method has changed, ensure the correctness of the formation information, and allow the formation vehicles to travel normally according to the correct formation information.

[0095] In one possible implementation, after sending communication information to the first terminal device associated with the vehicle with communication abnormality in the above step S103, it may also include: obtaining formation information sent by the vehicle with communication abnormality through vehicle wireless communication; when the formation information corresponding to the vehicle with communication abnormality is received or the formation information corresponding to the vehicle with communication abnormality is not fault information, sending a communication change instruction to the first terminal device after a preset time period, and the communication change instruction is used to instruct the first terminal device to close the base station wireless communication between the first terminal device and the second terminal device, and re-receive or send the formation information through vehicle wireless communication.

[0096] In this embodiment, the preset duration may be the duration corresponding to several cycles of the pilot vehicle receiving the formation information, that is, after receiving the formation information corresponding to the vehicle with abnormal communication or the formation information corresponding to the vehicle with abnormal communication is not fault information, the pilot vehicle continues to receive the formation information sent by the vehicle with abnormal communication through the vehicle wireless communication method. When the formation information sent by the vehicle with abnormal communication through the vehicle wireless communication method is normal for several cycles, it can be considered that the vehicle wireless communication of the vehicle with abnormal communication has returned to normal and remains stable.

[0097] In this embodiment, the pilot vehicle still periodically obtains the formation information sent by the vehicle with communication abnormality through the vehicle wireless communication method. Therefore, the formation information interaction cycle in the formation information sent or received by the vehicle with communication abnormality through the vehicle wireless communication method can be extended, and the frequency of information interaction between the pilot vehicle and the vehicle with communication abnormality through the vehicle wireless communication method can be reduced, thereby reducing resource consumption and waste while ensuring the existence of vehicle wireless communication between vehicles.

[0098] In this embodiment, while base station wireless communication is being performed between the first terminal device and the second terminal device, the vehicle with communication abnormality associated with the first terminal device still maintains vehicle wireless communication with the preceding vehicle and the pilot vehicle, that is, the pilot vehicle still periodically obtains the formation information sent by the vehicle with communication abnormality through vehicle wireless communication. If the pilot vehicle receives the formation information sent by the vehicle with communication abnormality through vehicle wireless communication, or receives normal formation information instead of fault information, it indicates that the vehicle wireless communication of the vehicle with communication abnormality has returned to normal, and information can be exchanged with the preceding vehicle and the pilot vehicle through vehicle wireless communication. At this time, there is no need for the two communication modes to exist at the same time. After ensuring that the vehicle wireless communication is stable, the base station wireless communication between the first terminal device and the second terminal device can be turned off, so as to avoid resource consumption and waste while ensuring stable communication between vehicles.

[0099] In this embodiment, on the basis of the existing communication between platoon vehicles through V2V signals, an alternative communication method for communicating between platoon vehicles through base stations is additionally added. During the driving process of the platoon vehicles, the pilot vehicle can obtain the platoon information sent by each vehicle through the vehicle wireless communication method. If the pilot vehicle finds that the information sent by a certain vehicle is abnormal, the vehicle may have a V2V vehicle wireless communication failure and cannot communicate with the vehicle in front of the vehicle and the pilot vehicle. The vehicle is a communication abnormality vehicle. In order to ensure the normal sending and receiving of the vehicle formation information and avoid driving hazards caused by V2V vehicle wireless communication failures, the pilot vehicle can send communication information to the first terminal device associated with the communication abnormal vehicle to instruct the first terminal to establish base station wireless communication with the second terminal devices associated with the vehicle in front of the communication abnormal vehicle and the pilot vehicle of the platoon vehicle. Through such a setting, the vehicle with communication abnormality can continue to exchange information with the preceding vehicle and the lead vehicle through base station wireless communication when the vehicle wireless communication fails, so as to normally receive or send formation information and ensure the normal driving of the formation vehicles. By increasing the base station wireless communication between vehicles, the communication stability of the formation vehicles during driving can be improved, avoiding driving hazards caused by unstable communication between vehicles.

[0100] When the platoon vehicles drive into a tunnel or other scene, due to the influence of the environment, the vehicle wireless communication of all vehicles in the platoon will be affected, and all vehicle V2V communication will be interrupted. At this time, all vehicles need to receive or send messages in the form of base station wireless communication. The following is a detailed description of the control process of the platoon vehicles in the scenario where the vehicle wireless communication of all vehicles in the platoon is interrupted by Example 2.

