Vehicle control method, device, server and medium for multi-vehicle collaborative positioning

Abstract

The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device, server, and medium for collaborative positioning of multiple vehicles. The method comprises: receiving the self-positioning data of a slave vehicle sent by at least one slave vehicle, combining the self-positioning data of the master vehicle to obtain the actual relative position information between at least one slave vehicle and the master vehicle, generating driving behavior reminder information of at least one slave vehicle based on multiple preset test scenarios, and sending the information to at least one slave vehicle to remind the driver of at least one slave vehicle to perform corresponding driving behavior operations. Thus, the problem of being unable to achieve time synchronization, real-time processing, and precise positioning when acquiring data in the target test scenario, resulting in cumbersome testing and long time consumption, is solved. Through the multi-vehicle collaborative positioning test system, multi-target positioning data and position relationships are collected and processed in real time. By solidifying the scenario, the test scope is narrowed, thereby effectively reducing the number of tests, reducing the difficulty of the test, and improving the test efficiency.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device, server, and medium for multi-vehicle collaborative positioning. Background Art

[0002] With the development of modern intelligent transportation systems, vehicle safety and precise positioning have become increasingly important. Vehicle-road cooperative systems leverage a variety of advanced technologies to deepen the connection between vehicles, roads, and road infrastructure. During autonomous driving testing, it's necessary to consider different traffic flows, the behavior and relative positions of different test subjects, and set up different test scenarios to test their corresponding functions.

[0003] In related technologies, it is often necessary to use multiple test terminals to collect positioning data of different test objects respectively, and finally unify the data together for centralized analysis, and then output the relative position relationship and deduce the corresponding motion state.

[0004] However, this process also has some drawbacks. For example, it is impossible to achieve time synchronization when acquiring data, and unified timestamp processing is required. In addition, the acquired data cannot be processed in real time. Testing is cumbersome and time-consuming, and improvement is urgently needed. Summary of the Invention

[0005] The present application provides a vehicle control method, device, server and medium for multi-vehicle collaborative positioning to solve the problems of being unable to achieve time synchronization, real-time processing and precise positioning when acquiring data in a target test scenario, resulting in cumbersome testing and long time consumption.

[0006] A first embodiment of the present application provides a vehicle control method for multi-vehicle collaborative positioning, comprising the following steps:

[0007] Receiving the slave vehicle positioning data sent by at least one slave vehicle;

[0008] Obtaining actual relative position information between the at least one slave vehicle and the master vehicle based on the slave vehicle self-positioning data sent by the at least one slave vehicle and the master vehicle self-positioning data; and

[0009] Based on multiple preset test scenarios, driving behavior reminder information of the at least one slave vehicle is generated according to the actual relative position information, and the driving behavior reminder information is sent to the at least one slave vehicle to remind the driver of the at least one slave vehicle to perform corresponding driving behavior operations.

[0010] According to one embodiment of the present application, the driving behavior reminder information includes at least one of braking behavior reminder information, lane change behavior reminder information, cut-in behavior reminder information, and cut-out behavior reminder information.

[0011] According to one embodiment of the present application, generating driving behavior reminder information of the at least one slave vehicle according to the actual relative position information based on multiple preset test scenarios includes:

[0012] Get the current test scene;

[0013] Based on the current test scene and the actual relative position information, the driving behavior reminder information corresponding to the current test scene is matched from a preset scene-position-behavior relationship.

[0014] According to one embodiment of the present application, before generating the driving behavior reminder information of the at least one slave vehicle according to the actual relative position information based on the multiple preset test scenarios, the method further includes:

[0015] Collect current road environment information;

[0016] The plurality of preset test scenarios are generated according to the current road environment information, the vehicle information of the master vehicle and the vehicle information of the at least one slave vehicle.

[0017] According to one embodiment of the present application, the above-mentioned vehicle control method for multi-vehicle coordinated positioning further includes:

[0018] Based on the multiple preset test scenarios, generating the driving behavior reminder information of the host vehicle according to the actual relative position information;

[0019] The host vehicle driving behavior reminder information is sent to the host vehicle to remind the driver of the host vehicle to perform corresponding driving behavior operations.

