Vehicle Control Method, Device, Equipment and Storage Medium

Abstract

The embodiments of the present application provide a vehicle control method, device, equipment and storage medium, belonging to the technical field of cooperative driving. This method can be applied to scenarios such as ports, highways, logistics, mines, closed parks, or urban traffic. The method includes: obtaining the queue length of the vehicle formation; determining whether the queue length is greater than a preset length; in the case where the queue length is greater than the preset length, determining the number of target following vehicles in the vehicle formation that exceed the preset length; and performing formation control on the target following vehicles according to the number of target following vehicles. This method can ensure an appropriate formation length and the safety of formation driving.

Description

Technical Field

[0001] This application relates to the field of cooperative driving technology, and in particular, to a vehicle control method, device, equipment, and storage medium, which can be applied to scenarios such as ports, highways, logistics, mines, closed parks, or urban traffic. Background Art

[0002] With the emergence of diverse traffic demands, autonomous driving technology has gradually been more widely applied. Currently, a platooning of autonomous vehicles refers to a formation state in which multiple vehicles follow each other at a small vehicle distance based on the support of autonomous driving technology and V2V (Vehicle-to-Vehicle) vehicle networking technology.

[0003] The autonomous following technology, that is, in a vehicle queue (hereinafter simply referred to as a platoon), there is a lead vehicle driven by an operator (manual driving), and other vehicles follow the path of the lead vehicle and / or the preceding vehicle for autonomous driving. Using this autonomous following technology can effectively solve problems in various scenarios. For example, for short-distance movement of a large number of vehicles, using the autonomous following technology can reduce the demand for the number of drivers; and for short-distance multi-person transfer, using the autonomous following technology can increase the number of passengers carried with a limited number of vehicles, and the transport capacity is flexible. Usually, the following vehicle will perform autonomous driving control according to the driving parameters of its preceding vehicle and the leading vehicle to ensure the safe driving of the following vehicle during the autonomous following process.

[0004] However, in the formation driving of vehicles, how to ensure the safe driving of the vehicle formation is a problem that needs to be solved. Summary of the Invention

[0005] The embodiments of this application provide a vehicle control method, device, equipment, and storage medium to solve the problem of how to ensure the safe driving of a vehicle formation during the formation driving of vehicles.

[0006] In a first aspect, the embodiments of this application provide a vehicle control method, including: obtaining the queue length of the vehicle formation; determining whether the queue length is greater than a preset length; in the case where the queue length is greater than the preset length, determining the number of target following vehicles in the vehicle formation that exceed the preset length; and performing formation control on the target following vehicles according to the number of the target following vehicles.

[0007] In this embodiment, the queue length of the vehicle formation is obtained; it is determined whether the queue length is greater than a preset length; when the queue length is greater than the preset length, the number of target following vehicles exceeding the preset length in the vehicle formation is determined; and formation control is performed on the target following vehicles according to the number of target following vehicles. Thus, by controlling the length of the vehicle formation, the influence on the driving of surrounding vehicles in the traffic flow is reduced, the stability of the vehicle formation driving is improved, and the safety of the vehicle formation driving is ensured.

[0008] In some embodiments, the formation control of the target following vehicles according to the number of target following vehicles includes: if the number of target following vehicles is less than a preset number and the driving duration of the target following vehicles after exceeding the queue length is greater than a preset duration, a control instruction to exit the vehicle formation is sent to the target following vehicles to control the target following vehicles to exit the vehicle formation.

[0009] In this embodiment, when the number of target following vehicles is less than a preset number and the driving duration of the target following vehicles after exceeding the queue length is greater than a preset duration, a control instruction to exit the formation is sent to the target following vehicles to control the target following vehicles to exit the formation. This can timely remove the vehicles that may affect the driving of surrounding vehicles in the traffic flow, without affecting the driving of surrounding vehicles in the traffic flow, and without affecting the stability and safety of the vehicle formation driving.

[0010] In some embodiments, the formation control of the target following vehicles according to the number of target following vehicles includes: if the number of target following vehicles is greater than or equal to a preset number and the driving duration of the target following vehicles after exceeding the queue length is greater than a preset duration, a control instruction to disband the vehicle formation is sent to each vehicle in the formation to control each vehicle in the vehicle formation to exit the vehicle formation.

[0011] In this embodiment, when the number of target following vehicles is greater than or equal to a preset number and the driving duration of the target following vehicles after exceeding the queue length is greater than a preset duration, a control instruction to disband the formation is sent to the vehicles in the formation to control the vehicles in the formation to exit the formation. When the number of target following vehicles is greater than or equal to a preset number, it indicates that there are more unstable vehicles in the vehicle formation at this time, and the instability caused to the formation driving is greater. Therefore, the entire vehicle formation is disbanded, and the vehicles in the formation drive autonomously as single vehicles, with higher safety.