[0101] Embodiment 2

[0102] Figure 4 1 is a flow chart of a platoon vehicle control method provided by another embodiment of the present application. The execution subject of the platoon vehicle control method provided by the embodiment of the present application can be a pilot vehicle of the platoon vehicle, or a vehicle-mounted system of the pilot vehicle of the platoon vehicle. This embodiment describes the platoon vehicle control method with the pilot vehicle of the platoon vehicle (hereinafter referred to as the pilot vehicle) as the execution subject. Figure 4 As shown, the platoon vehicle control method may include the following steps:

[0103] S201: During the driving process of the platoon vehicles, periodically obtain the platoon information sent by each vehicle via vehicle wireless communication.

[0104] In this embodiment, the platoon vehicles may include a pilot vehicle located in front of the platoon to lead the platoon, and a follower vehicle following the pilot vehicle. The follower vehicle generally has no driver and follows the front vehicle / pilot vehicle in the platoon by automatic driving. In order to ensure the real-time reception and transmission of platoon information and improve the efficiency of information exchange, each vehicle receives or sends information through vehicle wireless communication (V2V communication).

[0105] During the driving process, in order to ensure the normal and safe driving of the platoon vehicles, the leading vehicle will periodically send the formation information to the following vehicles, and the following vehicles will also periodically send the formation information to the corresponding front vehicle and the leading vehicle. Each vehicle drives in an orderly manner according to the received formation information.

[0106] In a possible implementation, the above-mentioned formation information may include: formation vehicle speed, vehicle spacing, acceleration, path information, formation vehicle identification, and formation information interaction period.

[0107] The platoon vehicle identification refers to the unique identification of the platoon vehicles that make up the platoon, that is, the platoon vehicle identification can be used to determine whether the vehicle belongs to the platoon. The platoon vehicle identification can be a text identification, a digital identification, a graphic identification, or a QR code identification. Those skilled in the art can flexibly set it, and no limitation is made here.

[0108] The formation information interaction period refers to the period during which each vehicle sends or receives formation information. Exemplarily, the formation information interaction period may be 100 ms or 200 ms. Those skilled in the art may set the period flexibly without any limitation.

[0109] In this embodiment, the vehicles in the formation can be driven correctly and orderly according to the formation information through the formation vehicle speed, vehicle spacing, acceleration, path information and formation vehicle identification in the formation information. At the same time, the formation information of each vehicle can be periodically received or sent through the formation information interaction cycle in the formation information, so as to ensure the real-time circulation and update of the formation information, and whether each vehicle is driving normally can be monitored according to the periodically flowing formation information.

[0110] S202: Determine whether there is a vehicle with abnormal communication in the platoon according to the platoon information.

[0111] In this embodiment, the specific implementation method of determining whether there is a vehicle with abnormal communication in the convoy of vehicles is detailed in step S102 of the above embodiment 1, which will not be described in detail here.

[0112] S203: In the case where there are vehicles with abnormal communication, determine whether the vehicles with abnormal communication are all vehicles in the platoon.

[0113] In this embodiment, it is possible to determine whether the vehicles with abnormal communication are all vehicles in the convoy based on the identification of the vehicles with abnormal communication. Of course, it is also possible to determine by other methods, which are not limited here.

[0114] S204: When the vehicles with communication abnormalities are all vehicles in the convoy, a base station communication instruction is sent to the terminal device associated with each vehicle respectively. The base station communication instruction is used to instruct the terminal device to establish base station wireless communication with the terminal devices associated with the preceding vehicle of the associated vehicle and the leading vehicle of the convoy respectively.

[0115] In this embodiment, when the vehicles with communication abnormalities are all vehicles in the platoon, all vehicles in the platoon need to receive or send information in the form of base station wireless communication. Since the platoon vehicles only need to exchange information with their respective preceding vehicles and pilot vehicles, the terminal devices associated with each vehicle also only need to establish base station wireless communication with the terminal devices associated with the preceding vehicle of the associated vehicle and the pilot vehicle of the platoon.

[0116] S205: Sending information interaction instructions to the terminal device associated with each vehicle respectively, where the information interaction instructions are used to instruct the terminal device to send formation information to the pilot vehicle via base station wireless communication.

[0117] In this embodiment, after the base station wireless communication is established, each terminal device needs to send the formation information to the pilot vehicle through the base station wireless communication to ensure that the pilot vehicle can perform normal base station wireless communication with the terminal devices corresponding to each vehicle and can receive the formation information sent by each vehicle through the base station wireless communication. At the same time, each terminal device can also send the formation information of its associated formation vehicle to the pilot vehicle so that the pilot vehicle can continue to control the normal driving of each vehicle according to the formation information.

