Vehicle platoon control method and device, computer device and storage medium

Abstract

The application relates to a vehicle platoon control method and device, computer equipment and a storage medium. The method comprises the following steps: firstly, acquiring the vehicle numbers of vehicles in a vehicle platoon; then, determining the single-vehicle reference driving track of each vehicle according to the vehicle safety distance between two vehicles in the vehicle platoon, the vehicle platoon reference driving track and the vehicle numbers of the vehicles; and finally, performing platoon transformation on the vehicle platoon based on the single-vehicle reference driving track of each vehicle and the driving scene of the vehicle platoon. The vehicle platoon control method provided in the embodiment can perform platoon transformation on the vehicle platoon according to the vehicle safety distance, the vehicle platoon reference driving track, the vehicle numbers and the driving scene of the vehicle platoon, has a high degree of intelligence and can meet the demand of the vehicle platoon for intelligent control in actual engineering.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a vehicle platooning control method, apparatus, computer equipment, and storage medium. Background Technology

[0002] With the development of intelligent driving technology, intelligent formation control technology is receiving increasing attention.

[0003] Currently, the most commonly used intelligent formation control technology is the intelligent formation method based on the navigator-follower mode. However, this formation method requires a driver in the navigator vehicle to handle any unexpected situations the convoy may encounter, and the convoy can only travel in a fixed formation. Therefore, this formation method has a low level of intelligence and cannot meet the needs of convoys for intelligent control in actual engineering projects. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle platooning control method, device, computer equipment, and storage medium that can meet the intelligent control needs of vehicle fleets in practical engineering, addressing the aforementioned technical problems.

[0005] Firstly, this application provides a vehicle platooning control method. The method includes:

[0006] Obtain the vehicle number corresponding to each vehicle in the fleet;

[0007] Based on the safe distance between two vehicles in the convoy, the convoy's baseline driving trajectory, and the vehicle number of each vehicle, the individual baseline driving trajectory of each vehicle is determined.

[0008] Based on the individual vehicle baseline driving trajectory and the driving scenario of the convoy, the convoy formation is transformed.

[0009] Secondly, this application also provides a vehicle platooning control device. The device includes:

[0010] The acquisition module is used to obtain the vehicle number corresponding to each vehicle in the fleet.

[0011] The first determining module is used to determine the individual reference driving trajectory of each vehicle based on the safe distance between two vehicles in front and behind in the convoy, the convoy reference driving trajectory, and the vehicle number of each vehicle.

[0012] The formation transformation module is used to transform the formation of the convoy based on the individual vehicle reference driving trajectory of each vehicle and the driving scenario of the convoy.

[0013] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0014] Obtain the vehicle number corresponding to each vehicle in the fleet;

[0015] Based on the safe distance between two vehicles in the convoy, the convoy's baseline driving trajectory, and the vehicle number of each vehicle, the individual baseline driving trajectory of each vehicle is determined.

[0016] Based on the individual vehicle baseline driving trajectory and the driving scenario of the convoy, the convoy formation is transformed.

[0017] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0018] Obtain the vehicle number corresponding to each vehicle in the fleet;

[0019] Based on the safe distance between two vehicles in the convoy, the convoy's baseline driving trajectory, and the vehicle number of each vehicle, the individual baseline driving trajectory of each vehicle is determined.

[0020] Based on the individual vehicle baseline driving trajectory and the driving scenario of the convoy, the convoy formation is transformed.

[0021] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0022] Obtain the vehicle number corresponding to each vehicle in the fleet;

[0023] Based on the safe distance between two vehicles in the convoy, the convoy's baseline driving trajectory, and the vehicle number of each vehicle, the individual baseline driving trajectory of each vehicle is determined.

[0024] Based on the individual vehicle baseline driving trajectory and the driving scenario of the convoy, the convoy formation is transformed.

[0025] The aforementioned vehicle platooning control method, device, computer equipment, and storage medium first obtain the vehicle number corresponding to each vehicle in the platoon. Then, based on the safe distance between two vehicles in the platoon, the platoon's baseline driving trajectory, and the vehicle number of each vehicle, the individual vehicle baseline driving trajectory is determined. Finally, based on the individual vehicle baseline driving trajectories and the platoon's driving scenario, the platoon's formation is transformed. The vehicle platooning control method provided in this embodiment can transform the platoon's formation based on the vehicle safe distance, the platoon's baseline driving trajectory, the vehicle number, and the platoon's driving scenario. It has a high degree of intelligence and can meet the intelligent control needs of platoons in practical engineering projects. Attached Figure Description

[0026] Figure 1 A schematic flowchart illustrating a vehicle platooning control method provided in an embodiment of this application;

[0027] Figure 2 A schematic diagram illustrating a vehicle platoon formation process provided in an embodiment of this application;

[0028] Figure 3 A flowchart illustrating the tracking and control of a single vehicle's local driving trajectory, provided as an embodiment of this application;