[0012] In some embodiments, the obtaining of the queue length of the vehicle formation includes: obtaining the length, number of following vehicles, and the distance between adjacent two vehicles in the vehicle formation; and determining the queue length of the vehicle formation according to the length, number of following vehicles, and the distance between adjacent two vehicles in the vehicle formation.

[0013] In this embodiment, the queue length of the vehicle formation is determined based on the length, quantity of the follower vehicles in the vehicle formation, and the distance between two adjacent vehicles. Since these three parameters, namely the length, quantity of the follower vehicles in the vehicle formation, and the distance between two adjacent vehicles, are all commonly used parameters during the driving of the vehicle formation and are easy to obtain, therefore, the queue length of the vehicle formation can be calculated quickly and simply.

[0014] In some embodiments, determining the quantity of target follower vehicles in the vehicle formation that exceed the preset length includes: determining the excess length based on the queue length of the vehicle formation and the preset length; and determining the quantity of target follower vehicles in the vehicle formation that exceed the preset length based on the excess length, the length of the follower vehicles in the vehicle formation, and the distance between two adjacent vehicles.

[0015] In this embodiment, based on the excess length, the length of the follower vehicles in the vehicle formation, and the distance between two adjacent vehicles, the quantity of target follower vehicles in the vehicle formation that exceed the preset length can be determined simply and conveniently.

[0016] In some embodiments, before obtaining the queue length of the vehicle formation, the method further includes: if a message that another vehicle outside the vehicle formation inserts into the vehicle formation is received, then adjusting the distance between two adjacent vehicles in the vehicle formation.

[0017] In this embodiment, when a message that another vehicle outside the vehicle formation inserts into the vehicle formation is received, the distance between two adjacent vehicles in the vehicle formation is adjusted. Since other vehicles outside the vehicle formation are unstable hidden dangers, therefore, when facing this unexpected situation, adjusting the distance between vehicles can ensure the safety of the vehicle formation.

[0018] In some embodiments, before obtaining the queue length of the vehicle formation, the method further includes: obtaining environmental information of the forward driving area; the environmental information includes weather information and the road surface humidity of the forward driving section, and the weather information is used to indicate whether the weather in the forward driving area is abnormal weather; if the weather information indicates that the weather in the forward driving area is abnormal weather and the road surface humidity of the forward driving section is less than the preset humidity, then adjusting the distance between two adjacent vehicles in the vehicle formation.

[0019] In this embodiment, when it is determined that the environment of the forward driving area is poor based on the environmental information of the forward driving area, the distance between two adjacent vehicles in the vehicle formation is adjusted, thereby ensuring the safety of the vehicle formation driving in a poor environment.

[0020] Second aspect, the present application provides a vehicle control device, including: an acquisition module configured to acquire the queue length of the vehicle formation; a determination module configured to determine whether the queue length is greater than a preset length; the determination module is further configured to, when the queue length is greater than the preset length, determine the number of target following vehicles in the vehicle formation that exceed the preset length; a control module configured to perform formation control on the target following vehicles according to the number of the target following vehicles.

[0021] In some embodiments, the vehicle control device is used to implement the method in any embodiment of the first aspect.

[0022] Third aspect, the present application provides an electronic device, including: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method as described in the first aspect and each embodiment of the first aspect.

[0023] Fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described in the first aspect and each embodiment of the first aspect.

[0024] Fifth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the method as described in the first aspect and each embodiment of the first aspect.

[0025] The vehicle control method, device, equipment and storage medium provided by the present application obtain the queue length of the vehicle formation; determine whether the queue length is greater than the preset length; when the queue length is greater than the preset length, determine the number of target following vehicles in the vehicle formation that exceed the preset length; and perform formation control on the target following vehicles according to the number of the target following vehicles. Thereby, by controlling the length of the vehicle formation, the influence on the driving of surrounding vehicles in the traffic flow is reduced, the stability of the vehicle formation driving is improved, and the safety of the vehicle formation driving is ensured. Description of the Drawings

[0026] Figure 1 It is a schematic diagram of the application scenario provided by the embodiment of the present application;

[0027] Figure 2 It is a flowchart of the vehicle control method provided by the embodiment of the present application;

[0028] Figure 3 It is an example diagram in which the queue length of the vehicle formation provided by the embodiment of the present application is less than the preset length;

[0029] Figure 4Schematic diagram of the queue length of a vehicle formation provided by an embodiment of the present application being greater than a preset length;

[0030] Figure 5 Schematic diagram of the queue length of a vehicle formation provided by an embodiment of the present application being greater than a preset length;

[0031] Figure 6 Schematic diagram of a queue length exceeding that of a vehicle formation provided by an embodiment of the present application;

[0032] Figure 7 Another schematic diagram of a queue length exceeding that of a vehicle formation provided by an embodiment of the present application;

[0033] Figure 8 Schematic diagram of the structure of a vehicle control device provided by an embodiment of the present application;

[0034] Figure 9 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0035] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0036] Forming a formation means arranging scattered transportation tools, etc. into a certain order or organizational form. For example, taking the vehicle at the head as the lead vehicle (pilot vehicle), other following vehicles are communicatively connected to the lead vehicle and change their driving control strategies at any time according to the operations of the lead vehicle, so as to achieve the effect of making the entire vehicle fleet drive in an automatic formation with a small vehicle distance, thereby saving fuel consumption, making the vehicles drive more efficiently, and achieving the effect of releasing more lanes and alleviating traffic pressure.