[0118] S206: After receiving the formation information sent by all the terminal devices, periodically receive or send the formation information through base station wireless communication according to the formation information interaction period in the formation information.

[0119] In this embodiment, the leading vehicle will continue to periodically receive or send formation information through base station wireless communication only after receiving the formation information sent by all terminal devices, ensuring that the formation information of each vehicle is received or sent at the same time, ensuring the periodicity and consistency of information reception or transmission.

[0120] S207: When the vehicle with communication abnormality is not all the vehicles in the convoy, base station communication information is sent to the first terminal device associated with the vehicle with communication abnormality, and the base station communication information is used to instruct the first terminal to establish base station wireless communication with the second terminal devices respectively associated with the preceding vehicle of the vehicle with communication abnormality and the leading vehicle of the convoy to receive or send convoy information.

[0121] In this embodiment, the specific implementation method of sending the base station communication information to the first terminal device associated with the vehicle with abnormal communication is detailed in step S103 of the above embodiment 1, which will not be repeated here.

[0122] In this embodiment, if the vehicle wireless communication of all vehicles in the formation vehicle is interrupted and the formation information cannot be received or sent, the pilot vehicle can send base station communication instructions to the terminal devices associated with each vehicle respectively, so that the terminal devices respectively establish base station wireless communication with the terminal devices associated with the preceding vehicle of the associated vehicle and the pilot vehicle of the formation vehicle. After the base station wireless communication is established, each terminal device needs to send the formation information to the pilot vehicle by means of base station wireless communication to ensure that the pilot vehicle can perform normal base station wireless communication with the terminal devices corresponding to each vehicle and can receive the formation information sent by each vehicle by means of base station wireless communication. At the same time, each terminal device can also send the formation information of the formation vehicle associated with each other to the pilot vehicle, so that the pilot vehicle continues to control the normal driving of each vehicle according to the formation information. After receiving the formation information sent by all terminal devices, the pilot vehicle will continue to periodically receive or send the formation information by means of base station wireless communication to ensure that the formation information of each vehicle will be received or sent at the same time, and the periodicity and consistency of information reception or transmission are ensured. Through such a setting, the vehicle wireless communication of all vehicles in the platoon is interrupted, and the leading vehicle can also normally exchange information with each following vehicle through base station wireless communication, normally receive or send formation information, and ensure the normal driving of the platoon vehicles. By increasing the base station wireless communication between vehicles, the stability of communication during the driving of the platoon vehicles can be improved, avoiding driving hazards caused by unstable communication between vehicles.

[0123] The following is an explanation of the platoon vehicle control method of the present application with reference to a specific embodiment.

[0124] Embodiment 3

[0125] In a specific embodiment, a driver cooperates with an automatic driver to drive 8 trucks from a departure point to a destination. The truck in which the driver is driving is the lead truck, and the other trucks are follower trucks to form a convoy. During the convoy driving process, the lead truck periodically sends the convoy information to the follower trucks, and the follower trucks also periodically send the convoy information to the corresponding front truck and the driver truck. After the convoy vehicle starts driving, the wireless communication of a follower truck is abnormal. The control process of the convoy vehicle is as follows:

[0126] In the first step, during the driving process of the platoon vehicles, the pilot vehicle periodically obtains the platoon information sent by each vehicle through vehicle wireless communication.

[0127] In the second step, the leading vehicle finds that it has not received the formation information sent by the third following vehicle in a certain period, and the third following vehicle is a communication abnormal vehicle.

[0128] In the third step, the leading vehicle sends communication information to the first mobile terminal associated with the third following vehicle. After receiving the communication information, the first mobile terminal determines that the leading vehicle is the second following vehicle according to the identifier of the third following vehicle in the communication information.

[0129] In the fourth step, the first mobile terminal establishes base station wireless communication with the second mobile terminals associated with the second following vehicle and the pilot vehicle respectively.

[0130] In the fifth step, the first mobile terminal sends the formation information to the second mobile terminals associated with the second following vehicle and the pilot vehicle respectively through base station wireless communication.

[0131] Step 6. While carrying out steps 3 to 5, the pilot vehicle continues to periodically obtain the formation information sent by the communication abnormal vehicle through vehicle wireless communication.

[0132] In the seventh step, the leading vehicle receives the formation information sent by the third following vehicle through vehicle wireless communication, and sends a communication change instruction to the first mobile terminal after three information exchange cycles. After receiving the communication change instruction, the first mobile terminal closes the base station wireless communication between the first mobile terminal and receives or sends the formation information again through vehicle wireless communication.