[0029] Figure 4 A flowchart illustrating the second convoy formation transformation method provided in this application embodiment;

[0030] Figure 5 A flowchart illustrating the third convoy formation transformation method provided in this application embodiment;

[0031] Figure 6 A flowchart illustrating the fifth convoy formation transformation method provided in this application embodiment;

[0032] Figure 7 A schematic diagram of formation cruising and formation control provided for an embodiment of this application;

[0033] Figure 8 This is a structural block diagram of a vehicle platooning control device provided in an embodiment of this application;

[0034] Figure 9 This is an internal structural diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0036] Reference Figure 1, Figure 1 This is a flowchart illustrating a vehicle platooning control method provided in an embodiment of this application. The method is applied to a computer device. The method includes the following steps:

[0037] S101. Obtain the vehicle number corresponding to each vehicle in the fleet.

[0038] In this step, all vehicles in the fleet have self-organizing network capabilities, Level 3 (L3) and above intelligent driving capabilities, environmental perception capabilities that can identify obstacles and lanes, decision planning capabilities that can realize global path planning and motion planning, and vehicle control capabilities that can realize lateral and longitudinal vehicle control. Among them, Level 3 intelligent driving is conditional autonomous driving. At Level 3, the vehicle can achieve autonomous driving in most road conditions and take over a large part of the driving functions of the car.

[0039] The central control platform broadcasts the destination coordinates of the convoy to the convoy communication network. Then, all vehicles in the convoy calculate weight parameters based on their current position coordinates, current heading angle, current speed, and the destination coordinates. The formula for calculating the weight parameters is as follows:

[0040]

[0041] In the formula, lat0 represents the latitude coordinates of the destination, lon0 represents the longitude coordinates of the destination, and lat n For vehicle latitude coordinates, lon n v is the vehicle's longitude coordinate. n Let θ be the vehicle's speed. n Here, k is the vehicle heading angle, and k is the compensation coefficient. The value of k can be calibrated according to the vehicle's maneuverability, and is generally selected in the range of 3 to 25.

[0042] Vehicles in the convoy broadcast their weight parameters to the communication network. The central control platform then verifies the weight parameters broadcast by each vehicle at least 10 times. After all vehicle weight parameters have been verified, all vehicles in the convoy are assigned numbers 1, 2, 3… according to their weight parameter values ​​from smallest to largest. Finally, all vehicles in the convoy are sorted according to their assigned numbers from smallest to largest, thus completing the convoy formation. The convoy formation process is as follows: Figure 2 As shown, Figure 2This is a schematic diagram illustrating a vehicle platooning formation process provided in an embodiment of this application. For example, a platoon has 3 vehicles with weight parameters of 3, 4, and 5, respectively. The vehicle with weight parameter 3 is assigned number 1, the vehicle with weight parameter 4 is assigned number 2, and the vehicle with weight parameter 5 is assigned number 3. Then, vehicle number 1 moves to the front of the platoon, vehicle number 2 moves behind vehicle number 1, and vehicle number 3 moves to the rear of the platoon.

[0043] The central control platform can be an on-board terminal or a remote control platform. The central control platform can send control commands such as the destination coordinates of the fleet and the changes in fleet formation to the fleet communication network, and can ensure the time synchronization of the entire fleet system.

[0044] S102. Based on the safe distance between two vehicles in the convoy, the convoy's baseline driving trajectory, and the vehicle number of each vehicle, determine the individual baseline driving trajectory of each vehicle.

[0045] In this step, the fleet performs global path planning based on the position coordinates of vehicle number 1 and the destination coordinates of the fleet, forming the fleet's baseline driving trajectory. The algorithm used for global path planning can be the industry-standard Dynamic A* shortest path algorithm (D*).

[0046] All driving trajectories involved in this application are in the form of two-dimensional arrays. The two-dimensional arrays represent the correspondence between the vehicle's position and status information, such as longitude, latitude, heading angle, speed, acceleration, curvature, and checksum, and the system time. For example, when the system time is 14:05:31 on May 31, 2022, the longitude of vehicle number 3 in the convoy is 125.12°, the latitude is 43.57°, the heading angle is 18.25°, and the speed is 3.1 m / s.

[0047] The formula for calculating the baseline trajectory of a single vehicle is:

[0048] Single vehicle baseline driving trajectory = Fleet baseline driving trajectory + Vehicle number * Vehicle safety distance

[0049] The formula for calculating the safe distance between vehicles is as follows:

[0050] Vehicle safe distance = (inter-vehicle time distance in platooning + communication delay + safety response time) * vehicle speed

[0051] In the formula, the inter-unit time interval is the vehicle spacing control variable in fleet control, and the formula for calculating the inter-unit time interval is:

[0052] Formation interval = distance between vehicles in the formation / speed

[0053] In the formula, the distance between vehicles in a convoy is the actual distance between two vehicles in front and behind each other.

[0054] S103. Based on the individual vehicle baseline driving trajectory and the driving scenario of the convoy, the convoy formation is changed.