[0037] The formation driving is created by the lead vehicle, and after the formation is created, the lead vehicle sends vehicle driving parameters, such as vehicle speed, acceleration, inter-vehicle distance, etc., to each following vehicle in the formation. After receiving the vehicle driving parameters sent by the lead vehicle, the following vehicle will drive according to the vehicle driving parameters sent by the lead vehicle, that is, maintain the same vehicle speed and acceleration as the lead vehicle, and control the inter-vehicle distance between itself and the vehicle in front to be the inter-vehicle distance issued by the lead vehicle. That is, during the formation driving process, all vehicles in the formation drive at the same cruise vehicle speed and inter-vehicle distance, and the formation length remains in a stable state; when the formation length increases, it will also increase the instability of the formation and cause interference to the surrounding traffic vehicles.

[0038] During the platoon driving process, there may be many reasons to disband the platoon. Currently, mainly the lead vehicle determines whether to disband the platoon according to the trigger conditions. For example, in the case of dangerous working conditions, the lead vehicle will actively initiate the disbanding of the platoon so that the vehicles in the platoon can control their driving by themselves. Another way is that the following vehicle applies to withdraw from the platoon, and the platoon will be disbanded after the lead vehicle confirms it.

[0039] However, during platoon driving, the queue length of the platoon may also affect the normal driving of surrounding vehicles in the traffic flow, and may cause the platoon driving to be unstable and result in traffic accidents.

[0040] In view of the above technical problems, an embodiment of the present application provides a method, including: obtaining the queue length of the platoon during platoon driving, and determining whether to disband the platoon according to the queue length. If it is determined to disband the platoon according to the queue length, the platoon will be disbanded so that each vehicle in the platoon drives independently, so as to reduce the impact on the normal driving of surrounding vehicles in the traffic flow, ensure the safe driving of vehicles, and reduce the incidence of traffic accidents.

[0041] The following uses specific embodiments to elaborate in detail on the technical solution of the present application and how the technical solution of the present application solves the above technical problems. These specific embodiments below 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 with reference to the accompanying drawings.

[0042] Figure 1 It is a schematic diagram of the application scenario provided by the embodiment of the present application. As Figure 1 shown, the application scenario includes: a lead vehicle 11, at least one following vehicle 12, and a cloud 13;

[0043] Among them, the lead vehicle 11 can be an autonomous vehicle or a vehicle equipped with an Advanced Driving Assistance System (ADAS). This embodiment does not limit this.

[0044] Similarly, each of the at least one following vehicle 12 can be an autonomous vehicle or a vehicle equipped with an Advanced Driving Assistance System (ADAS). This embodiment does not limit this.

[0045] The cloud 13 can be a cloud platform or a cloud server.

[0046] The leading vehicle 11 and at least one following vehicle 12 form a formation, and any two vehicles in the formation can communicate. Optionally, they can communicate via V2V or via a Road Side Unit (RSU). The leading vehicle exchanges information with each following vehicle, and this information includes the vehicle's position, distance, speed, acceleration, etc.

[0047] Based on Figure 1 the application scenario shown, the present application also provides a vehicle control method. Figure 2 It is a flowchart of the vehicle control method provided by an embodiment of the present application. As Figure 2 shown, the vehicle control method includes the following steps:

[0048] S201. Obtain the queue length of the vehicle formation.

[0049] The execution subject of this embodiment can be the leading vehicle or the cloud, and this embodiment does not limit this.

[0050] Before step S201, any vehicle on the road (hereinafter referred to as the first vehicle) can broadcast information about creating a formation. When other vehicles on the road (hereinafter referred to as the second vehicle) receive the message of creating a formation broadcast by the first vehicle, they can send a formation joining request to the first vehicle. When the first vehicle determines that the second vehicle can join the formation, it returns a message indicating that it can join the formation to the first vehicle. The second vehicle then joins the formation created by the first vehicle. In the formation, the first vehicle is the leading vehicle and the second vehicle is the following vehicle.

[0051] After the vehicle formation is created, the leading vehicle guides the following vehicles to drive according to the driving information of the leading vehicle. The following vehicles drive according to the same driving parameters as the leading vehicle, such as vehicle speed and acceleration, and maintain a certain distance from the following vehicle or the leading vehicle in front.

