A vehicle fleet control system, method, device and medium

Abstract

An embodiment of the present application provides a fleet control system, method, device and medium, which relates to the field of intelligent driving technology and can be used in business scenarios such as ports, mines, airports, ports, agricultural machinery, road freight, and urban distribution. In this system, according to the vehicle state information of each vehicle, when it is determined that the weather condition corresponding to any fleet is a preset abnormal weather, the fleet is determined as the target fleet, and the location where the target fleet is located is determined as the abnormal area. When it is determined that there are other fleets after the target fleet and the distance from the abnormal area is within the first preset distance, the target recommended deceleration corresponding to the current vehicle speed and road surface adhesion coefficient of the fleet is queried, and the target deceleration is determined according to the target recommended deceleration, and the target deceleration is sent to at least one vehicle in the other fleet, so that the other fleet decelerates in advance, effectively reducing traffic accidents caused by the rear fleet's inability to predict the road conditions ahead and braking untimely.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular, to a vehicle platoon control system, method, device, and medium. Background Art

[0002] When vehicles are driving on a highway, they sometimes encounter some emergencies. For example, regional heavy rain, hail, icy roads, etc. When encountering the above emergencies, all vehicles should slow down. If the deceleration is not timely, traffic accidents will occur.

[0003] In the related art, generally, when a vehicle encounters an emergency, the driver of the vehicle controls the vehicle to decelerate according to experience. The deceleration effect depends on the driver's operation, which has great uncertainty. Moreover, when the vehicle has a large tonnage, the deceleration time is relatively long. Also, when vehicles are driving in a platoon, if the distance between platoons cannot be adjusted in time, more serious traffic accidents will occur. Summary of the Invention

[0004] The embodiments of the present application provide a vehicle platoon control system, method, device, and medium, which are used to solve the problem of how to control a vehicle platoon to ensure safe driving before encountering an emergency.

[0005] In a first aspect, the present application provides a vehicle platoon control system, and the method includes: The system includes: a cloud server and at least two vehicle platoons, where each vehicle platoon includes at least two vehicles;

[0006] The cloud server is configured to receive vehicle status information sent by each vehicle. The vehicle status information includes the weather condition of the road where the vehicle is located, the vehicle speed, the position of the vehicle, the road surface adhesion coefficient, and the identification information of the vehicle platoon to which the vehicle belongs;

[0007] Determine the current position of each vehicle platoon according to the position of each vehicle and the identification information of the vehicle platoon to which the vehicle belongs;

[0008] In the case where the weather condition corresponding to any vehicle platoon is a preset abnormal weather, determine the vehicle platoon as the target vehicle platoon, and determine the position of the target vehicle platoon as the abnormal area;

[0009] In the case where there are other vehicle platoons behind the target vehicle platoon and the distance from the abnormal area is within a first preset distance, determine the target recommended deceleration of the other vehicle platoons according to the vehicle speed and road surface adhesion coefficient sent by the vehicles in the target vehicle platoon, and the corresponding relationship between the vehicle speed, road surface adhesion coefficient, and recommended deceleration saved in advance;

[0010] Send the target recommended deceleration to at least one vehicle included in the other vehicle platoons;

[0011] At least one vehicle included in the other vehicle fleet is configured to, upon receiving the target recommended deceleration sent by the cloud server, determine a target deceleration according to the target recommended deceleration, and send the target deceleration to other vehicles within the other vehicle fleet, so that the other vehicle fleet decelerates for driving.

[0012] In the above manner, the weather condition of the road where the vehicle is located is determined according to the vehicle status information sent by each vehicle. When the weather condition corresponding to any vehicle fleet is a preset abnormal weather condition, in order to control the vehicle fleet behind the vehicle fleet to decelerate in advance, the vehicle fleet is determined as the target vehicle fleet, and it is determined whether there is any other vehicle fleet within a first preset distance behind the target vehicle fleet. If so, the target recommended deceleration corresponding to the current vehicle speed and the road surface adhesion coefficient of the vehicle fleet is queried and determined, and the target deceleration is determined according to the target recommended deceleration, and the determined target deceleration is sent to at least one vehicle in the other vehicle fleet, so that the other vehicle fleet decelerates for driving in advance according to the target deceleration, effectively reducing traffic accidents caused by the vehicle fleet behind being unable to predict the road conditions ahead and braking in time.

[0013] In a possible implementation manner, at least one vehicle included in the other vehicle fleet is specifically configured to, upon receiving the target recommended deceleration sent by the cloud server and when there are no other vehicles within a second preset distance in front of the vehicle ranked first within the other vehicle fleet, send the target recommended deceleration as the target deceleration to other vehicles within the other vehicle fleet, so that the other vehicle fleet drives according to the target deceleration.

[0014] In a possible implementation manner, at least one vehicle included in the other vehicle fleet is specifically configured to, upon receiving the target recommended deceleration sent by the cloud server and when there are other vehicles within a second preset distance in front of the vehicle ranked first within the other vehicle fleet, obtain a target distance between the vehicle ranked first within the other vehicle fleet and the first other vehicle in front of it; determine a candidate deceleration corresponding to the target distance according to the target distance and the pre-stored corresponding relationship between the distance and the deceleration; and when the candidate deceleration is greater than the target recommended deceleration, send the candidate deceleration as the target deceleration to other vehicles within the other vehicle fleet, so that the vehicles in the other vehicle fleet decelerate for driving according to the target deceleration.

[0015] In a possible implementation manner, at least one vehicle included in the other vehicle fleet is specifically configured to, when the candidate deceleration is greater than the target recommended deceleration and there are no other vehicles within a preset distance range on the lane adjacent to the current lane, send a prompt message for starting to change lanes to the vehicle at a preset sorting position within the other vehicle fleet.

[0016] In a possible implementation manner, at least one vehicle included in the other vehicle fleet is specifically further configured to, when the candidate deceleration is less than the target recommended deceleration, send the target recommended deceleration to other vehicles within the other vehicle fleet as the target deceleration, so that the vehicles in the other vehicle fleet decelerate according to the target deceleration.

[0017] Since the target recommended deceleration is the best deceleration saved in advance and may not be applicable to each road condition, determining the deceleration at which the vehicle fleet should decelerate according to the magnitude relationship between the candidate deceleration and the target recommended deceleration effectively reduces the possibility of collision between vehicles.

[0018] In a possible implementation manner, the leading vehicle within the vehicle fleet is configured to, when it is determined that there is an abnormality in its own map navigation, display a prompt message for map navigation abnormality, send the pre-saved driving route to other vehicles within the vehicle fleet, so that the other vehicles in the vehicle fleet drive according to the driving route; control itself to drive out of the vehicle fleet, and send a prompt message to the vehicle ranked second within the vehicle fleet that it will continue to drive as the vehicle ranked first within the vehicle fleet.

[0019] Through the above method, two driving routes are pre-saved. In the case of map navigation abnormality, drive according to the pre-saved driving route, thus ensuring that the vehicle can still drive normally when the map navigation has an abnormality.

[0020] In a second aspect, the present application provides a vehicle fleet control method applied to a cloud server. The method includes:

[0021] Receiving vehicle state information sent by each vehicle, where the vehicle state information carries the weather condition of the road where the vehicle is located, the vehicle speed, the position of the vehicle, the road surface adhesion coefficient, and the identification information of the vehicle fleet to which it belongs; determining the current position of each vehicle fleet according to the position of each vehicle and the identification information of the vehicle fleet to which it belongs; when the weather condition corresponding to any vehicle fleet is a preset abnormal weather, determining the vehicle fleet as the target vehicle fleet, and determining the position where the target vehicle fleet is located as the abnormal area; when there is another vehicle fleet behind the target vehicle fleet and the distance from the abnormal area is within a first preset distance, determining the target recommended deceleration of the other vehicle fleet according to the vehicle speed, road surface adhesion coefficient sent by the vehicles within the target vehicle fleet, and the corresponding relationship between the pre-saved vehicle speed, road surface adhesion coefficient, and recommended deceleration; sending the target recommended deceleration to at least one vehicle included in the other vehicle fleet.