[0133] Embodiment 4

[0134] In a specific embodiment, a driver cooperates with an automatic driver to drive 8 trucks from a departure point to a destination. The truck in which the driver is driving is the pilot truck, and the other trucks are follower trucks to form a convoy. During the convoy driving process, the pilot truck periodically sends the convoy information to the follower trucks, and the follower trucks also periodically send the convoy information to the corresponding leading truck and the pilot truck. After the convoy vehicle starts driving, the vehicle wireless communication of all vehicles in the convoy is abnormal. The control process of the convoy vehicle is as follows:

[0135] In the first step, during the driving process of the platoon vehicles, the pilot vehicle periodically obtains the platoon information sent by each vehicle through vehicle wireless communication.

[0136] In the second step, the pilot vehicle finds that it has not received the formation information sent by all vehicles in a certain period and is unable to send messages, then all vehicles are communication abnormal vehicles.

[0137] In the third step, the pilot vehicle sends communication instructions to the mobile terminals associated with each following vehicle. After receiving the communication instructions, each mobile terminal establishes base station wireless communication with the preceding vehicle of the associated vehicle and the mobile terminals associated with the pilot vehicle.

[0138] In the fourth step, the pilot vehicle sends information interaction instructions to the mobile terminals associated with each vehicle through base station wireless communication. After receiving the information interaction instructions, the mobile terminals send formation information to the pilot vehicle through base station wireless communication.

[0139] In the fifth step, after receiving the formation information sent by all terminal devices, the leading vehicle sends the formation information to the mobile terminals associated with each vehicle through base station wireless communication, and then periodically receives or sends the formation information through base station wireless communication according to the formation information interaction cycle in the formation information.

[0140] Step 6: While performing steps 3 to 5, the leading vehicle continues to periodically obtain the formation information sent by each following vehicle through vehicle wireless communication.

[0141] In the seventh step, the lead vehicle receives the formation information sent by each follower through vehicle wireless communication, and sends a communication change instruction to each mobile terminal after three information exchange cycles. After the mobile terminal receives the communication change instruction, it closes the base station wireless communication between the leading vehicle and the mobile terminal associated with the associated vehicle and the lead vehicle, and receives or sends the formation information again through vehicle wireless communication.

[0142] Figure 5 FIG. 1 is a schematic diagram of the structure of a platoon vehicle control device according to an embodiment of the present application. Figure 5 As shown, the platoon vehicle control device includes: an information acquisition module 51, an abnormality judgment module 52 and a communication change module 53. The information acquisition module 51 is used to obtain the formation information sent by the vehicle during the driving of the platoon vehicle. The abnormality judgment module 52 is used to judge whether there is a vehicle with communication abnormality in the platoon vehicle based on the formation information. The communication change module 53 is used to send communication information to the first terminal device associated with the vehicle with communication abnormality when there is a vehicle with communication abnormality. The communication information is used to instruct the first terminal device to establish wireless communication with the second terminal device associated with the preceding vehicle of the vehicle with communication abnormality and the leading vehicle of the platoon vehicle to receive or send formation information. In one embodiment, the description of the specific functions implemented by the platoon vehicle control device can refer to steps S101-S103 in Example 1, which will not be repeated here.

[0143] Figure 6 FIG. 1 is a schematic diagram of the structure of a platoon vehicle control device according to an embodiment of the present application. Figure 6 As shown, the platoon vehicle control device includes: a processor 101, and a memory 102 that is communicatively connected to the processor 101; the memory 102 stores computer-executable instructions; the processor 101 executes the computer-executable instructions stored in the memory 102 to implement the steps of the platoon vehicle control method in the above-mentioned method embodiments.

[0144] The platoon vehicle control device may be independent or a part of the pilot vehicle, and the processor 101 and the memory 102 may adopt the existing hardware of the pilot vehicle.

[0145] In the above-mentioned formation vehicle control device, the memory 102 and the processor 101 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus connection. The memory 102 stores computer-executable instructions for implementing the data access control method, including at least one software function module that can be stored in the memory 102 in the form of software or firmware. The processor 101 executes various functional applications and data processing by running the software programs and modules stored in the memory 102.

[0146] The memory 102 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 102 is used to store programs, and the processor 101 executes the programs after receiving the execution instruction. Furthermore, the software programs and modules in the above-mentioned memory 102 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0147] The processor 101 may be an integrated circuit chip having the ability to process signals. The processor 101 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The methods, steps, and logic diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0148] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the steps of each method embodiment of the present application.