[0052] When the vehicle formation is driving, there may be some situations that cause the queue length of the vehicle formation to change. Once the queue length of the vehicle formation changes, it may affect the normal driving of surrounding vehicles in the traffic flow. Therefore, in order to ensure the normal driving of surrounding vehicles in the traffic flow, this embodiment needs to obtain the queue length of the vehicle formation and control the queue length of the vehicle formation or dissolve the formation according to the queue length of the vehicle formation, thereby ensuring traffic safety.

[0053] Optionally, obtaining the queue length of the vehicle formation includes:

[0054] Step a1. Obtain the length, quantity of following vehicles in the vehicle formation, and the distance between adjacent two vehicles.

[0055] The distance between adjacent vehicles can be the distance between the leading vehicle and the immediately following vehicle behind it, or the distance between two immediately adjacent following vehicles.

[0056] Step a2: Determine the queue length of the vehicle formation according to the lengths, quantities of the following vehicles in the vehicle formation, and the distance between adjacent two vehicles.

[0057] Optionally, step a2 includes: If all the vehicles in the vehicle formation are of the same type, then add the product of the length of each vehicle in the vehicle formation and the quantity of all the vehicles in the vehicle formation, and the product of the quantity of the following vehicles in the vehicle formation and the vehicle distance, to obtain the queue length of the vehicle formation; If there are some vehicles in the vehicle formation whose types are different from the type of the leading vehicle, then add the sum of the lengths of all the vehicles in the vehicle formation, and the product of the quantity of the following vehicles in the formation and the vehicle distance, to obtain the queue length of the formation.

[0058] It should be understood that when there are some vehicles in the vehicle formation whose types are different from the type of the leading vehicle, the distance between adjacent two vehicles in the vehicle formation should be the same.

[0059] In this embodiment, it can be the leading vehicle that obtains the lengths, quantities of the following vehicles in the vehicle formation, and the distance between adjacent two vehicles. Specifically, when the leading vehicle creates a vehicle formation, it will receive a request from the second vehicle to join the vehicle formation, and send a message to the second vehicle confirming that it can join the vehicle formation. At the same time, the leading vehicle will send the vehicle distance to each following vehicle, and record the vehicle distance and the quantity of the following vehicles that join the vehicle formation.

[0060] All the vehicles in the vehicle formation may be of the same type or may be of different types. If all the vehicles in the vehicle formation are of the same type and vehicle parameters, it means that the length of each vehicle is the same; on the contrary, if all the vehicles in the vehicle formation are not completely the same in type or vehicle parameters, it means that the length of each vehicle may be different.

[0061] It is worth noting that when the vehicle types are the same but the vehicle parameters are different, the lengths of the vehicles may be different. For example, the types of two vehicles are both trucks. The number of axles in the vehicle parameters of one truck is 2 axles, and the number of axles in the vehicle parameters of the other truck is 3 axles. Then the lengths of the two trucks are different.

[0062] For the case where all the vehicles in the vehicle formation are of the same type, the following formula (1) can be used to calculate the queue length of the vehicle formation:

[0063] L = L1 * N+(N - 1) * L2; (1)

[0064] In formula (1), L represents the queue length of the vehicle formation, L1 represents the length of each vehicle in the vehicle formation, N represents the total number of the leading vehicle and all following vehicles in the vehicle formation, and L2 represents the distance between two adjacent vehicles in the vehicle formation.

[0065] For the case where the types of all vehicles in the vehicle formation are not completely the same and the distance between two adjacent vehicles is the same, the following formula (2) can be used to calculate the queue length of the vehicle formation:

[0066]

[0067] In formula (2), L represents the queue length of the vehicle formation, Li represents the length of the vehicle numbered i, N represents the total number of the leading vehicle and all following vehicles in the vehicle formation, and L2 represents the distance between two adjacent vehicles in the vehicle formation.

[0068] Optionally, when the types of all vehicles in the same vehicle formation are different, since the response characteristics of different types of vehicles are different, in order to ensure the safe driving of different types of vehicles, the distance between two adjacent vehicles can be different. In this case, the sum of the lengths of all vehicles in the vehicle formation is added to the sum of all the inter-vehicle distances to obtain the queue length of the vehicle formation.

[0069] It should be noted that, in order to ensure the stability of the formation and safe driving, the types of all vehicles in the same formation should be the same, and the vehicle parameters should also be the same. However, this does not mean that the types of all vehicles in the formation must be the same, and the vehicle parameters must also be the same.

[0070] S202. Determine whether the queue length is greater than the preset length.

[0071] S203. In the case where the queue length is greater than the preset length, determine the number of target following vehicles in the vehicle formation that exceed the preset length.

[0072] Optionally, if the queue length is less than or equal to the preset length, no processing is performed. Among them, when the queue length is less than or equal to the preset length, it indicates that there is no following vehicle causing the queue length of the vehicle formation to exceed the preset length, and the vehicle formation can continue to drive according to the current vehicle formation.