[0055] For example, when a rock appears 50 meters ahead of the convoy, each vehicle in the convoy will adjust its speed, acceleration, and other parameters based on its own baseline driving trajectory and the driving scenario of a rock 50 meters ahead of the convoy, thereby achieving a change in the formation of the entire convoy.

[0056] The vehicle platooning control method provided in this embodiment first obtains the vehicle number corresponding to each vehicle in the platoon. Then, based on the safe distance between two vehicles in the platoon, the platoon's baseline driving trajectory, and the vehicle number of each vehicle, it determines the individual baseline driving trajectory of each vehicle. Finally, based on the individual baseline driving trajectories of each vehicle and the driving scenario of the platoon, it performs formation changes on the platoon. The vehicle platooning control method provided in this embodiment can perform formation changes on the platoon based on the vehicle safe distance, the platoon's baseline driving trajectory, the vehicle number, and the driving scenario of the platoon. It has a high degree of intelligence and can meet the intelligent control needs of platoons in actual engineering projects.

[0057] Reference Figure 3 , Figure 3 This is a flowchart illustrating a method for tracking and controlling a local driving trajectory of a single vehicle, as provided in an embodiment of this application. This embodiment relates to an optional implementation of how to track and control a local driving trajectory of a single vehicle. Based on the above embodiment, after determining the baseline driving trajectory of each vehicle, the following steps may also be included:

[0058] S301. Determine the global driving trajectory of each vehicle based on the individual vehicle baseline driving trajectory and the driving trajectory of the vehicle in front of it.

[0059] In this step, the vehicle's intelligent domain controller first uses intelligent driving perception sensors such as cameras, lidar, and millimeter-wave radar, combined with industry-standard environmental perception algorithms and the processing capabilities of the sensors, to detect all targets in front of the vehicle. Then, based on the latitude, longitude, heading angle, and other trajectory information of the vehicle ahead within the fleet communication network, the vehicle ahead is selected and confirmed from all detected targets. Finally, a Kalman filter algorithm is used to fuse multi-sensor signals to obtain an accurate trajectory of the vehicle ahead.

[0060] The longitude, latitude, heading angle, speed, and acceleration of the single-vehicle baseline trajectory and the trajectory of the preceding vehicle are weighted and calculated separately to achieve trajectory fusion. The fused trajectory is the single-vehicle's global trajectory. The weight values ​​for the weighting calculation can be determined according to the actual situation; for example, the weight value of the single-vehicle baseline trajectory is 0.3, and the weight value of the preceding vehicle's trajectory is 0.7.

[0061] The time axis deviation between the reference driving trajectory of a single vehicle and the driving trajectory of the preceding vehicle is the time distance between the two vehicles in the formation.

[0062] S302. Based on the global driving trajectory of each vehicle, the road boundary information collected by the vehicle, and the obstacle information, determine the local driving trajectory of each vehicle.

[0063] In this step, the intelligent domain controller on the vehicle performs local path planning for the vehicle based on the vehicle's global driving trajectory, constrained by real-time collected road boundary information such as lane lines, and dynamically corrected by obstacle information. It uses algorithms such as Static Shortest Path Algorithm (A*), D*, and Rapidly-exploring Random Tree (RRT) to obtain the vehicle's local driving trajectory.

[0064] S303. Using a trajectory tracking algorithm, track and control the local driving trajectory of each vehicle.

[0065] In this step, the intelligent domain controller on the vehicle uses trajectory tracking algorithms such as Model Predictive Control (MPC), linear quadratic regulator (LQR), or Proportion Integral Differential (PID) algorithm, combined with emergency control methods such as automatic emergency braking, to track and control the local driving trajectory of a single vehicle, thereby completing platooning cruise driving, that is, completing the control closed loop from trajectory generation to trajectory tracking.

[0066] The method provided in this embodiment is that the vehicle obtains the local driving trajectory of a single vehicle based on the platoon's baseline driving trajectory, vehicle number, vehicle safety distance, the driving trajectory of the preceding vehicle, road boundary information, etc., and uses the corresponding algorithm to achieve platooning cruise. The entire platooning cruise control process is completely realized by the vehicle itself, and the level of intelligence is very high.

[0067] In some embodiments, S103, based on the individual vehicle reference driving trajectory and the driving scenario of the convoy, performs a formation change on the convoy, including:

[0068] If the driving scenario is a convoy formation change request, then the individual vehicle baseline driving trajectory of each vehicle is adjusted according to the preset convoy formation information, the safe distance between two vehicles in front and behind in the convoy, the vehicle number of each vehicle, and the convoy baseline driving trajectory.

[0069] In this embodiment, the convoy formation change request methods include distributed formation change, diamond formation change, linear formation change, etc.

[0070] The convoy formation change request includes road mode and off-road mode. When the convoy is traveling on a road, the convoy formation change request is in road mode. The convoy, based on preset convoy formation information and combined with lane lines and boundaries, achieves lane-level queue distribution on the road lanes. When the convoy is traveling in the wild, the convoy formation change request is in off-road mode. The convoy, based on preset convoy formation information and combined with perceived drivable areas and road boundary restrictions, achieves queue distribution.