[0020] According to the vehicle control method for multi-vehicle collaborative positioning of the embodiment of the present application, the self-positioning data of the slave vehicle sent by at least one slave vehicle is received, and the actual relative position information between the at least one slave vehicle and the master vehicle is obtained by combining the self-positioning data of the master vehicle. Based on multiple preset test scenarios, driving behavior reminder information for at least one slave vehicle is generated, and sent to at least one slave vehicle to remind the driver of at least one slave vehicle to perform corresponding driving behavior operations. This solves the problem of being unable to achieve time synchronization, real-time processing, and precise positioning when acquiring data in the target test scenario, resulting in cumbersome and time-consuming testing. Through the multi-vehicle collaborative positioning test system, multi-target positioning data and positional relationships are collected and processed in real time. By solidifying the scenario, the test scope is narrowed, thereby effectively reducing the number of tests, reducing the difficulty of the test, and improving the test efficiency.

[0021] A second embodiment of the present application provides a vehicle control device for multi-vehicle collaborative positioning, comprising:

[0022] A receiving module, configured to receive positioning data of a slave vehicle sent by at least one slave vehicle;

[0023] an acquisition module, configured to obtain actual relative position information between the at least one slave vehicle and the master vehicle based on the slave vehicle self-positioning data sent by the at least one slave vehicle and the master vehicle self-positioning data; and

[0024] A generation module is used to generate driving behavior reminder information of the at least one slave vehicle based on the actual relative position information based on multiple preset test scenarios, and send the driving behavior reminder information to the at least one slave vehicle to remind the driver of the at least one slave vehicle to perform corresponding driving behavior operations.

[0025] According to one embodiment of the present application, the driving behavior reminder information includes at least one of braking behavior reminder information, lane change behavior reminder information, cut-in behavior reminder information, and cut-out behavior reminder information.

[0026] According to one embodiment of the present application, the generating module is specifically configured to:

[0027] Get the current test scene;

[0028] Based on the current test scene and the actual relative position information, the driving behavior reminder information corresponding to the current test scene is matched from a preset scene-position-behavior relationship.

[0029] According to one embodiment of the present application, before generating the driving behavior reminder information of the at least one slave vehicle according to the actual relative position information based on the multiple preset test scenarios, the generating module further includes:

[0030] Collect current road environment information;

[0031] The plurality of preset test scenarios are generated according to the current road environment information, the vehicle information of the master vehicle and the vehicle information of the at least one slave vehicle.

[0032] According to one embodiment of the present application, the above-mentioned vehicle control device for multi-vehicle coordinated positioning is further used to:

[0033] Based on the multiple preset test scenarios, generating the driving behavior reminder information of the host vehicle according to the actual relative position information;

[0034] The host vehicle driving behavior reminder information is sent to the host vehicle to remind the driver of the host vehicle to perform corresponding driving behavior operations.

[0035] According to the multi-vehicle collaborative positioning vehicle control device of the embodiment of the present application, the self-positioning data of the slave vehicle sent by at least one slave vehicle is received, and the actual relative position information between the at least one slave vehicle and the master vehicle is obtained by combining the self-positioning data of the master vehicle. Based on multiple preset test scenarios, driving behavior reminder information of at least one slave vehicle is generated, and sent to at least one slave vehicle to remind the driver of at least one slave vehicle to perform corresponding driving behavior operations. This solves the problems of being unable to achieve time synchronization, real-time processing, and precise positioning when acquiring data in the target test scenario, resulting in cumbersome and time-consuming testing. Through the multi-vehicle collaborative positioning test system, multi-target positioning data and positional relationships are collected and processed in real time. By solidifying the scenario, the test scope is narrowed, thereby effectively reducing the number of tests, reducing the difficulty of the test, and improving the test efficiency.

[0036] The third aspect of the present application provides a server, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle control method for multi-vehicle collaborative positioning as described in the above embodiment.

[0037] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle control method for multi-vehicle collaborative positioning as described in the above embodiment.