[0022] In a third aspect, the present application provides a vehicle fleet control method applied to a vehicle. The method includes:

[0023] Send vehicle status information, which carries the weather condition of the road where the vehicle is located, the vehicle speed, the position of the vehicle, the road surface adhesion coefficient of the road, and the identification information of the fleet it belongs to;

[0024] Receive the target recommended deceleration determined and sent by the cloud server according to the vehicle status information; and determine the target deceleration according to the target recommended deceleration;

[0025] Send the target deceleration to other vehicles in its own fleet, so that the vehicles in the fleet decelerate.

[0026] In a possible implementation manner, the receiving the target recommended deceleration determined and sent by the cloud server according to the vehicle status information; and determining the target deceleration according to the target recommended deceleration; sending the target deceleration to other vehicles in its own fleet, so that the vehicles in the fleet decelerate includes:

[0027] When receiving the target recommended deceleration sent by the cloud server and there are no other vehicles within a second preset distance in front of the vehicle ranked first in the other fleet, send the target recommended deceleration as the target deceleration to other vehicles in the other fleet, so that the other fleet travels at the target deceleration.

[0028] In a possible implementation manner, the receiving the target recommended deceleration determined and sent by the cloud server according to the vehicle status information; and determining the target deceleration according to the target recommended deceleration; sending the target deceleration to other vehicles in its own fleet, so that the vehicles in the fleet decelerate includes:

[0029] When receiving the target recommended deceleration sent by the cloud server and there are other vehicles within the second preset distance in front of the vehicle ranked first in the other fleet, obtain the target distance between the vehicle ranked first in the other fleet and the first other vehicle in front of it; according to the target distance and the pre - saved corresponding relationship between the distance and the deceleration, determine the candidate deceleration corresponding to the target distance; when the candidate deceleration is greater than the target recommended deceleration, send the candidate deceleration as the target deceleration to other vehicles in the other fleet, so that the vehicles in the other fleet decelerate at the target deceleration.

[0030] In a possible implementation manner, the receiving cloud server determines and sends a target recommended deceleration based on the vehicle status information; and determines a target deceleration based on the target recommended deceleration; and sends the target deceleration to other vehicles in its own fleet, so that the vehicles in the fleet decelerate, including:

[0031] When the candidate deceleration is greater than the target recommended deceleration and there are no other vehicles within a preset distance range in the lane adjacent to the current lane, a prompt message for starting to change lanes is sent to the vehicle at the preset sorting position in the other fleet.

[0032] In a possible implementation manner, the receiving cloud server determines and sends a target recommended deceleration based on the vehicle status information; and determines a target deceleration based on the target recommended deceleration; and sends the target deceleration to other vehicles in its own fleet, so that the vehicles in the fleet decelerate, including:

[0033] When the candidate deceleration is less than the target recommended deceleration, the target recommended deceleration is sent as the target deceleration to other vehicles in the other fleet, so that the vehicles in the other fleet decelerate according to the target deceleration.

[0034] In a possible implementation manner, the method further includes:

[0035] When it is determined that there is an abnormality in its own map navigation, a prompt message for map navigation abnormality is displayed, a pre-saved driving route is sent to other vehicles in the fleet, so that the other vehicles in the fleet drive according to the driving route; control itself to leave the fleet, and send a prompt message to the vehicle ranked second in the fleet that it will continue to drive as the vehicle ranked first in the fleet.

[0036] In a fourth aspect, the present application provides a fleet control device, the device includes:

[0037] A receiving module, configured to receive vehicle status information sent by each vehicle, where the vehicle status information carries the weather condition of the road where the vehicle is located, the vehicle speed, the position of the vehicle, the road surface adhesion coefficient, and the identification information of the fleet where it is located;

[0038] A determination module, configured to determine the current location of each fleet according to the location of each vehicle and the identification information of the fleet where it is located; when the weather condition corresponding to any fleet is a preset abnormal weather condition, determine the fleet as the target fleet, and determine the location where the target fleet is located as the abnormal area; when there are other fleets after the target fleet and the distance from the abnormal area is within the first preset distance, determine the target recommended deceleration of the other fleets according to the vehicle speed, road surface adhesion coefficient sent by the vehicles in the target fleet, and the pre-stored corresponding relationship between the vehicle speed, road surface adhesion coefficient and the recommended deceleration.

[0039] A sending module, configured to send the target recommended deceleration to at least one vehicle included in the other fleets.

[0040] In a fifth aspect, the present application provides a fleet control device, and the device includes:

[0041] A sending module, configured to send vehicle status information, where the vehicle status information carries the weather condition of the road where the vehicle is located, the vehicle speed, the location of the vehicle, the road surface adhesion coefficient of the road, and the identification information of the fleet where it is located;

[0042] A receiving module, configured to receive the target recommended deceleration determined and sent by the cloud server according to the vehicle status information;

[0043] A determination module, configured to determine the target deceleration according to the target recommended deceleration;

[0044] The sending module is further configured to send the target deceleration to other vehicles in its own fleet, so that the vehicles in the fleet decelerate and drive.

[0045] In a possible implementation manner, the sending module is specifically configured to, when receiving the target recommended deceleration sent by the cloud server and there are no other vehicles within the second preset distance in front of the vehicle ranked first in the other fleet, send the target recommended deceleration as the target deceleration to other vehicles in the other fleet, so that the other fleet travels at the target deceleration.

[0046] In a possible implementation manner, the device further includes:

[0047] An obtaining module, configured to, when receiving the target recommended deceleration sent by the cloud server and there are other vehicles within the second preset distance in front of the vehicle ranked first in the other fleet, obtain the target distance between the vehicle ranked first in the other fleet and the first other vehicle in front of it.

[0048] The determining module is configured to determine a candidate deceleration corresponding to the target distance according to the target distance and a pre-stored correspondence between the distance and the deceleration.

[0049] The sending module is further configured to, when the candidate deceleration is greater than the target recommended deceleration, send the candidate deceleration as the target deceleration to other vehicles in the other vehicle fleet, so that the vehicles in the other vehicle fleet decelerate according to the target deceleration.

[0050] In a possible implementation manner, the sending module is specifically configured to, when the candidate deceleration is greater than the target recommended deceleration and there are no other vehicles within a preset distance range on the lane adjacent to the current lane, send a lane-changing start prompt message to the vehicle at a preset sorting position in the other vehicle fleet.

[0051] In a possible implementation manner, the sending module is specifically configured to, when the candidate deceleration is less than the target recommended deceleration, send the target recommended deceleration as the target deceleration to other vehicles in the other vehicle fleet, so that the vehicles in the other vehicle fleet decelerate according to the target deceleration.

[0052] In a possible implementation manner, the sending module is further configured to, when it is determined that the map navigation of itself is abnormal, display a prompt message for abnormal map navigation, send a pre-stored driving route to other vehicles in the vehicle fleet, so that the other vehicles in the vehicle fleet drive according to the driving route; control itself to leave the vehicle fleet, and send a prompt message to the vehicle ranked second in the vehicle fleet that it will continue to drive as the vehicle ranked first in the vehicle fleet.

[0053] In a sixth aspect, the present application further provides an electronic device, which at least includes a processor and a memory. The processor is configured to implement the steps of the above vehicle fleet control method when executing a computer program stored in the memory.

[0054] In a seventh aspect, the present application further provides a computer-readable storage medium, which stores a computer program. The computer program is configured to implement the steps of the above vehicle fleet control method when executed by a processor.