[0071] For example, a convoy formation change request might be to transform a straight formation into a distributed formation. When the convoy is traveling on a highway, vehicle number 1 follows the trajectory of the convoy's base vehicle. Subsequent vehicles, in ascending order of their vehicle numbers, move left to the leftmost lane, then right to the rightmost lane, and so on, completing the formation change for a highway scenario. When the convoy is traveling in the wild, vehicle number 1 follows the trajectory of the convoy's base vehicle. Subsequent vehicles, in ascending order of their vehicle numbers, move left to the leftmost driving boundary, then right to the rightmost driving boundary, and so on, completing the formation change for an off-road scenario. During the off-road formation change, the lateral distance between vehicles is no less than 1.5 times the vehicle width, and the lateral distance between vehicles near the driving boundary and the driving boundary is no less than 1 times the vehicle width.

[0072] The method provided in this embodiment can simultaneously meet the convoy formation change requests in both highway and off-road scenarios, and has high compatibility with the convoy driving environment; it can realize a variety of convoy formation change requests and meet the different formation change requirements of the convoy during actual driving.

[0073] Reference Figure 4 , Figure 4 This is a flowchart illustrating a second method for changing convoy formations provided in this application. This embodiment relates to an optional implementation of how to change convoy formations. Based on the above embodiment, S103 includes the following steps:

[0074] S401. If the driving scenario is that a convoy encounters another vehicle merging in, then based on the individual intelligent driving function of the inserted vehicle, the inserted vehicle is controlled to drive according to the convoy's baseline driving trajectory.

[0075] In this step, the convoy's formation and cruising will change when a vehicle joins the convoy.

[0076] The inserted vehicle refers to the vehicle with the smallest number whose trajectory changes due to the entry of another vehicle. For example, if a convoy consists of 5 vehicles and the entering vehicle is inserted between vehicles numbered 2 and 3, then the trajectories of vehicles numbered 3, 4, and 5 will all change. Among them, vehicle number 3 is the inserted vehicle.

[0077] S402. Based on the first delay distance and first speed change of the inserted vehicle, correct the individual reference driving trajectory of each affected vehicle.

[0078] In this step, the affected vehicles refer to all vehicles in the convoy with a number greater than the number of the vehicle being inserted; the first delay distance and the first speed change refer to the position and speed changes of the inserted vehicle relative to when no vehicle was being inserted, after the vehicle merges in.

[0079] The method provided in this embodiment enables the fleet to automatically adjust the driving trajectories of the inserted and affected vehicles based on the merging situation, thereby avoiding potential dangers due to vehicle merging and achieving high safety performance.

[0080] Reference Figure 5 , Figure 5 This is a flowchart illustrating a third method for changing convoy formations provided in this application. This embodiment relates to an optional implementation of how to change convoy formations. Based on the above embodiment, S103 includes the following steps:

[0081] S501. If the driving scenario is that a convoy encounters vehicles exiting, then the baseline driving trajectory of the inserted vehicle is corrected.

[0082] In this step, after the vehicle that joined the convoy leaves, the affected vehicle will check whether the joining vehicle has completely left. If it is confirmed that the joining vehicle has left, the single-vehicle baseline driving trajectory of the inserted vehicle will be corrected again.

[0083] S502. Based on the second delay distance and second speed change of the inserted vehicle, correct the single-vehicle reference driving trajectory of each affected vehicle.

[0084] In this step, the second delay distance and the second speed change refer to the position and speed changes of the inserted vehicle relative to when no vehicle was merging in, after the merging vehicle has merged out.

[0085] The method provided in this embodiment enables the fleet to automatically adjust the driving trajectories of inserted and affected vehicles based on the situation of merging vehicles. Together with the method for resolving vehicle merging, it forms a complete strategy that can achieve vehicle merging and merging while ensuring safety.

[0086] In some embodiments, S103, based on the individual vehicle reference driving trajectory and the driving scenario of the convoy, performs a formation change on the convoy, including:

[0087] If the driving scenario is that the first vehicle in the convoy requests to leave the convoy, then after the first vehicle leaves the convoy, the vehicle following the first vehicle is controlled to drive according to the single-vehicle baseline driving trajectory of the following vehicle, and the vehicle number corresponding to each vehicle in the convoy is updated.

[0088] In this embodiment, the first vehicle continuously sends out departure requests to the communication network during the departure process, and safely leaves the convoy without affecting the driving of other vehicles in the convoy. After the first vehicle completes the departure action and stops sending out departure requests, the remaining vehicles in the convoy continue to cruise in formation according to the updated vehicle number.

[0089] The method provided in this embodiment can intelligently realize the process of a vehicle leaving the convoy, making the convoy highly flexible during operation.