[0038] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0040] Figure 1 This is a schematic diagram of the overall framework of multi-vehicle collaborative positioning according to one embodiment of the present application;

[0041] Figure 2 This is a flow chart of a vehicle control method for multi-vehicle collaborative positioning according to an embodiment of the present application;

[0042] Figure 3 This is a schematic diagram of the overall principle of multi-vehicle collaborative positioning according to one embodiment of the present application;

[0043] Figure 4 Schematic diagram of the logic principle of multi-vehicle collaborative positioning according to one embodiment of the present application;

[0044] Figure 5 1 is a block diagram of a vehicle control device for multi-vehicle cooperative positioning according to an embodiment of the present application;

[0045] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0047] The following describes a vehicle control method, device, server, and medium for multi-vehicle collaborative positioning according to an embodiment of the present application with reference to the accompanying drawings. In response to the aforementioned problems mentioned in the background art, such as the inability to achieve time synchronization, real-time processing, and precise positioning when acquiring data in a target test scenario, resulting in cumbersome testing and a long time consumption, the present application provides a vehicle control method for multi-vehicle collaborative positioning. In this method, the method receives the self-positioning data of at least one slave vehicle sent by the slave vehicle, combines the self-positioning data of the master vehicle to obtain the actual relative position information between the at least one slave vehicle and the master vehicle, generates driving behavior reminder information for at least one slave vehicle based on multiple preset test scenarios, and sends the information to at least one slave vehicle to remind the driver of the at least one slave vehicle to perform the corresponding driving behavior operation. Thus, the method solves the problems of the inability to achieve time synchronization, real-time processing, and precise positioning when acquiring data in a target test scenario, resulting in cumbersome testing and a long time consumption. Through the multi-vehicle collaborative positioning test system, the multi-target positioning data and positional relationships are collected and processed in real time. By solidifying the scenario, the test scope is narrowed, thereby effectively reducing the number of tests, reducing the test difficulty, and improving the test efficiency.

[0048] Before introducing the embodiments of the present application, the main modules involved in the vehicle control method for multi-vehicle collaborative positioning in the embodiments of the present application are first introduced, such as Figure 1 As shown, they are respectively the master vehicle 100, the host computer data acquisition software 101, the master vehicle positioning data 102, the master vehicle on-board communication module 103, the master vehicle data receiving antenna 1031, the slave vehicle 200, the slave vehicle positioning data 201, the slave vehicle on-board communication module 202 and the slave vehicle data sending antenna 2021.

[0049] The master test vehicle is equipped with an on-board communication module and host computer data acquisition software to collect real-time positioning data from multiple slave vehicles and process the relevant information in real time to obtain the master vehicle's vehicle status information and the relative position and status information of other traffic participating slave vehicles; multiple slave traffic test vehicles are each equipped with an on-board communication module, which uses wireless communication to transmit positioning information and behavioral status information to the master vehicle's on-board communication module. Therefore, in specific working scenarios, the relative position information of the master and slave vehicles can be fed back to the slave vehicle driver in a timely manner, allowing the driver to make corresponding instructions such as changing lanes, accelerating, decelerating, cutting in and out, etc. This will be discussed in detail below through specific embodiments.

[0050] Specifically, Figure 2 A flowchart of a vehicle control method for multi-vehicle collaborative positioning provided in an embodiment of the present application.

[0051] like Figure 2 As shown, the vehicle control method for multi-vehicle collaborative positioning includes the following steps:

[0052] In step S201 , the slave vehicle positioning data sent by at least one slave vehicle is received.

[0053] Specifically, if Figure 1 and Figure 3 As shown, the multiple slave vehicle traffic test vehicles in the embodiment of the present application first upload their own positioning data to the cloud server, obtain their own positioning data from the cloud server of each slave vehicle through the on-board communication module, and send the data to the on-board communication module of the master vehicle through the data sending antenna; secondly, the data receiving antenna on the on-board communication module of the master vehicle receives the self-positioning data sent by at least one different slave vehicle, so as to better determine the relative positions and status information of multiple slave vehicles.

[0054] In step S202, actual relative position information between at least one slave vehicle and the master vehicle is obtained based on the slave vehicle self-positioning data sent by at least one slave vehicle and the master vehicle self-positioning data.

[0055] Specifically, in the embodiment of the present application, after the data receiving antenna of the main vehicle's on-board communication module receives the self-positioning data sent by at least one slave vehicle, the main vehicle's host computer data acquisition software collects the self-positioning data sent by at least one slave vehicle received by the main vehicle's on-board communication module in real time, and processes the relevant position information in real time based on the main vehicle's own positioning data to obtain the actual relative position information between at least one slave vehicle and the main vehicle.