[0055] In an eighth aspect, an embodiment of the present application further provides a computer program product, which includes: computer program code. When the computer program code runs on a computer, it causes the computer to execute the steps of any one of the above vehicle fleet control methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a schematic diagram of a vehicle fleet control system provided by an embodiment of the present application;

[0057] Figure 2 Schematic diagram of vehicle status information provided by an embodiment of the present application;

[0058] Figure 3 Schematic diagram of the corresponding relationship between recommended deceleration provided by an embodiment of the present application;

[0059] Figure 4 Schematic diagram of communication provided by an embodiment of the present application;

[0060] Figure 5 Schematic diagram of platoon lane change provided by an embodiment of the present application;

[0061] Figure 6 Schematic diagram of deceleration strategy provided by an embodiment of the present application;

[0062] Figure 7 Schematic diagram of data transmission between the cloud server and the platoon provided by an embodiment of the present application;

[0063] Figure 8 Schematic diagram of platoon control provided by an embodiment of the present application;

[0064] Figure 9 Schematic diagram of the process of a platoon control method provided by an embodiment of the present application;

[0065] Figure 10 Schematic diagram of the process of a platoon control method provided by an embodiment of the present application;

[0066] Figure 11 Schematic diagram of the structure of a platoon control device provided by an embodiment of the present application;

[0067] Figure 12 Schematic diagram of the structure of another platoon control device provided by an embodiment of the present application;

[0068] Figure 13 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0069] Next, the technical solutions of the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application belong to the scope protected by the present application.

[0070] The present application provides a fleet control system, device, equipment and medium. The system includes: a cloud server and at least two fleets, where each fleet includes at least two vehicles. The cloud server is configured to receive vehicle status information sent by each vehicle. The vehicle status information includes the weather condition of the road where the vehicle is located, the vehicle speed, the position of the vehicle, the road surface adhesion coefficient, and the identification information of the fleet to which the vehicle belongs. According to the position of each vehicle and the identification information of the fleet to which it belongs, determine the current position of each fleet. When the weather condition corresponding to any fleet is a preset abnormal weather condition, determine the fleet as the target fleet, and determine the position where the target fleet is located as the abnormal area. When there are other fleets behind the target fleet and the distance from the abnormal area is within the first preset distance, according to the vehicle speed and road surface adhesion coefficient sent by the vehicles in the target fleet, and the corresponding relationship between the vehicle speed, road surface adhesion coefficient and the recommended deceleration factor saved in advance, determine the target recommended deceleration factor of the other fleet, and send the target recommended deceleration factor to at least one vehicle included in the other fleet; at least one vehicle included in the other fleet is configured to, when receiving the target recommended deceleration factor sent by the cloud server, send the target recommended deceleration factor to other vehicles in the other fleet, so that the other fleet decelerates. Since in the embodiment of the present application, according to the vehicle status information sent by each vehicle, when it is determined that the weather condition corresponding to any fleet is a preset abnormal weather condition, in order to control the fleet behind the fleet to decelerate in advance, the fleet is determined as the target fleet, and the position where the target fleet is located is determined as the abnormal area. When it is determined that there are other fleets behind the target fleet and the distance from the abnormal area is within the first preset distance, query and determine the target recommended deceleration factor corresponding to the current vehicle speed and road surface adhesion coefficient of the fleet, and determine the target deceleration factor according to the target recommended deceleration factor, and send the determined target deceleration factor to at least one vehicle in the other fleet, so that the other fleet decelerates in advance according to the target deceleration factor, effectively reducing traffic accidents caused by the rear fleet being unable to predict the road conditions ahead and braking in time.

[0071] Embodiment 1:

[0072] Figure 1 It is a schematic diagram of the fleet control system provided by the embodiment of the present application. The system includes: a cloud server 101 and at least two fleets, where each fleet includes at least two vehicles 102;

[0073] Among them, the cloud server 101 is configured to receive the vehicle status information sent by each vehicle 102. The vehicle status information includes the weather condition of the road where the vehicle 102 is located, the vehicle speed, the position of the vehicle 102, the road surface adhesion coefficient of the road, and the identification information of the fleet to which the vehicle belongs; determine the current position of each fleet according to the position of each vehicle 102 and the identification information of the fleet to which the vehicle belongs; when the weather condition corresponding to any fleet is a preset abnormal weather condition, determine the fleet as the target fleet, and determine the position where the target fleet is located as the abnormal area; when there are other fleets behind the target fleet and the distance from the abnormal area is within a first preset distance, determine the target recommended deceleration of the other fleets according to the vehicle speed and the road surface adhesion coefficient sent by the vehicles 102 in the target fleet, and the corresponding relationship between the vehicle speed, the road surface adhesion coefficient and the recommended deceleration saved in advance; send the target recommended deceleration to at least one vehicle 102 included in the other fleets;

[0074] At least one vehicle 102 included in the other fleets is configured to, when receiving the target recommended deceleration sent by the cloud server 101, determine the target deceleration according to the target recommended deceleration, and send the target deceleration to other vehicles in the other fleets, so that the other fleets decelerate and drive.

[0075] In order to ensure the safe driving of the fleet and control the vehicles 102 in the fleet in advance before the fleet encounters sudden situations, thereby reducing the occurrence of traffic accidents. In the embodiment of the present application, the cloud server 101 can receive the vehicle status information sent by each vehicle 102. The vehicle status information carries the weather condition of the road where the vehicle 102 is located, the current driving speed of the vehicle 102, the current position of the vehicle 102, the road surface adhesion coefficient of the road where the vehicle 102 is located, and the identification information of the fleet to which the vehicle belongs. Among them, the current position of the vehicle 102 can be a specific longitude and latitude, or the road name of the current road.

[0076] Specifically, in the embodiments of the present application, data information collected by a collection device installed at a preset position of the vehicle 102 can be used to determine the weather condition of the road where the current vehicle 102 is located. Among them, the collection device can be a camera or a radar. The vehicle 102 can obtain a road image of the road where it is currently located based on the collection device. After the vehicle 102 obtains the collected road image, it can determine the road surface condition of the road based on image recognition technology. The road surface condition can be whether the road surface is dry, whether the road surface is wet, whether there is water accumulation on the road surface, and whether there is snow accumulation on the road surface, etc. Thus, the weather condition of the road can be determined according to the weather condition. The weather condition can be weather such as rain, snow, fog, etc. For example, when it is determined based on image recognition technology that there is snow accumulation on the road surface, it can be considered that the weather condition of the road is snowy weather.

[0077] In the embodiments of the present application, a road surface adhesion coefficient corresponding to each road surface condition is pre-saved according to the possible road surface conditions. Specifically, for the convenience of using u to represent the road surface adhesion coefficient below, the road surface condition of dry road surface corresponds to u≥0.7, that is, when the road surface is dry, the road surface adhesion coefficient of the road is not less than 0.7; the road surface condition of wet road surface corresponds to 0.6≤u<0.7, that is, when the road surface is wet, the road surface adhesion coefficient of the road is greater than or equal to 0.6 and less than 0.7; the road surface condition of water accumulation on the road surface corresponds to 0.3≤u<0.6, that is, when there is water accumulation on the road surface, the road surface adhesion coefficient of the road is between greater than or equal to 0.3 and less than 0.6; the road surface condition of snow accumulation on the road surface corresponds to u<0.3, that is, when there is snow accumulation on the road surface, the road surface adhesion coefficient of the road is less than 0.3. After the vehicle determines the road surface condition based on the image collected by the collection device, it can obtain the road surface adhesion coefficient corresponding to the determined road surface condition and carry it in the vehicle state information and send it to the cloud server. The adhesion coefficient of the road surface can also be calculated based on the braking distance and braking time of the vehicle. Specifically, how to calculate it has been described in detail in the related art and will not be elaborated in the embodiments of the present application.

[0078] In addition, specifically, in order for the cloud server 101 to better understand the vehicle state of each vehicle 102 in each fleet, each vehicle 102 can also carry more information in the vehicle state information and send it to the cloud server 101. Figure 2 Schematic diagram of the vehicle state information provided by the embodiments of the present application, as Figure 2As shown, when each vehicle 102 sends vehicle status information to the cloud service 101, it can not only carry vehicle speed, road conditions, vehicle location, road adhesion coefficient, and identification information of the convoy to which the vehicle belongs in the vehicle status information and send it to the cloud server 101, but also carry the distance between the vehicle 102 and other vehicles 102, the mass of the vehicle 102, whether the vehicle 102 is towing a trailer, the mass of the trailer, the acceleration or deceleration of the current vehicle 102, the identification information of the vehicle ranked first in the convoy to which the vehicle 102 belongs, that is, the identification information of the leading vehicle, the identification information of the vehicle ranked last in the convoy to which the vehicle 102 belongs, that is, the identification information of the trailing vehicle, the alarm information of the vehicle 102, the weather conditions on the road where the vehicle is located, such as rain, snow, fog, hail, etc., whether there are vehicles on the lane adjacent to the current lane, the speed of the windshield wiper of the current vehicle, etc. in the vehicle status information and send it to the cloud server 101. In order for the cloud server 101 to understand the status of each vehicle 102 in more detail, it is also possible to determine the weather conditions corresponding to the area where the vehicle is currently located based on information such as images collected by the acquisition device. The weather conditions can be rain, snow, fog, hail, etc., and it is also possible to determine whether there is congestion on the road where the vehicle is located based on information such as images collected by the acquisition device, and send the determined weather conditions and whether there is congestion on the road to the cloud server 101.