[0090] Reference Figure 6 , Figure 6 This is a flowchart illustrating the fifth convoy formation transformation method provided in this application embodiment. This embodiment relates to an optional implementation of how to transform convoy formation. Based on the above embodiments, the method includes the following steps:

[0091] S601. If the driving scenario is that the second vehicle in the convoy applies to join the convoy, then after the second vehicle joins the convoy, determine the vehicle number of the second vehicle.

[0092] In this step, the second vehicle continuously sends platooning requests to the communication network during the platooning process until the platooning process ends. During the platooning process, the central control platform assigns the last platoon number to the second vehicle through the platoon communication network.

[0093] S602. Determine the single-vehicle reference driving trajectory of the second vehicle based on the safe distance between the second vehicle and the vehicle preceding the second vehicle, the convoy reference driving trajectory, and the vehicle number of the second vehicle.

[0094] In this step, the second vehicle waits for the convoy to pass before following the convoy based on its own single-vehicle baseline trajectory.

[0095] The method provided in this embodiment directly assigns the last number to the second vehicle, making the entire vehicle platooning process simple and efficient, and simultaneously supports vehicles joining and leaving the platoon, resulting in high system performance.

[0096] Reference Figure 7 , Figure 7 This illustration provides a schematic diagram of platooning cruise and formation control, comprising four modules: a platoon communication network, platoon communication processing, information fusion, and a single-vehicle environmental perception system. The platoon communication network utilizes vehicle-to-everything (V2X) wireless communication technology or an ad hoc network radio. Plasma communication processing includes calculating the platoon's baseline driving trajectory, obtaining the platoon number, and sending formation control commands. The single-vehicle environmental perception system includes camera visual perception, lidar perception, millimeter-wave radar perception, Global Navigation Satellite System (GNSS), and inertial navigation positioning. Information fusion integrates information perceived by the single-vehicle environmental perception system, such as the driving trajectory of the preceding vehicle, lane or path boundary information, and obstacle information.

[0097] In this embodiment, the platooning process includes: obtaining a single vehicle's baseline driving trajectory from the platoon's baseline driving trajectory and the vehicle numbers within the platoon; fusing the single vehicle's baseline driving trajectory, the driving trajectory of the vehicle ahead in the platoon, and the formation control commands sent by the intelligent domain controller to obtain the single vehicle's global driving trajectory; combining the single vehicle's global driving trajectory with lane or path boundary and obstacle information to perform local path planning to obtain the single vehicle's local driving trajectory; and finally, using an automatic emergency braking system to achieve trajectory tracking control of the single vehicle's local driving trajectory. The formation control commands include formation change requests, requests for vehicles to enter, and requests for vehicles to exit.

[0098] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0099] Based on the same inventive concept, this application also provides a vehicle platooning control device for implementing the vehicle platooning control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle platooning control device embodiments provided below can be found in the limitations of the vehicle platooning control method described above, and will not be repeated here.

[0100] In one embodiment, such as Figure 8 As shown, a vehicle platooning control device 800 is provided, including: an acquisition module 801, a first determination module 802, and a formation transformation module 803, wherein:

[0101] The acquisition module 801 is used to acquire the vehicle number corresponding to each vehicle in the fleet.

[0102] The first determining module 802 is used to determine the single-vehicle baseline driving trajectory of each vehicle based on the safe distance between two vehicles in the convoy, the convoy baseline driving trajectory, and the vehicle number of each vehicle.

[0103] The formation transformation module 803 is used to transform the formation of the convoy based on the individual vehicle reference driving trajectory of each vehicle and the driving scenario of the convoy.

[0104] In one embodiment, the device 800 further includes:

[0105] The second determining module is used to determine the global driving trajectory of each vehicle based on the single-vehicle baseline driving trajectory of each vehicle and the driving trajectory of the vehicle in front of it.

[0106] The third determining module is used to determine the local driving trajectory of each vehicle based on the global driving trajectory of each vehicle, the road boundary information collected by the vehicle, and the obstacle information.

[0107] The tracking control module is used to track and control the local driving trajectory of each vehicle using a trajectory tracking algorithm.

[0108] In one embodiment, the formation change module 803 is specifically used to adjust the individual vehicle reference driving trajectory of each vehicle according to the preset fleet formation information, the safe distance between two vehicles in front and behind in the fleet, the vehicle number of each vehicle, and the fleet reference driving trajectory if the driving scenario is a fleet formation change request.

[0109] In one embodiment, the formation transformation module 803 is specifically used to control the inserted vehicle to drive according to the convoy reference driving trajectory based on the vehicle's intelligent driving function when the driving scenario is that the convoy encounters a vehicle merging in; and to correct the individual reference driving trajectory of each affected vehicle based on the first delay distance and first speed change of the inserted vehicle.

[0110] In one embodiment, the formation transformation module 803 is specifically used to correct the single-vehicle reference driving trajectory of the inserted vehicle if the driving scenario is that the convoy encounters vehicles exiting; and to correct the single-vehicle reference driving trajectory of each affected vehicle according to the second delay distance and the second speed change of the inserted vehicle.