[0073] Among them, the preset length can be the maximum reliable communication distance of the leading vehicle, denoted as L3.

[0074] In some alternative embodiments, the cloud can also store a table of the correspondence between weather information and the preset length, and determine the preset length of the vehicle formation in real time according to the weather information at the current location of the leading vehicle and the correspondence between the weather information and the preset length; and send the preset length of the vehicle formation to the leading vehicle.

[0075] Figure 3 This is an example diagram of the queue length of a vehicle formation provided by an embodiment of the present application being less than a preset length. As Figure 3 shown, if L ≤ L3, it means that the queue length of the vehicle formation is within the maximum reliable communication distance of the leading vehicle. There are no following vehicles in the vehicle formation that exceed the preset length. The current formation length can ensure communication between the leading vehicle and each following vehicle, and will not affect the normal driving of surrounding vehicles in the traffic flow, and the formation driving is stable.

[0076] Figure 4 This is an example diagram of the queue length of a vehicle formation provided by an embodiment of the present application being greater than a preset length. Figure 5 This is an example diagram of the queue length of a vehicle formation provided by an embodiment of the present application being greater than a preset length. As Figure 4 、 Figure 5 shown, if L > L3, it means that the queue length of the vehicle formation exceeds the maximum reliable communication distance of the leading vehicle. There are following vehicles in the vehicle formation that exceed the preset length. The current formation length may not be able to ensure communication between the leading vehicle and each following vehicle, and may affect the normal driving of surrounding vehicles in the traffic flow, and the vehicle formation driving is unstable.

[0077] Optionally, determining the number of target following vehicles in the vehicle formation that exceed the preset length includes:

[0078] Step b1: Determine the excess length according to the queue length and the preset length.

[0079] Specifically, step b1 determines the excess length according to the difference between the queue length and the preset length. That is, the excess length L' = L - L3.

[0080] Step b2: Determine the number of target following vehicles in the vehicle formation that exceed the preset length according to the excess length, the length of the following vehicle, and the distance between adjacent following vehicles.

[0081] Optionally, step b2 can be expressed as the following formula (3):

[0082] L' = L1 * N' + (N' - 1) * L2; (3)

[0083] In formula (3), L' represents the excess length, N' represents the number of target following vehicles in the vehicle formation that exceed the preset length, L1 represents the length of each vehicle in the vehicle formation, and L2 represents the distance between adjacent vehicles in the vehicle formation.

[0084] According to the above formula (3), the number of target following vehicles in the vehicle formation that exceed the preset length can be calculated.

[0085] S204. Perform formation control on the target following vehicles according to the number of the target following vehicles.

[0086] In an optional implementation manner, performing formation control on the target following vehicles according to the number of the target following vehicles includes:

[0087] If the number of the target following vehicles is less than a preset number, and the driving duration of the target following vehicles after exceeding the queue length is greater than a preset duration, send a control instruction for exiting the formation to the target following vehicles to control the target following vehicles to exit the vehicle formation.

[0088] Optionally, the preset number can be set to 2. It should be understood that those skilled in the art can set the preset number according to actual needs, and the embodiment does not limit the value of the preset number.

[0089] To ensure the stability and safe driving of the vehicle formation, the vehicles in the vehicle formation all travel at the same vehicle speed and acceleration. Any vehicle in the vehicle formation takes the vehicle speed of the following vehicle or the leading vehicle in front as a reference. When any following vehicle in the vehicle formation decelerates or increases the distance from the following vehicle or the leading vehicle in front due to some reasons, the other following vehicles behind this following vehicle will also decelerate. When this following vehicle decelerates, it will cause the distance between this following vehicle and the following vehicle or the leading vehicle in front to increase, thereby causing a change in the queue length of the vehicle formation.

[0090] Alternatively, the cloud can also adjust the preset length of the vehicle formation according to the weather information at the current position of the leading vehicle and the corresponding relationship between the weather information and the preset length; and send the adjusted preset length of the vehicle formation to the leading vehicle.

[0091] When the cloud detects that the weather information at the current position of the leading vehicle is abnormal weather, the preset length of the vehicle formation can be reduced to ensure the safety of the vehicle formation during driving.

[0092] The above factors will all cause a change in the queue length of the vehicle formation.

[0093] Figure 6 This is an example diagram of a vehicle formation exceeding the queue length provided by the embodiment of the present application. As Figure 6 shown, when only one following vehicle at the end of the queue exceeds the preset length due to the above factors, since the number of following vehicles exceeding the preset length is small and the impact on the safety of formation driving is small, the method of allowing the following vehicle at the end of the queue to exit the formation can be adopted to ensure the safety of formation driving.