[0079] After receiving the vehicle status information sent by each vehicle 102, the cloud server 101 can determine the current location of each convoy according to the location of the vehicle carried in each vehicle status information and the identification information of the convoy to which each vehicle 102 belongs. Since the identification information of the convoy to which each vehicle 102 belongs is carried in the vehicle status information sent by each vehicle 102, it is known which convoy the vehicle 102 belongs to. For each convoy, when the location of each vehicle 102 is known, the current location of each convoy can be determined. Specifically, in the embodiment of the present application, after obtaining the location of each vehicle 102 in the convoy, the location of each convoy can be displayed on the map. Since each vehicle in the convoy generally travels adjacent to each other, it is possible to classify according to the identification information of the convoy, and then the location of each convoy can be determined, and the sorting relationship between each convoy can also be determined. The location of each convoy can be a range, for example, a longitude and latitude range, which is determined by the longitude and latitude of the location of the vehicle 102 ranked first in the convoy and the longitude and latitude of the location of the vehicle 102 ranked last in the convoy.

[0080] In the embodiments of the present application, the received vehicle status information also carries the weather condition of the current road. In order to accurately determine whether the weather condition of the road where the vehicle is currently located is abnormal, so as to determine whether it is necessary to control the following vehicles, in the embodiments of the present application, preset abnormal weather is saved, where the preset abnormal weather can be weather such as rain, snow, hail, fog, etc. When the weather condition carried in the vehicle status information sent by any vehicle is any one of the preset abnormal weather, it can be considered that the weather condition corresponding to the vehicle fleet where the vehicle is located is the preset abnormal weather, and the vehicle fleet can be determined as the target fleet. In order to accurately determine the area where the weather condition is abnormal weather, in the embodiments of the present application, after determining the target fleet, the location where the target fleet is located can be determined as the abnormal area, or an electronic fence can be created with the current location of the target fleet as the center according to a preset shape, and the area divided by the electronic fence can be determined as the abnormal area.

[0081] Since the weather abnormality of the front vehicle fleet has been identified and the cloud server 101 has determined the abnormal area, in order to ensure the safety of vehicle driving, the following vehicle fleet can be controlled to decelerate in advance. In the embodiments of the present application, it can be judged whether there is any other vehicle fleet behind the target fleet, and when there is any other vehicle fleet, it can be judged whether the distance between the other vehicle fleet and the abnormal area is within a first preset distance, where the first preset distance can be 10 kilometers, 20 kilometers, 30 kilometers, etc. That is to say, after determining the target fleet and the abnormal area, it can be judged whether there is any other vehicle fleet about to drive into the abnormal area. When there is any other vehicle fleet after determining the target fleet and the distance from the abnormal area is within the first preset distance, the vehicle speed and road surface adhesion coefficient carried in the vehicle status information sent by the vehicles in the target fleet can be obtained, and according to the vehicle speed and road surface adhesion coefficient carried in the vehicle status information, as well as the pre-saved corresponding relationship between the vehicle speed, road surface adhesion coefficient and the recommended deceleration, the target recommended deceleration of the other vehicle fleet can be determined.

[0082] Specifically, in the embodiments of the present application, the pre-saved corresponding relationship between the vehicle speed, road surface adhesion coefficient and the recommended deceleration can be as Figure 3 shown Figure 3This is a schematic diagram of the recommended deceleration correspondence provided by the embodiments of the present application. When the vehicle speed and road surface adhesion coefficient of the vehicle have been determined, the target recommended deceleration of vehicle 102 can be determined. For example, when the road surface adhesion coefficient is less than or equal to 0.3 and the vehicle speed is 85 kilometers per hour (kph), the target recommended deceleration of vehicle 102 can be determined to be 9.8 m / s. In the embodiments of the present application, the recommended deceleration is pre-calibrated, that is, the best deceleration is determined by the staff in advance under different weather conditions and different driving speeds, taking into account the characteristics of vehicle safety, fuel consumption, comfort, etc.

[0083] In the embodiments of the present application, the cloud server 101 can send the determined target recommended deceleration to each vehicle 102 in the other fleet. To save resources and ensure communication quality, the cloud server 101 can also send the determined target recommended deceleration to a vehicle 102 included in the other fleet, where the vehicle can be any vehicle in the other fleet. Preferably, the determined target recommended deceleration can be sent to the leading vehicle in the other fleet, where the leading vehicle is the vehicle ranked at the front in the fleet.

[0084] When at least one vehicle 102 included in the other fleet receives the target recommended deceleration sent by the cloud server 101, it can determine the target deceleration according to the target recommended deceleration. Specifically, the target recommended deceleration can be used as the target deceleration. After determining the target deceleration, the target deceleration can be sent to other vehicles 102 in the fleet, so as to decelerate the other fleet.

[0085] Specifically, Figure 4 This is a communication schematic diagram provided by the embodiments of the present application. As Figure 4 shown, the cloud server can communicate with each vehicle 102 included in the fleet, and the vehicles 102 included in each fleet can also communicate with each other.

[0086] In an embodiment of the present application, when the vehicle 102 recognizes that a traffic accident has occurred on the current road or there is a temporary traffic control on the road, it can also carry the information of the traffic accident or traffic control in the vehicle status information and send it to the cloud server 101, so that the cloud server 101 can understand the road and the current status of the vehicle in more detail. Since the vehicle may also cause congestion due to deceleration in the case of a traffic accident on the road or a temporary traffic control on the road, in an embodiment of the present application, when the cloud server 101 determines that a traffic accident has occurred on the road or there is a temporary traffic control on the road, it can also determine the target recommended deceleration of other vehicle fleets according to the vehicle speed, the road surface adhesion coefficient, and the pre-stored corresponding relationship between the vehicle speed, the road surface adhesion coefficient and the recommended deceleration, so as to make other subsequent vehicle fleets decelerate.

[0087] Since in an embodiment of the present application, according to the vehicle status information sent by each vehicle, when it is determined that the weather condition corresponding to any vehicle fleet is a preset abnormal weather condition, in order to control the vehicle fleets behind the target vehicle fleet to decelerate in advance, the target vehicle fleet is determined, and the location where the target vehicle fleet is located is determined as the abnormal area. When there are other vehicle fleets after the target vehicle fleet is determined and the distance from the abnormal area is within the first preset distance, query and determine the target recommended deceleration corresponding to the current vehicle speed and the road surface adhesion coefficient of the vehicle fleet, and determine the target deceleration according to the target recommended deceleration, and send the determined target deceleration to at least one vehicle in the other vehicle fleet, so that the other vehicle fleet decelerates in advance according to the target deceleration, effectively reducing traffic accidents caused by the rear vehicle fleet not being able to predict the road conditions ahead and braking in time.

[0088] Embodiment 2:

[0089] In order to further ensure the safety of vehicle driving, on the basis of the above embodiment, in an embodiment of the present application, at least one vehicle 102 included in the other vehicle fleet is specifically configured to, when receiving the target recommended deceleration sent by the cloud server and there are no other vehicles within the second preset distance in front of the vehicle ranked first in the other vehicle fleet, send the target recommended deceleration as the target deceleration to other vehicles in the other vehicle fleet, so that the other vehicle fleet travels at the target deceleration.