[0111] In one embodiment, if the driving scenario is that the first vehicle in the convoy requests to leave the convoy, the formation change module 803 controls the vehicle following the first vehicle to drive according to the single-vehicle reference driving trajectory of the following vehicle after the first vehicle leaves the convoy, and updates the vehicle number corresponding to each vehicle in the convoy.

[0112] In one embodiment, the formation transformation module 803 is specifically used to determine the vehicle number of the second vehicle after it joins the convoy if the driving scenario is that the second vehicle in the convoy applies to join the convoy; and to determine the single-vehicle reference driving trajectory of the second vehicle based on the safe distance between the second vehicle and the vehicle in front of the second vehicle, the convoy reference driving trajectory, and the vehicle number of the second vehicle.

[0113] Each module in the aforementioned vehicle platooning control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0114] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 9 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores vehicle trajectory data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a vehicle platooning control method.

[0115] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0116] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0117] Obtain the vehicle number corresponding to each vehicle in the fleet;

[0118] Based on the safe distance between two vehicles in the convoy, the convoy's baseline driving trajectory, and the vehicle number of each vehicle, the individual baseline driving trajectory of each vehicle is determined.

[0119] Based on the individual vehicle baseline driving trajectory and the driving scenario of the convoy, the convoy formation is transformed.

[0120] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0121] Based on the baseline driving trajectory of each vehicle and the driving trajectory of the vehicle in front of it, the global driving trajectory of each vehicle is determined; based on the global driving trajectory of each vehicle, the road boundary information and obstacle information collected by the vehicle, the local driving trajectory of each vehicle is determined; and the local driving trajectory of each vehicle is tracked and controlled using a trajectory tracking algorithm.

[0122] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0123] If the driving scenario is a convoy formation change request, then the individual vehicle reference driving trajectory of each vehicle is adjusted according to the preset convoy formation information, the safe distance between two vehicles in the convoy, the vehicle number of each vehicle, and the convoy reference driving trajectory.

[0124] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0125] If the driving scenario involves the convoy encountering another vehicle, then based on the intelligent driving function of the inserted vehicle, the inserted vehicle is controlled to drive along the convoy's baseline driving trajectory; based on the first delay distance and first speed change of the inserted vehicle, the baseline driving trajectory of each affected vehicle is corrected.

[0126] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0127] If the driving scenario is that the convoy encounters vehicles exiting, then the individual reference driving trajectory of the inserted vehicle is corrected; based on the second delay distance and second speed change of the inserted vehicle, the individual reference driving trajectory of each affected vehicle is corrected.

[0128] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0129] If the driving scenario is that the first vehicle in the convoy requests to leave the convoy, then after the first vehicle leaves the convoy, the vehicle following the first vehicle is controlled to drive according to the single-vehicle baseline driving trajectory of the following vehicle, and the vehicle number corresponding to each vehicle in the convoy is updated.

[0130] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0131] If the driving scenario involves the second vehicle in the convoy applying to join, then after the second vehicle joins the convoy, the vehicle number of the second vehicle is determined; based on the safe distance between the second vehicle and the vehicle preceding the second vehicle, the convoy's baseline driving trajectory, and the vehicle number of the second vehicle, the single-vehicle baseline driving trajectory of the second vehicle is determined.

[0132] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0133] Obtain the vehicle number corresponding to each vehicle in the fleet;

[0134] Based on the safe distance between two vehicles in the convoy, the convoy's baseline driving trajectory, and the vehicle number of each vehicle, the individual baseline driving trajectory of each vehicle is determined.

[0135] Based on the individual vehicle baseline driving trajectory and the driving scenario of the convoy, the convoy formation is transformed.

[0136] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0137] Based on the baseline driving trajectory of each vehicle and the driving trajectory of the vehicle in front of it, the global driving trajectory of each vehicle is determined; based on the global driving trajectory of each vehicle, the road boundary information and obstacle information collected by the vehicle, the local driving trajectory of each vehicle is determined; and the local driving trajectory of each vehicle is tracked and controlled using a trajectory tracking algorithm.

[0138] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0139] If the driving scenario is a convoy formation change request, then the individual vehicle reference driving trajectory of each vehicle is adjusted according to the preset convoy formation information, the safe distance between two vehicles in the convoy, the vehicle number of each vehicle, and the convoy reference driving trajectory.

[0140] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0141] If the driving scenario involves the convoy encountering another vehicle, then based on the intelligent driving function of the inserted vehicle, the inserted vehicle is controlled to drive along the convoy's baseline driving trajectory; based on the first delay distance and first speed change of the inserted vehicle, the baseline driving trajectory of each affected vehicle is corrected.

[0142] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0143] If the driving scenario is that the convoy encounters vehicles exiting, then the individual reference driving trajectory of the inserted vehicle is corrected; based on the second delay distance and second speed change of the inserted vehicle, the individual reference driving trajectory of each affected vehicle is corrected.