[0094] To avoid the situation where a following vehicle exceeding the preset length may be caused by accidental factors and its position exceeds the preset length of the formation, it is also possible to further determine whether the following vehicle needs to exit the formation by the duration for which the following vehicle exceeding the preset length maintains its current state after exceeding the preset length. Among them, the preset duration can be set to T, for example, 10s. When the queue length exceeds the preset length, the leading vehicle needs to continuously confirm that the target following vehicle still remains in the position exceeding the preset length within T (such as 10s) before sending a control command to the target following vehicle to exit the vehicle formation, so as to avoid interference caused by temporary adjustment of the position of the following vehicle.

[0095] In another alternative implementation, the formation control of the target following vehicle is performed according to the number of target following vehicles, including:

[0096] If the number of target following vehicles is greater than or equal to the preset number, and the driving duration of the target following vehicle after exceeding the queue length is greater than the preset duration, a control command to dissolve the formation is sent to each vehicle in the formation to control each vehicle in the formation to exit the vehicle formation.

[0097] Figure 7 Another schematic diagram of the queue length exceeding the vehicle formation provided by the embodiments of the present application. As Figure 7 shown, when multiple following vehicles exceed the preset length due to the above factors, since the number of following vehicles exceeding the preset length is large, which has a great impact on the safety of formation driving, the formation can be dissolved to ensure the safety of formation driving.

[0098] The above embodiments introduce a solution in which the cloud adjusts the preset length of a vehicle platoon according to weather information, resulting in some following vehicles in the vehicle platoon exceeding the preset length, and the length of the vehicle platoon needs to be controlled. In some scenarios, when a vehicle platoon is traveling, there may be a situation where other vehicles outside the vehicle platoon suddenly cut into the platoon. When a following vehicle detects that another vehicle suddenly switches in front, it will obtain the status information of the other vehicle and send it to the lead vehicle. Since the fact that other vehicles cut into the platoon already poses a potential factor for the instability of the platoon, when this situation causes the queue length of the vehicle platoon to exceed the preset length, it can be determined as an unstable factor, and vehicle platoon control is required to ensure safe driving. Specifically, after receiving the message that other vehicles have cut into the platoon, the lead vehicle will allocate a new inter-vehicle distance to all following vehicles behind the other vehicle. To ensure safe driving, the new inter-vehicle distance needs to be greater than the inter-vehicle distance before the other vehicle cut into the vehicle platoon. Since the increase in the inter-vehicle distance will also cause the queue length of the vehicle platoon to increase. Therefore, to avoid traffic safety problems caused by an overly large queue length of the vehicle platoon. This embodiment can also, after adjusting the new inter-vehicle distance, re-obtain the new queue length, and determine whether the new queue length is greater than the preset length, and when it is determined that the new queue length is greater than the preset length, determine the number of target following vehicles exceeding the preset length, and perform platoon control according to the number of target following vehicles. Among them, when the lead vehicle determines that the new queue length is greater than the preset length, the specific implementation manner of determining the number of target following vehicles exceeding the preset length and performing platoon control according to the number of target following vehicles can refer to the introduction of the foregoing embodiments, and this embodiment will not be elaborated here.

[0099] In some other scenarios, when a vehicle platoon is traveling, the lead vehicle will also detect the environmental information of the front driving area in real time. Optionally, the lead vehicle can obtain the environmental information of the front driving area from the cloud, or can obtain the environmental information of the front driving area through sensors installed on the vehicle. This embodiment does not limit this. Among them, the environmental information includes weather information and the road surface humidity of the front driving section. The weather information is used to indicate whether the weather in the front driving area is abnormal weather; if the weather information indicates that the weather in the front driving area is abnormal weather and the road surface humidity of the front driving section is less than the preset humidity, the inter-vehicle distance between two adjacent following vehicles in the vehicle platoon is adjusted.

[0100] Exemplarily, when the lead vehicle obtains that the weather information of the front driving area is bad weather such as rain, snow, fog, strong wind, etc., the lead vehicle immediately adjusts the platoon control strategy. The platoon control strategy includes: reducing the cruising speed or maintaining the vehicle speed but increasing the inter-vehicle distance. Specifically, the platoon control strategy adopted can be determined according to at least the following two methods:

[0101] If the weather information indicates that the weather in the forward driving area is normal weather and the road surface humidity of the forward driving section is greater than or equal to the preset humidity, the driving speed of the vehicle formation is adjusted. Among them, adjusting the driving speed of the vehicle formation means that the leading vehicle adjusts its own driving speed and sends the adjusted driving speed to each following vehicle in the vehicle formation to control each following vehicle in the vehicle formation to adjust its driving speed, so that the entire vehicle formation maintains the same driving speed, achieving the effect of stable driving of the vehicle formation and improving the driving safety of the vehicle formation.

[0102] If the weather information indicates that the weather in the forward driving area is abnormal weather and the road surface humidity of the forward driving section is less than the preset humidity, the distance between two adjacent following vehicles in the vehicle formation is adjusted.