[0090] Since the target recommended deceleration is the best deceleration pre-stored and may not be applicable to every road condition, therefore, in order to further ensure the safety of vehicle driving, after at least one vehicle 102 included in the other vehicle fleet receives the target recommended deceleration sent by the cloud server 101, it can also determine whether there are other vehicles other than the other vehicle fleet within the second preset distance in front of the vehicle ranked first in the other vehicle fleet, where the second preset distance can be 50 meters, 20 meters, 100 meters, 500 meters, etc.

[0091] At least one vehicle 102 included in the other vehicle fleet, when receiving the target recommended deceleration sent by the cloud server 101 and there are no other vehicles within a second preset distance in front of the vehicle ranked first in the other vehicle fleet, can start decelerating according to the target recommended deceleration sent by the cloud server 101, and can send the received target recommended deceleration to other vehicles 102 in the other vehicle fleet, so that the vehicles in the other vehicle fleet decelerate according to the target deceleration, that is, the vehicles in the other vehicle fleet decelerate according to the target recommended deceleration.

[0092] To further ensure the safety of vehicle driving, based on the above embodiments, in the embodiment of the present application, at least one vehicle 102 included in the other vehicle fleet is specifically configured to, when receiving the target recommended deceleration sent by the cloud server, and there are other vehicles within a second preset distance in front of the vehicle ranked first in the other vehicle fleet, obtain the target distance between the vehicle ranked first in the other vehicle fleet and the first other vehicle in front of it; according to the target distance and the pre-stored corresponding relationship between the distance and the deceleration, determine the candidate deceleration corresponding to the target distance; when the candidate deceleration is greater than the target recommended deceleration, send the candidate deceleration as the target deceleration to other vehicles in the other vehicle fleet, so that the vehicles in the other vehicle fleet decelerate according to the target deceleration.

[0093] To further ensure the safety of vehicle driving, when there are other vehicles within a second preset distance in front of the vehicle 102 ranked first in the other vehicle fleet, the target distance between the vehicle 102 ranked first in the vehicle fleet and the first other vehicle in front can be obtained. Specifically, in the embodiment of the present application, the vehicle 102 ranked first can obtain the target distance between the vehicle ranked first in the vehicle fleet and the first other vehicle in front based on the radar installed at the preset position of the vehicle, and send the target distance to other vehicles 102 in its vehicle fleet.

[0094] In order to determine at what deceleration the vehicle 102 should decelerate when it is at a certain distance from other vehicles, in the embodiments of the present application, different decelerations can be set for different distances. Additionally, in order to reduce the storage space occupied by the correspondence between the stored distances and decelerations, the relationship between some of the distances and decelerations can be stored. For example, the distance range can be divided according to a preset interval, that is, the distance is divided into multiple intervals, and the correspondence between each interval and the respective decelerations is saved. After determining the target distance, it is determined which interval the target distance corresponds to, and the deceleration corresponding to that interval is determined as the candidate deceleration corresponding to the target distance. Among them, the correspondence between the distance and the deceleration can be stored in the vehicle 102 or can be pre-stored in the cloud server 101. If it is stored in the cloud server 101, after determining the target distance, a request message for obtaining the candidate deceleration can be sent to the cloud server 101.

[0095] After determining the candidate deceleration, it is possible to determine at which deceleration the vehicle should decelerate within the convoy based on the magnitude relationship between the candidate deceleration and the target recommended deceleration.

[0096] In the case where the candidate deceleration is greater than the target recommended deceleration, it indicates that if decelerating at the target recommended deceleration sent by the cloud server 101, a collision with the first other vehicle in front will occur, causing a traffic accident. Therefore, deceleration can be performed according to the candidate deceleration, the candidate deceleration can be used as the target deceleration, and the determined target deceleration can be sent to the other vehicles 102 in its own convoy, so that the vehicles 102 within the convoy all decelerate and travel at this target deceleration.

[0097] To further ensure the safety of vehicle travel, based on the above embodiments, in the embodiments of the present application, at least one vehicle 102 included in the other convoy is specifically configured to send a prompt message to start changing lanes to the vehicle 102 at a preset sorting position within the other convoy when the candidate deceleration is greater than the target recommended deceleration and there are no other vehicles within a preset distance range on the lane adjacent to the current lane.

[0098] In the case where the candidate deceleration is greater than the target recommended deceleration, it is also possible to determine whether there are other vehicles within a preset distance range on the lane adjacent to the current lane. In the case where there are no other vehicles, in the embodiments of the present application, a prompt message to start changing lanes can be sent to each vehicle 102 within the other convoy, thereby reducing the collision with the first other vehicle in front, or a prompt message to start changing lanes can be sent to the vehicle 102 at a preset sorting position within the other convoy, thereby increasing the distance between each vehicle 102 within the convoy by changing lanes, where the other convoy is the convoy to which itself belongs.

[0099] Specifically, Figure 5 As shown in the schematic diagram of the platoon lane change provided by the embodiment of the present application, Figure 5 as shown, if there are other vehicles within a second preset distance in front of the vehicle 1 ranked first in the platoon, and there are no other vehicles in the lane adjacent to the lane where the platoon is currently located, a prompt message to start a lane change can be sent to the vehicles ranked second and fourth in its own platoon, so that the vehicles ranked second and fourth in the platoon start to change lanes to the adjacent lane, thereby increasing the distance between two adjacent vehicles in each lane and reducing the occurrence of traffic accidents.

[0100] To further ensure the safety of vehicle driving, based on the above embodiments, in the embodiment of the present application, at least one vehicle 102 included in the other platoon is specifically further configured to, when the candidate deceleration is less than the target recommended deceleration, send the target recommended deceleration as the target deceleration to other vehicles 102 in the other platoon, so that the vehicles 102 in the other platoon decelerate according to the target deceleration.

[0101] When the candidate deceleration is less than the target recommended deceleration, it means that decelerating according to the target recommended deceleration sent by the cloud server 101 is sufficient to safely decelerate the platoon and will not collide with the first other vehicle in front. Therefore, it is possible to decelerate according to the target recommended deceleration sent by the cloud server 101, and the target recommended deceleration can be sent as the target deceleration to other vehicles 102 in its own platoon, so that the vehicles 102 in the platoon all decelerate according to the target recommended deceleration.

[0102] Next, a specific embodiment is used to elaborate on the above deceleration driving strategy in detail. Figure 6 As shown in the schematic diagram of the deceleration strategy provided by the embodiment of the present application, the deceleration strategy mainly includes the following steps:

[0103] S601: Determine whether the candidate deceleration is less than the target recommended deceleration. If so, execute S605; otherwise, execute S602.

[0104] S602: Determine whether there are other vehicles within a preset distance range in the adjacent lane. If so, continue to execute S603; otherwise, execute S605.

[0105] S603: Send the candidate deceleration as the target deceleration to other vehicles in its own platoon, and each vehicle in the platoon decelerates according to the target deceleration.

[0106] S604: Send a prompt message to start a lane change to the vehicle at a preset ranking position in its own platoon.

[0107] S605: Send the target recommended deceleration as the target deceleration to other vehicles within its own vehicle fleet, and each vehicle within the fleet decelerates according to this target deceleration.

[0108] To improve the accuracy of vehicle fleet control, in the embodiments of this application, each vehicle 102 in the vehicle fleet can also receive the driver's evaluation of the vehicle fleet control. After receiving this evaluation, the vehicle 102 in the vehicle fleet can send this evaluation to the cloud server 101. After receiving this evaluation, the cloud server 101 saves the evaluation for data analysis, so as to better improve the vehicle fleet control effect.

[0109] Specifically, in the embodiments of this application, after the vehicle 102 reaches the end point, the driver's evaluation can be received through a Human Machine Interface (HMI). The evaluation can include feedback such as the accuracy of road surface condition recognition and whether the recommended deceleration is reasonable.

[0110] Embodiment 3:

[0111] To ensure the normal driving of the vehicle, on the basis of the above embodiments, in the embodiments of this application, the leading vehicle 102 within the vehicle fleet is used to display a prompt message of abnormal map navigation in the case of determining that its own map navigation is abnormal, and send the pre-saved driving route to other vehicles within the vehicle fleet, so that each vehicle in the vehicle fleet drives according to the driving route.