[0144] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0145] If the driving scenario is that the first vehicle in the convoy requests to leave the convoy, then after the first vehicle leaves the convoy, the vehicle following the first vehicle is controlled to drive according to the single-vehicle baseline driving trajectory of the following vehicle, and the vehicle number corresponding to each vehicle in the convoy is updated.

[0146] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0147] If the driving scenario involves the second vehicle in the convoy applying to join, then after the second vehicle joins the convoy, the vehicle number of the second vehicle is determined; based on the safe distance between the second vehicle and the vehicle preceding the second vehicle, the convoy's baseline driving trajectory, and the vehicle number of the second vehicle, the single-vehicle baseline driving trajectory of the second vehicle is determined.

[0148] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0149] Obtain the vehicle number corresponding to each vehicle in the fleet;

[0150] Based on the safe distance between two vehicles in the convoy, the convoy's baseline driving trajectory, and the vehicle number of each vehicle, the individual baseline driving trajectory of each vehicle is determined.

[0151] Based on the individual vehicle baseline driving trajectory and the driving scenario of the convoy, the convoy formation is transformed.

[0152] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0153] Based on the baseline driving trajectory of each vehicle and the driving trajectory of the vehicle in front of it, the global driving trajectory of each vehicle is determined; based on the global driving trajectory of each vehicle, the road boundary information and obstacle information collected by the vehicle, the local driving trajectory of each vehicle is determined; and the local driving trajectory of each vehicle is tracked and controlled using a trajectory tracking algorithm.

[0154] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0155] If the driving scenario is a convoy formation change request, then the individual vehicle reference driving trajectory of each vehicle is adjusted according to the preset convoy formation information, the safe distance between two vehicles in the convoy, the vehicle number of each vehicle, and the convoy reference driving trajectory.

[0156] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0157] If the driving scenario involves the convoy encountering another vehicle, then based on the intelligent driving function of the inserted vehicle, the inserted vehicle is controlled to drive along the convoy's baseline driving trajectory; based on the first delay distance and first speed change of the inserted vehicle, the baseline driving trajectory of each affected vehicle is corrected.

[0158] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0159] If the driving scenario is that the convoy encounters vehicles exiting, then the individual reference driving trajectory of the inserted vehicle is corrected; based on the second delay distance and second speed change of the inserted vehicle, the individual reference driving trajectory of each affected vehicle is corrected.

[0160] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0161] If the driving scenario is that the first vehicle in the convoy requests to leave the convoy, then after the first vehicle leaves the convoy, the vehicle following the first vehicle is controlled to drive according to the single-vehicle baseline driving trajectory of the following vehicle, and the vehicle number corresponding to each vehicle in the convoy is updated.

[0162] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0163] If the driving scenario involves the second vehicle in the convoy applying to join, then after the second vehicle joins the convoy, the vehicle number of the second vehicle is determined; based on the safe distance between the second vehicle and the vehicle preceding the second vehicle, the convoy's baseline driving trajectory, and the vehicle number of the second vehicle, the single-vehicle baseline driving trajectory of the second vehicle is determined.

[0164] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0165] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0166] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0167] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle platooning control method, characterized in that, The method includes: Obtain the destination coordinates of the convoy, and for any vehicle in the convoy, obtain the current position coordinates, current heading angle, and current speed of the vehicle; based on the destination coordinates, current position coordinates, current heading angle, and current speed, obtain the weight parameters of the vehicle relative to other vehicles in the convoy; assign vehicle numbers to any vehicle in the convoy in ascending order of the corresponding weight parameters, and sort the vehicles in the convoy based on the vehicle numbers; Based on the safe distance between two vehicles in the convoy, the convoy's baseline driving trajectory, and the vehicle number of each vehicle, the individual baseline driving trajectory of each vehicle is determined. The step of determining the individual reference driving trajectory of each vehicle based on the safe distance between two vehicles in the convoy, the convoy's reference driving trajectory, and the vehicle number of each vehicle includes: obtaining the speed of any two vehicles with adjacent vehicle numbers and the convoy spacing between the two vehicles, and obtaining the inter-vehicle time distance between the two vehicles based on the speed and the inter-vehicle spacing; obtaining the communication delay and safety response time between the two vehicles, and obtaining the safe distance between the two vehicles based on the inter-vehicle time distance, the communication delay, the safety response time, and the speed; and determining the individual reference driving trajectory of the two vehicles based on the convoy's reference driving trajectory, the vehicle number of the two vehicles, and the safe distance between the vehicles. Based on the individual vehicle baseline driving trajectory and the driving scenario of the convoy, the convoy formation is transformed. The formation change of the convoy based on the individual vehicle reference driving trajectory of each vehicle and the driving scenario of the convoy includes: if the driving scenario is that the convoy encounters a vehicle merging in, then according to the individual vehicle intelligent driving function of the inserted vehicle, the inserted vehicle is controlled to drive according to the convoy reference driving trajectory; wherein, the inserted vehicle refers to the vehicle with the smallest number among the vehicles whose driving trajectory changes due to the vehicle merging in; the individual vehicle reference driving trajectory of each affected vehicle is corrected according to the first delay distance and the first speed change of the inserted vehicle; wherein, the affected vehicles refer to all vehicles with numbers greater than the number of the inserted vehicle, and the first delay distance and the first speed change refer to the position change and speed change of the inserted vehicle relative to when no vehicle merges in, respectively; if the driving scenario is that the convoy encounters a vehicle exiting, then the individual vehicle reference driving trajectory of the inserted vehicle is corrected; the individual vehicle reference driving trajectory of each affected vehicle is corrected according to the second delay distance and the second speed change of the inserted vehicle.