[0103] When the leading vehicle sends the information of increasing the vehicle distance to the following vehicle, the following vehicle maintains a new vehicle distance from the following vehicle or the leading vehicle in front. Since the vehicle distance between two adjacent vehicles increases, it will cause an increase in the queue length of the vehicle formation, leading to potential safety hazards. Therefore, in this embodiment, after adjusting the new vehicle distance, the new queue length of the formation can be obtained again, and it is determined whether the new queue length is greater than the preset length. And when it is determined that the new queue length is greater than the preset length, the number of target following vehicles exceeding the preset length in the vehicle formation is determined, and the following vehicles in the vehicle formation are controlled for formation according to the number of target following vehicles. Among them, when the leading vehicle determines that the new queue length is greater than the preset length, the specific implementation of determining the number of target following vehicles exceeding the preset length and performing formation control according to the number of target following vehicles can refer to the introduction of the foregoing embodiments, and this embodiment will not be elaborated here.

[0104] The vehicle control method of this embodiment realizes controlling the length of the vehicle formation, reducing the impact on the driving of surrounding vehicles in the traffic flow, improving the stability of the vehicle formation driving, and ensuring the driving safety of the vehicle formation by obtaining the queue length of the vehicle formation; determining whether the queue length is greater than the preset length; in the case where the queue length is greater than the preset length, determining the number of target following vehicles exceeding the preset length in the vehicle formation; and performing formation control on the target following vehicles according to the number of target following vehicles.

[0105] Based on the above method embodiments, Figure 8 is a schematic structural diagram of the vehicle control device provided by the embodiment of the present application. As Figure 8As shown in the figure, the vehicle control device includes: an acquisition module 81, a determination module 82, and a control module 83; wherein, the acquisition module 81 is configured to acquire the queue length of the vehicle formation; the determination module 82 is configured to determine whether the queue length is greater than a preset length; the determination module 82 is further configured to, when the queue length is greater than the preset length, determine the number of target following vehicles in the vehicle formation that exceed the preset length; the control module 83 is configured to perform formation control on the target following vehicles according to the number of the target following vehicles.

[0106] In some embodiments, the control module 83 performs formation control on the target following vehicles according to the number of the target following vehicles, which specifically includes: if the number of the target following vehicles is less than a preset number, and the driving duration of the target following vehicles after exceeding the queue length is greater than a preset duration, then send a control instruction to the target following vehicles to exit the vehicle formation, so as to control the target following vehicles to exit the vehicle formation.

[0107] In some embodiments, the control module 83 performs formation control on the target following vehicles according to the number of the target following vehicles, which specifically includes: if the number of the target following vehicles is greater than or equal to the preset number, and the driving duration of the target following vehicles after exceeding the queue length is greater than a preset duration, then send a control instruction to dissolve the vehicle formation to each vehicle in the formation, so as to control each vehicle in the vehicle formation to exit the vehicle formation.

[0108] In some embodiments, the acquisition module 81 acquires the queue length of the vehicle formation, including: acquiring the lengths, quantities of the following vehicles in the vehicle formation, and the vehicle spacing between two adjacent vehicles; and determining the queue length of the vehicle formation according to the lengths, quantities of the following vehicles in the vehicle formation, and the vehicle spacing between two adjacent vehicles.

[0109] In some embodiments, the determination module 82 determines the number of target following vehicles in the vehicle formation that exceed the preset length, including: determining the excess length according to the queue length and the preset length; and determining the number of target following vehicles in the vehicle formation that exceed the preset length according to the excess length, the length of the following vehicle, and the vehicle spacing between two adjacent vehicles.

[0110] In some embodiments, the device further includes: an adjustment module 84, which is configured to perform the following steps: if a message that another vehicle outside the vehicle formation inserts into the vehicle formation is received, then adjust the vehicle spacing between two adjacent vehicles in the vehicle formation.

[0111] In some embodiments, the device further includes an adjustment module 84; an acquisition module 81 for acquiring environmental information of the forward driving area; the environmental information includes weather information and the road surface humidity of the forward driving section, and the weather information is used to indicate whether the weather in the forward driving area is abnormal weather; the adjustment module 84 is further configured to perform the following steps: if the weather information indicates that the weather in the forward driving area is abnormal weather and the road surface humidity of the forward driving section is less than a preset humidity, adjust the distance between two adjacent vehicles in the vehicle formation.

[0112] The vehicle control device provided by the embodiments of the present application can be used to execute the technical solutions of the vehicle control method in the above embodiments, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0113] It should be noted that it should be understood that the division of each module of the above device is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. And these modules can all be implemented in the form of software called by a processing element; they can also all be implemented in the form of hardware; or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, the control module 83 can be a separately established processing element, or can be integrated in a certain chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a certain processing element of the above device to perform the functions of the above control module 83. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together or can be independently implemented. Here, the processing element can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the integrated logic circuit in the hardware of the processor element or the instructions in the form of software.

[0114] Figure 9 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 9 shown, the electronic device may include a transceiver 91, a processor 92, and a memory 93.