[0112] To ensure that the convoy can travel along the most reasonable route, before departing from the starting point, the convoy determines the driving route to the end point based on the route planning algorithm. In the embodiments of the present application, before departure, the convoy is pre-configured with two driving routes. One driving route is the route provided in real time by the map navigation, and the other driving route is the driving route stored in advance in the vehicle ranked first in the convoy. Under normal circumstances, each vehicle in the convoy travels along the route provided by the map navigation. When the GPS signal is weak or road information cannot be obtained and navigation cannot continue, it can be determined that its own map navigation is abnormal. Since other vehicles in the convoy also travel based on this map navigation, to ensure that each vehicle in the convoy travels along the correct route, when the lead vehicle 102 in the convoy determines that its own map navigation is abnormal, if it continues to travel according to this map navigation, problems such as abnormal driving may occur, such as deviating from the driving route or not driving at the specified speed. It can be considered that the map navigation of all vehicles 102 in the convoy is abnormal. A prompt message indicating abnormal map navigation can be displayed on the central control screen of the vehicle, waiting for the driver to take over vehicle 102 and travel according to the pre-stored driving route. At the same time, the pre-stored driving route is sent to other vehicles in the convoy, so that each vehicle in the convoy continues to travel according to this pre-stored driving route.

[0113] In addition, to further ensure the safe driving of the vehicle, when it is determined that its own map navigation is abnormal, it can be considered that there is a fault with itself, and it can control itself to drive out of the convoy. Specifically, it can control itself to drive onto the emergency lane to repair each component of itself, or it can control itself to drive to the nearest inspection and repair location to the current location to repair each component of itself. Since itself is the vehicle ranked first in the convoy, when driving out of the convoy, it can notify the vehicle adjacent to itself, that is, notify the vehicle ranked second in the convoy, which will continue to drive as the vehicle ranked first in the convoy. That is to say, the vehicle ranked second in the convoy will continue to drive as the lead vehicle of the convoy.

[0114] Figure 7 FIG. is a schematic diagram of data transmission between the cloud server and the convoy provided in the embodiments of the present application. The cloud server 101 can remotely manage the convoy. After each vehicle completes forming a convoy at the starting point, the cloud server 101 can send information to each convoy in the form of a convoy. The information sent can be the identification information of each vehicle 102 in the convoy, the distance between each vehicle 102 in the convoy, the distance between the vehicle 102 ranked first in the convoy and the vehicle in front, and the serial number of each vehicle 102 in the convoy. As Figure 7 shown, for the convenience of description, in Figure 7In the Chinese text, ① represents the identification information of each vehicle 102 within the platoon, ② represents the spacing between each vehicle 102 within the platoon, ③ represents the distance between the first - ranked vehicle 102 within the platoon and the vehicle in front, and ④ represents the sequence number of each vehicle 102 within the platoon.

[0115] Embodiment 4:

[0116] The following describes the platoon control process provided by the present application in conjunction with a specific embodiment. Figure 8 It is a schematic diagram of platoon control provided by an embodiment of the present application. As Figure 8 shown, this process mainly includes the following steps:

[0117] S801: When the weather is abnormal, a traffic accident occurs on the road where the vehicle is currently located, or road maintenance is in progress, determine the road surface adhesion coefficient, and carry the determined road surface adhesion coefficient in the vehicle status information and send it to the cloud server.

[0118] S802: Receive the target deceleration sent by the cloud server, and decelerate according to the target deceleration.

[0119] The following describes the platoon control process provided by the present application in conjunction with another specific embodiment. The cloud server 101 is pre - installed with an operation cloud platform. Different platoons register information on this operation cloud platform. For example, platoon 1, platoon 2, and platoon 3 all belong to the same operation cloud platform, and the cloud platform will issue a unique identifier to different platoons when they register.

[0120] During the driving process of the platoon on the road, when platoon 1 detects an abnormal road condition, it sends vehicle status information to the operation cloud platform. This abnormal road condition can be abnormal weather or abnormal road conditions, such as a traffic accident, temporary traffic control, etc.

[0121] The operation cloud platform first queries the travel usage of other platoons. If platoon 2 and platoon 3 are both in use, obtain the path planning information of platoon 2 and platoon 3, and determine whether platoon 2 and platoon 3 are platoons within the first preset distance behind platoon 1. If so, determine the target recommended deceleration of platoon 2 and platoon 3 according to the vehicle speeds, road surface adhesion coefficients of platoon 2 and platoon 3, and the pre - saved correspondence between vehicle speed, road surface adhesion coefficient, and recommended deceleration.

[0122] After receiving the target recommended deceleration sent by the operation cloud platform, platoon 2 and platoon 3 make corresponding adjustments in a timely manner, such as adjusting the inter - vehicle distance, adjusting the driving speed / acceleration, etc.

[0123] In addition, in the embodiments of the present application, vehicles within a fleet can communicate in real time, and can send the status information of each component of the vehicle body detected to other vehicles within the fleet. When there are unstable factors within the fleet, the vehicle 102 ranked first within the fleet, that is, the lead vehicle, reports to the cloud server for corresponding processing. For example, when the fuel level warning or low battery warning of a vehicle 102 within the fleet occurs, the abnormal vehicle 102 can send a warning message to the lead vehicle, and the lead vehicle reports the information to the cloud server 101. Based on the warning message, the cloud server 101 determines the nearest energy refueling station to the current location and determines the route to reach the energy refueling station, and sends the determined route to the lead vehicle, and the lead vehicle sends it to the abnormal vehicle, so that the abnormal vehicle travels to the energy refueling station along this route. Of course, after the cloud server 101 determines the route to reach the energy refueling station, it can also directly send the determined route to the abnormal vehicle. When a certain component of a vehicle within the fleet is abnormal, for example, when the fleet executes a braking instruction uniformly, and the braking distance of one of the following vehicles is abnormal, the lead vehicle collects the information of the vehicle with the braking abnormality and reports a request to the cloud platform to view the abnormal situation and determines whether the abnormal vehicle continues to travel.

[0124] The solutions shown in the above Embodiment 1 to Embodiment 4 can be used alone or in combination with each other to form a complete technical solution, and the embodiments of the present application do not make any limitations in this regard.

[0125] Embodiment 5:

[0126] To ensure the safety of vehicle driving, based on the above embodiments, in the embodiments of the present application, a fleet control method is provided, which is applied to a cloud server. Figure 9 The process schematic diagram of a fleet control method provided by the embodiments of the present application is shown. This process includes the following steps:

[0127] S901: Receive the vehicle status information sent by each vehicle. The vehicle status information includes the weather condition of the road where the vehicle is located, the vehicle speed, the position of the vehicle, the road surface adhesion coefficient of the road, and the identification information of the fleet where it is located.

[0128] S902: Determine the current location of each fleet according to the position of each vehicle and the identification information of the fleet where it is located.

[0129] S903: In the case that the weather condition corresponding to any fleet is a preset abnormal weather, determine the fleet as the target fleet, and determine the location where the target fleet is located as the abnormal area.

[0130] S904: When there are other vehicle fleets behind the target vehicle fleet and the distance to the abnormal area is within a first preset distance, determine the target recommended deceleration of the other vehicle fleets according to the vehicle speed, road surface adhesion coefficient sent by the vehicles in the target vehicle fleet, and the corresponding relationship between the vehicle speed, road surface adhesion coefficient and recommended deceleration saved in advance; send the target recommended deceleration to at least one vehicle included in the other vehicle fleets.

[0131] Specifically, this method is applied to a vehicle fleet control system. For the specific implementation process, refer to the above embodiments and will not be elaborated here.

[0132] Embodiment 6:

[0133] Based on the above embodiments, in an embodiment of the present application, a vehicle fleet control method is further provided, which is applied to a vehicle. Figure 10 The following is a schematic diagram of the process of a vehicle fleet control method provided by an embodiment of the present application. The process includes the following steps:

[0134] S1001: Send vehicle status information, where the vehicle status information includes the weather condition of the road where the vehicle is located, the vehicle speed, the position of the vehicle, the road surface adhesion coefficient of the road, and the identification information of the vehicle fleet where it is located.