2. The method according to claim 1, characterized in that, The method further includes: Based on the individual reference driving trajectory of each vehicle and the driving trajectory of the vehicle in front of it, the individual global driving trajectory of each vehicle is determined. Based on the global driving trajectory of each vehicle, the road boundary information collected by the vehicle, and the obstacle information, the local driving trajectory of each vehicle is determined. The trajectory tracking algorithm is used to track and control the local driving trajectory of each vehicle.

3. The method according to claim 1, characterized in that, The formation change of the convoy based on the individual vehicle baseline driving trajectory and the driving scenario of the convoy includes: If the driving scenario is a convoy formation change request, then the individual vehicle reference driving trajectory of each vehicle is adjusted according to the preset convoy formation information, the safe distance between two vehicles in the convoy, the vehicle number of each vehicle, and the convoy reference driving trajectory.

4. The method according to claim 1, characterized in that, The formation change of the convoy based on the individual vehicle baseline driving trajectory and the driving scenario of the convoy includes: If the driving scenario is that the first vehicle in the convoy requests to leave the convoy, then after the first vehicle leaves the convoy, the vehicle following the first vehicle is controlled to drive according to the single-vehicle baseline driving trajectory of the following vehicle, and the vehicle number corresponding to each vehicle in the convoy is updated.

5. The method according to claim 1, characterized in that, The formation change of the convoy based on the individual vehicle baseline driving trajectory and the driving scenario of the convoy includes: If the driving scenario is that the second vehicle in the convoy applies to join the convoy, then after the second vehicle joins the convoy, the vehicle number of the second vehicle is determined; The individual reference driving trajectory of the second vehicle is determined based on the safe distance between the second vehicle and the vehicle preceding the second vehicle, the convoy reference driving trajectory, and the vehicle number of the second vehicle.

6. A vehicle platooning control device, characterized in that, The device includes: The acquisition module is used to acquire the destination coordinates of the convoy, and for any vehicle in the convoy, acquire the current position coordinates, current heading angle, and current speed of the vehicle; based on the destination coordinates, the current position coordinates, the current heading angle, and the current speed, acquire the weight parameters of the vehicle relative to other vehicles in the convoy; assign vehicle numbers to any vehicle in the convoy in ascending order of the corresponding weight parameters, and sort the vehicles in the convoy based on the vehicle numbers; The first determining module is used to determine the individual reference driving trajectory of each vehicle based on the safe distance between two vehicles in front and behind in the convoy, the convoy reference driving trajectory, and the vehicle number of each vehicle. The first determining module is further configured to: acquire the speed of any two vehicles with adjacent vehicle numbers and the platooning distance between the two vehicles; acquire the platooning time interval between the two vehicles based on the vehicle speed and the platooning distance; acquire the communication delay and safety response duration between the two vehicles; acquire the vehicle safety distance between the two vehicles based on the platooning time interval, the communication delay, the safety response duration, and the vehicle speed; and determine the individual vehicle reference driving trajectory of the two vehicles based on the platoon reference driving trajectory, the vehicle numbers of the two vehicles, and the vehicle safety distance. The formation transformation module is used to transform the formation of the convoy based on the individual vehicle baseline driving trajectory of each vehicle and the driving scenario of the convoy. The formation transformation module is further configured to, if the driving scenario is that the convoy encounters vehicles merging in, control the inserted vehicles to drive according to the convoy's baseline driving trajectory based on the individual vehicle intelligent driving function of the inserted vehicles; wherein, the inserted vehicle refers to the vehicle with the smallest number among the vehicles whose driving trajectory changes due to the merging of vehicles; and correct the individual vehicle baseline driving trajectory of each affected vehicle based on the first delay distance and the first speed change of the inserted vehicle; wherein, the affected vehicles refer to all vehicles with numbers greater than the inserted vehicle's number, and the first delay distance and the first speed change refer to the position change and speed change of the inserted vehicle relative to when no vehicles merge in, respectively; if the driving scenario is that the convoy encounters vehicles exiting, correct the individual vehicle baseline driving trajectory of the inserted vehicles; and correct the individual vehicle baseline driving trajectory of each affected vehicle based on the second delay distance and the second speed change of the inserted vehicles.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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