[0115] The processor 92 executes the computer execution instructions stored in the memory, so that the processor 92 executes the solutions in the above embodiments. The processor 92 can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application specific integrated circuit ASIC, a field programmable gate array FPGA, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0116] The memory 93 is connected to the processor 92 through the system bus and completes the communication therebetween. The memory 93 is used to store computer program instructions.

[0117] The transceiver 91 can be used for communication between the leading vehicle and the following vehicle.

[0118] The system bus can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus. The transceiver is used to implement the communication between the database access device and other computers (such as clients, read-write libraries, and read-only libraries). The memory may include a random access memory (RAM), and may also include a non-volatile memory.

[0119] An embodiment of the present application further provides a vehicle, which includes an electronic device, and the electronic device is used to execute the technical solution of the vehicle control method in the above embodiment.

[0120] An embodiment of the present application further provides a chip for running instructions, and the chip is used to execute the technical solution of the vehicle control method in the above embodiment.

[0121] An embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions run on a computer, the computer is enabled to execute the technical solution of the vehicle control method in the above embodiment.

[0122] An embodiment of the present application further provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium, and when at least one processor executes the computer program, the technical solution of the vehicle control method in the above embodiment can be implemented.

[0123] Those skilled in the art will readily think of other implementation manners of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field not disclosed in the present application.

[0124] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A vehicle control method, characterized in that, Including: Obtaining the queue length of a vehicle formation; Determining whether the queue length is greater than a preset length, where the preset length is related to the weather information at the current position of the leading vehicle; When the queue length is greater than the preset length, determining the number of target following vehicles in the vehicle formation that exceed the preset length; If the number of target following vehicles is less than a preset number and the driving duration of the target following vehicle after exceeding the queue length is greater than a preset duration, sending a control instruction to the target following vehicle to exit the vehicle formation, so as to control the target following vehicle to exit the vehicle formation; If the number of target following vehicles is greater than or equal to the preset number and the driving duration of the target following vehicle after exceeding the queue length is greater than a preset duration, sending a control instruction to dissolve the vehicle formation to each vehicle in the formation, so as to control each vehicle in the vehicle formation to exit the vehicle formation.

2. The method according to claim 1, characterized in that, The obtaining the queue length of the vehicle formation includes: Obtaining the lengths, quantities of the following vehicles in the vehicle formation, and the vehicle spacing between two adjacent vehicles; Determining the queue length of the vehicle formation according to the lengths, quantities of the following vehicles in the vehicle formation, and the vehicle spacing between two adjacent vehicles.

3. The method according to claim 1 or 2, characterized in that, The determining the number of target following vehicles in the vehicle formation that exceed the preset length includes: Determining the excess length according to the queue length and the preset length; Determining the number of target following vehicles in the vehicle formation that exceed the preset length according to the excess length, the length of the following vehicle, and the vehicle spacing between two adjacent vehicles.

4. The method according to claim 1 or 2, characterized in that, Before obtaining the queue length of the vehicle formation, the method further includes: If receiving a message that other vehicles outside the vehicle formation insert into the vehicle formation, adjusting the vehicle spacing between two adjacent vehicles in the vehicle formation.

5. The method according to claim 1 or 2, characterized in that, Before obtaining the queue length of the vehicle formation, the method further includes: Obtaining the environmental information of the forward driving area; the environmental information includes weather information and the road surface humidity of the forward driving section, and the weather information is used to indicate whether the weather in the forward driving area is abnormal weather; If the weather information indicates that the weather in the forward driving area is abnormal weather and the road surface humidity of the forward driving section is less than a preset humidity, adjusting the vehicle spacing between two adjacent vehicles in the vehicle formation.

6. A vehicle control device, characterized in that, Including: An obtaining module, configured to obtain the queue length of a vehicle formation; A determining module, configured to determine whether the queue length is greater than a preset length, where the preset length is related to the weather information at the current position of the leading vehicle; The determining module is further configured to, when the queue length is greater than the preset length, determine the number of target following vehicles in the vehicle formation that exceed the preset length; A control module, configured to perform formation control on the target following vehicle according to the number of target following vehicles; The control module is specifically configured to: If the number of the target following vehicles is less than a preset number, and the driving duration of the target following vehicle after exceeding the queue length is greater than a preset duration, a control instruction for the target following vehicle to exit the vehicle formation is sent to control the target following vehicle to exit the vehicle formation; If the number of the target following vehicles is greater than or equal to the preset number, and the driving duration of the target following vehicle after exceeding the queue length is greater than the preset duration, a control instruction for disbanding the vehicle formation is sent to each vehicle in the formation to control each vehicle in the vehicle formation to exit the vehicle formation.

7. An electronic device, characterized in that, Including: a processor and a memory communicatively connected to 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 1-5.

8. A computer-readable storage medium, characterized in that, Computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1-5.

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