[0135] S1002: Receive the target recommended deceleration determined and sent by the cloud server according to the vehicle status information; and determine the target deceleration according to the target recommended deceleration.

[0136] S1003: Send the target deceleration to other vehicles in its own vehicle fleet, so that the vehicles in the vehicle fleet decelerate and drive.

[0137] In a possible embodiment, the receiving the target recommended deceleration determined and sent by the cloud server according to the vehicle status information; and determining the target deceleration according to the target recommended deceleration; sending the target deceleration to other vehicles in its own vehicle fleet, so that the vehicles in the vehicle fleet decelerate and drive includes:

[0138] When receiving the target recommended deceleration sent by the cloud server and there are no other vehicles within a second preset distance in front of the vehicle ranked first in the other vehicle fleet, send the target recommended deceleration as the target deceleration to other vehicles in the other vehicle fleet, so that the other vehicle fleet travels at the target deceleration.

[0139] In a possible implementation, the receiving cloud server determines and sends a target recommended deceleration based on the vehicle status information; and determines a target deceleration according to the target recommended deceleration; and sends the target deceleration to other vehicles within its own fleet, so that the vehicles in the fleet decelerate, including:

[0140] When receiving the target recommended deceleration sent by the cloud server, and there are other vehicles within a second preset distance in front of the vehicle ranked first in the other fleet, obtain the target distance between the vehicle ranked first in the other fleet and the first other vehicle in front of it; according to the target distance and the pre-stored corresponding relationship between the distance and the deceleration, determine the candidate deceleration corresponding to the target distance; when the candidate deceleration is greater than the target recommended deceleration, send the candidate deceleration as the target deceleration to other vehicles in the other fleet, so that the vehicles in the other fleet decelerate according to the target deceleration.

[0141] In a possible implementation, the receiving cloud server determines and sends a target recommended deceleration based on the vehicle status information; and determines a target deceleration according to the target recommended deceleration; and sends the target deceleration to other vehicles within its own fleet, so that the vehicles in the fleet decelerate, including:

[0142] When the candidate deceleration is greater than the target recommended deceleration and there are no other vehicles within a preset distance range on the lane adjacent to the current lane, send a prompt message to start changing lanes to the vehicle at a preset sorting position in the other fleet.

[0143] In a possible implementation, the receiving cloud server determines and sends a target recommended deceleration based on the vehicle status information; and determines a target deceleration according to the target recommended deceleration; and sends the target deceleration to other vehicles within its own fleet, so that the vehicles in the fleet decelerate, including:

[0144] When the candidate deceleration is less than the target recommended deceleration, send the target recommended deceleration as the target deceleration to other vehicles in the other fleet, so that the vehicles in the other fleet decelerate according to the target deceleration.

[0145] In a possible implementation, the method further includes:

[0146] When it is determined that there is an abnormality in the self-map navigation, a prompt message for map navigation abnormality is displayed, and the pre-saved driving route is sent to other vehicles in the fleet, so that other vehicles in the fleet drive according to the driving route; control itself to leave the fleet, and send a prompt message to the vehicle ranked second in the fleet that it will continue to drive as the vehicle ranked first in the fleet.

[0147] Specifically, this method is applied to the fleet control system. For the specific implementation process, refer to the above embodiments and will not be elaborated here.

[0148] The solutions shown in the above Embodiment 5 to Embodiment 6 can be used alone or in combination with each other to form a complete technical solution, and the embodiments of the present application do not make any limitations in this regard.

[0149] Embodiment 7:

[0150] Figure 11 It is a schematic structural diagram of a fleet control device provided by an embodiment of the present application. This device is applied to a cloud server, as Figure 11 shown. This device includes:

[0151] A receiving module 1101, configured to receive the vehicle status information sent by each vehicle. The vehicle status information includes the weather condition of the road where the vehicle is located, the vehicle speed, the position of the vehicle, the road surface adhesion coefficient, and the identification information of the fleet where it is located;

[0152] A determining module 1102, configured to determine the current position of each fleet according to the position of each vehicle and the identification information of the fleet where it is located; when the weather condition corresponding to any fleet is a preset abnormal weather, determine the fleet as the target fleet, and determine the position where the target fleet is located as the abnormal area; when there are other fleets behind the target fleet and the distance from the abnormal area is within a first preset distance, determine the target recommended deceleration of the other fleets according to the vehicle speed and road surface adhesion coefficient sent by the vehicles in the target fleet, and the corresponding relationship between the vehicle speed, road surface adhesion coefficient and recommended deceleration saved in advance;

[0153] A sending module 1103, configured to send the target recommended deceleration to at least one vehicle included in the other fleets.

[0154] Figure 12 It is a schematic structural diagram of another fleet control device provided by an embodiment of the present application. This device is applied to a vehicle, as Figure 12 shown. This device includes:

[0155] A sending module 1201, configured to send vehicle status information, where the vehicle status information includes the weather condition of the road where the vehicle is located, the vehicle speed, the position of the vehicle, the road surface adhesion coefficient, and the identification information of the fleet to which the vehicle belongs;

[0156] A receiving module 1202, configured to receive the target recommended deceleration determined and sent by the cloud server according to the vehicle status information;

[0157] A determining module 1203, configured to determine a target deceleration according to the target recommended deceleration;

[0158] The sending module 1201 is further configured to send the target deceleration to other vehicles within its own fleet, so that the vehicles within the fleet decelerate.

[0159] In a possible implementation manner, the sending module 1201 is specifically configured to, when receiving the target recommended deceleration sent by the cloud server and there are no other vehicles within a second preset distance in front of the vehicle ranked first within the other fleet, send the target recommended deceleration as the target deceleration to other vehicles within the other fleet, so that the other fleet travels at the target deceleration.

[0160] In a possible implementation manner, the device further includes:

[0161] An obtaining module 1204, configured to, when receiving the target recommended deceleration sent by the cloud server and there are other vehicles within a second preset distance in front of the vehicle ranked first within the other fleet, obtain the target distance between the vehicle ranked first within the other fleet and the first other vehicle in front of it;

[0162] The determining module 1203 is configured to determine a candidate deceleration corresponding to the target distance according to the target distance and the pre-saved corresponding relationship between the distance and the deceleration;

[0163] The sending module 1201 is further configured to, when the candidate deceleration is greater than the target recommended deceleration, send the candidate deceleration as the target deceleration to other vehicles within the other fleet, so that the vehicles within the other fleet decelerate according to the target deceleration.

[0164] In a possible implementation manner, the sending module 1201 is specifically configured to, when the candidate deceleration is greater than the target recommended deceleration and there are no other vehicles within a preset distance range on the lane adjacent to the current lane, send a lane change start prompt message to the vehicle at a preset sorting position within the other fleet.

[0165] In a possible implementation manner, the sending module 1201 is specifically configured to, when the candidate deceleration is less than the target recommended deceleration, send the target recommended deceleration to other vehicles in the other vehicle fleets as the target deceleration, so that the vehicles in the other vehicle fleets decelerate according to the target deceleration.

[0166] In a possible implementation manner, the sending module 1201 is further configured to, when it is determined that there is an abnormality in its own map navigation, display a prompt message for map navigation abnormality, send the pre-saved driving route to other vehicles in the vehicle fleet, so that the other vehicles in the vehicle fleet drive according to the driving route; control itself to leave the vehicle fleet, and send a prompt message to the vehicle ranked second in the vehicle fleet that it will continue to drive as the vehicle ranked first in the vehicle fleet.

[0167] Since the principle of the above electronic device for solving problems is similar to the vehicle fleet control method, the implementation of the above electronic device can refer to the above embodiments, and the repeated parts will not be described again.

[0168] Embodiment 8:

[0169] Figure 13 The following is a schematic structural diagram of an electronic device provided by an embodiment of the present application. On the basis of the above embodiments, the present application further provides an electronic device, as Figure 13 shown, including: a processor 1301, a communication interface 1302, a memory 1303, and a communication bus 1304, wherein the processor 1301, the communication interface 1302, and the memory 1303 complete mutual communication through the communication bus 1304;

[0170] The memory 1303 stores a computer program, and when the program is executed by the processor 1301, the processor 1301 is caused to execute the steps of the vehicle fleet control method described in any one of the above embodiments.