[0149] An embodiment of the present application further provides a computer program product, including a computer program, which implements the steps of each method embodiment of the present application when executed by a processor.

[0150] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary technical means in the art that are not disclosed in the present application.

[0151] It should be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A vehicle formation control method, characterized in that: include: During the driving process of the convoy of vehicles, obtaining the convoy information of the vehicles; Determining whether there is a vehicle with abnormal communication among the vehicles in the formation according to the formation information, wherein the vehicle with abnormal communication is a vehicle that cannot receive or send information through the V2V communication method; In the event of a vehicle with abnormal communication, communication information is sent to a first terminal device associated with the vehicle with abnormal communication, the communication information including an identification of the vehicle with abnormal communication and formation information, the communication information being used to instruct the first terminal device to determine the preceding vehicle of the vehicle with abnormal communication according to the identification of the vehicle with abnormal communication, and to establish wireless communication with the preceding vehicle of the vehicle with abnormal communication and the lead vehicle of the formation respectively, to receive or send the formation information.

2. The method according to claim 1, characterized in that The determining, according to the formation information, whether there is a vehicle with abnormal communication in the formation vehicles specifically includes: Determine whether there is fault information in the formation information, if so, the vehicle corresponding to the fault information is a communication abnormality vehicle, and the fault information is used to indicate that the communication signal of the vehicle wireless communication method does not meet the preset condition; or, It is determined whether the formation information corresponding to all the vehicles in the formation is obtained according to the formation information. If not, the vehicle that has not obtained the corresponding formation information is a communication abnormality vehicle.

3. The method according to claim 1, characterized in that After sending the communication information to the first terminal device associated with the vehicle with abnormal communication, the method further includes: Acquire first formation information received by a second terminal device associated with the pilot vehicle; Determining whether the first formation information is consistent with the second formation information sent by the communication abnormal vehicle through the vehicle wireless communication method; If not, formation correction information is sent to the first terminal device, where the formation correction information is used to instruct the first terminal device to correct the first formation information according to the second formation information in the formation correction information.

4. The method according to claim 3, characterized in that After sending the communication instruction to the first terminal device associated with the vehicle with abnormal communication, the method further includes: Acquire formation information sent by the vehicle with abnormal communication through vehicle wireless communication; When the formation information corresponding to the vehicle with communication abnormality is received or the formation information corresponding to the vehicle with communication abnormality is not fault information, a communication change instruction is sent to the first terminal device after a preset time period, and the communication change instruction is used to instruct the first terminal device to close the wireless communication between the first terminal device and the second terminal device, and to receive or send the formation information again via vehicle wireless communication.

5. The method according to any one of claims 1 to 4, characterized in that The formation information includes: formation vehicle identification and formation information interaction period.

6. The method according to claim 5, characterized in that After determining whether there is a vehicle with abnormal communication in the convoy according to the convoy information, the method further includes: Determining whether the vehicles with abnormal communication are all vehicles in the convoy; If yes, a communication instruction is sent to each terminal device associated with each vehicle, wherein the communication instruction is used to instruct the terminal device to establish wireless communication with the preceding vehicle of the associated vehicle and the terminal device associated with the lead vehicle of the convoy of vehicles; Sending information interaction instructions to terminal devices associated with each vehicle respectively, wherein the information interaction instructions are used to instruct the terminal devices to send formation information to the pilot vehicle through wireless communication; After receiving the formation information sent by all terminal devices, the formation information is received or sent through wireless communication according to the formation information interaction period in the formation information.

7. A platoon vehicle control device, comprising: An information acquisition module, used to acquire the vehicle formation information during the driving process of the vehicle formation; An abnormality judgment module, used for judging whether there is a vehicle with abnormal communication in the convoy according to the convoy information, wherein the vehicle with abnormal communication is a vehicle that cannot receive or send information through the V2V communication mode; A communication change module is used to send communication information to a first terminal device associated with a vehicle with abnormal communication when there is one, the communication information including an identification of the vehicle with abnormal communication and formation information, the communication information being used to instruct the first terminal device to determine the preceding vehicle of the vehicle with abnormal communication according to the identification of the vehicle with abnormal communication, and to establish wireless communication with the preceding vehicle of the vehicle with abnormal communication and the lead vehicle of the formation respectively, to receive or send the formation information.

8. A platoon vehicle control device, comprising a processor and a memory in communication with the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, characterized in that The computer program product stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

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