[0171] Since the principle of the above electronic device for solving problems is similar to the vehicle fleet control method, the implementation of the above electronic device can refer to the above embodiments, and the repeated parts will not be described again.

[0172] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity in illustration, only a thick line is used in the figure to represent it, but it does not mean that there is only one bus or one type of bus. The communication interface 1302 is used for communication between the above electronic device and other devices. The memory can include a Random Access Memory (RAM), and can also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory can also be at least one storage device located far from the aforementioned processor. The above processor can be a general-purpose processor, including a central processing unit, a Network Processor (NP), etc.; it can also be a Digital Signal Processing (DSP), an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0173] Embodiment 9:

[0174] Based on the above embodiments, the present application further provides a computer-readable storage medium, in which a computer program executable by a processor is stored. When the program runs on the processor, it enables the processor to execute the steps of the vehicle fleet control method described in any one of the above embodiments.

[0175] Embodiment 10:

[0176] The embodiments of the present application further provide a computer program product, which when executed by a computer, implements the steps of the vehicle fleet control method described in any one of the above embodiments.

[0177] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof, and can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on the computer, the processes or functions described in the embodiments of the present application are generated in whole or in part.

[0178] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0179] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices produce means for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0180] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0181] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0182] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A vehicle fleet control system, characterized in that, The system includes: a cloud server and at least two vehicle fleets, where each vehicle fleet contains at least two vehicles; The cloud server is configured to receive vehicle status information sent by each vehicle, and the vehicle status information includes the weather condition of the road where the vehicle is located, the vehicle speed, the position of the vehicle, the road surface adhesion coefficient, and the identification information of the vehicle fleet where the vehicle is located; Determine the current location of each vehicle fleet according to the position of each vehicle and the identification information of the vehicle fleet where the vehicle is located; When the weather condition corresponding to any vehicle fleet is a preset abnormal weather condition, determine the vehicle fleet as the target vehicle fleet, and determine the location of the target vehicle fleet as the abnormal area; When there are other vehicle fleets behind the target vehicle fleet and the distance from the abnormal area is within a first preset distance, determine the target recommended deceleration of the other vehicle fleets according to the vehicle speed and road surface adhesion coefficient sent by the vehicles in the target vehicle fleet, and the corresponding relationship between the vehicle speed, road surface adhesion coefficient and recommended deceleration saved in advance; Send the target recommended deceleration to at least one vehicle included in the other vehicle fleets; At least one vehicle included in the other vehicle fleets is configured to, when receiving the target recommended deceleration sent by the cloud server, determine a target deceleration according to the target recommended deceleration, and send the target deceleration to other vehicles in the other vehicle fleets to make the other vehicle fleets decelerate and drive; At least one vehicle included in the other vehicle fleets is specifically configured to, when receiving the target recommended deceleration sent by the cloud server and there are other vehicles within a second preset distance in front of the vehicle ranked first in the other vehicle fleets, obtain the target distance between the vehicle ranked first in the other vehicle fleets and the first other vehicle in front of it; determine the candidate deceleration corresponding to the target distance according to the target distance and the corresponding relationship between the distance and deceleration saved in advance; when the candidate deceleration is greater than the target recommended deceleration and there are no other vehicles within a preset distance range on the lane adjacent to the current lane, send a prompt message for starting to change lanes to the vehicle at a preset sorting position in the other vehicle fleets.

2. The system according to claim 1, wherein At least one vehicle included in the other vehicle fleets is specifically configured to, when receiving the target recommended deceleration sent by the cloud server and there are no other vehicles within a second preset distance in front of the vehicle ranked first in the other vehicle fleets, send the target recommended deceleration as the target deceleration to other vehicles in the other vehicle fleets to make the other vehicle fleets drive at the target deceleration.

3. The system according to claim 1, characterized in that, At least one vehicle included in the other vehicle fleets is specifically configured to, when the candidate deceleration is greater than the target recommended deceleration, send the candidate deceleration as the target deceleration to other vehicles in the other vehicle fleets to make the vehicles in the other vehicle fleets decelerate and drive at the target deceleration.

4. The system according to claim 1, characterized in that, At least one vehicle included in the other vehicle convoy is specifically further configured to, when the candidate deceleration is less than the target recommended deceleration, send the target recommended deceleration as the target deceleration to other vehicles within the other vehicle convoy, so that the vehicles in the other vehicle convoy decelerate according to the target deceleration.

5. The system according to claim 1, characterized in that, The lead vehicle within the vehicle convoy is configured to, when determining that there is an abnormality in its own map navigation, display a prompt message for map navigation abnormality, send the pre-saved driving route to other vehicles within the vehicle convoy, so that the other vehicles in the vehicle convoy drive according to the driving route; control itself to drive away from the vehicle convoy, and send a prompt message to the vehicle ranked second within the vehicle convoy that it will continue to drive as the vehicle ranked first within the vehicle convoy.

6. A vehicle fleet control method, characterized in that, Applied to a vehicle, the method includes: Send vehicle status information, where the vehicle status information carries the weather condition of the road where the vehicle is located, the vehicle speed, the position of the vehicle, the road surface adhesion coefficient, and the identification information of the vehicle convoy where it is located; Receive the target recommended deceleration determined and sent by the cloud server according to the vehicle status information; and determine the target deceleration according to the target recommended deceleration; Send the target deceleration to other vehicles within its own vehicle convoy, so that the vehicles within the vehicle convoy decelerate; The receiving the target recommended deceleration determined and sent by the cloud server according to the vehicle status information; and determining the target deceleration according to the target recommended deceleration; sending the target deceleration to other vehicles within its own vehicle convoy, so that the vehicles within the vehicle convoy decelerate includes: When receiving the target recommended deceleration sent by the cloud server and there are other vehicles within a second preset distance in front of the vehicle ranked first within the other vehicle convoy, obtain the target distance between the vehicle ranked first within the other vehicle convoy and the first other vehicle in front of it; according to the target distance and the pre-saved corresponding relationship between the distance and the deceleration, determine the candidate deceleration corresponding to the target distance; when the candidate deceleration is greater than the target recommended deceleration and there are no other vehicles within a preset distance range on the lane adjacent to the current lane, send a prompt message to start changing lanes to the vehicle at a preset sorting position within the other vehicle convoy.

7. A vehicle fleet control device, characterized in that, The device includes: A sending module, configured to send vehicle status information, where the vehicle status information carries the weather condition of the road where the vehicle is located, the vehicle speed, the position of the vehicle, the road surface adhesion coefficient, and the identification information of the vehicle convoy where it is located; A receiving module, configured to receive the target recommended deceleration determined and sent by the cloud server according to the vehicle status information; A determining module, configured to determine the target deceleration according to the target recommended deceleration; The sending module is further configured to send the target deceleration to other vehicles within its own vehicle convoy, so that the vehicles within the vehicle convoy decelerate; An acquisition module, configured to acquire a target distance between the vehicle ranked first in other vehicle fleets and the first other vehicle in front of it when receiving the target recommended deceleration sent by the cloud server and there is another vehicle within a second preset distance in front of the vehicle ranked first in other vehicle fleets; The determination module is configured to determine a candidate deceleration corresponding to the target distance according to the target distance and the pre-saved corresponding relationship between the distance and the deceleration; The sending module is specifically configured to send a prompt message for starting a lane change to the vehicle at a preset sorting position in other vehicle fleets when the candidate deceleration is greater than the target recommended deceleration and there are no other vehicles within a preset distance range on the lane adjacent to the current lane; 8. An electronic device, characterized in that, The electronic device at least includes a processor and a memory, and the processor is configured to implement the steps of the vehicle fleet control method as described in claim 6 when executing the computer program stored in the memory.

9. A computer-readable storage medium, characterized in that, It stores a computer program, and when the computer program is executed by the processor, it implements the steps of the vehicle fleet control method as described in claim 6.

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