[0056] In step S203, based on multiple preset test scenarios, driving behavior reminder information of at least one slave vehicle is generated according to the actual relative position information, and the driving behavior reminder information is sent to at least one slave vehicle to remind the driver of at least one slave vehicle to perform corresponding driving behavior operations.

[0057] Furthermore, in some embodiments, before generating driving behavior reminder information of at least one slave vehicle based on actual relative position information based on multiple preset test scenarios, it also includes: collecting current road environment information; generating multiple preset test scenarios based on the current road environment information, the vehicle information of the main vehicle and the vehicle information of at least one slave vehicle.

[0058] The preset test scenario may be a test scenario set by those skilled in the art according to test requirements or actual needs, and is not specifically limited here.

[0059] Specifically, if Figure 4 As shown, before generating driving behavior reminder information of at least one slave vehicle based on the actual relative position information of the main vehicle and at least one slave vehicle, the embodiment of the present application also needs to use the signal acquisition system to collect the current road environment information of the vehicle, the vehicle information of the main vehicle and the vehicle information of at least one slave vehicle in real time and fuse the collected data. Based on the collected results, different preset test scenarios are generated, such as test scenarios of the vehicle climbing a slope, merging, etc., so as to make vehicle testing more accurate and improve test efficiency.

[0060] Furthermore, in some embodiments, based on multiple preset test scenarios, driving behavior reminder information of at least one slave vehicle is generated according to the actual relative position information, including: obtaining the current test scenario; based on the current test scenario and the actual relative position information, matching the driving behavior reminder information corresponding to the current test scenario from the preset scene-position-behavior relationship.

[0061] Specifically, before conducting the test, the embodiment of the present application first collects and stores the set preset test scenes through sensors, so that it can be obtained from multiple preset test scenes when conducting actual vehicle testing; secondly, a mapping relationship of corresponding driving behavior reminder information is established for the preset test scenes, the actual relative positions of the master vehicle and the slave vehicle, and the behavior relationship, so that when the current test scene is obtained, the driving behavior reminder information corresponding to the current test scene is matched from the preset scene-position-behavior relationship according to the current test scene and the actual relative positions of the master and slave vehicles.

[0062] Among them, the driving behavior reminder information of the embodiment of the present application may include: at least one of braking behavior reminder information, lane change behavior reminder information, cut-in behavior reminder information and cut-out behavior reminder information, which is not specifically limited here.

[0063] Furthermore, in some embodiments, the above-mentioned vehicle control method for multi-vehicle collaborative positioning also includes: generating driving behavior reminder information of the main vehicle according to actual relative position information based on multiple preset test scenarios; sending the main vehicle driving behavior reminder information to the main vehicle to remind the driver of the main vehicle to perform corresponding driving behavior operations.

[0064] It should be understood that when the main vehicle serves as a slave vehicle of other slave vehicles, the main vehicle in the embodiment of the present application can also receive the main vehicle driving behavior reminder information generated by the cloud server based on the actual relative position information, thereby reminding the main vehicle driver and improving the safety of the main vehicle.

[0065] It should be noted that the present application generates driving behavior reminder information of the main vehicle based on the actual relative position information, and sends the driving behavior reminder information of the main vehicle to the main vehicle to remind the driver of the main vehicle to perform corresponding driving behavior operations. The method is similar to the above-mentioned control strategy of generating driving behavior reminder information of at least one slave vehicle based on the actual relative position information, and sending the driving behavior reminder information to at least one slave vehicle to remind the driver of at least one slave vehicle to perform corresponding driving behavior operations. To avoid redundancy, it will not be described in detail here.

[0066] According to the vehicle control method for multi-vehicle collaborative positioning of the embodiment of the present application, the self-positioning data of the slave vehicle sent by at least one slave vehicle is received, and the actual relative position information between the at least one slave vehicle and the master vehicle is obtained by combining the self-positioning data of the master vehicle. Based on multiple preset test scenarios, driving behavior reminder information for at least one slave vehicle is generated, and sent to at least one slave vehicle to remind the driver of at least one slave vehicle to perform corresponding driving behavior operations. This solves the problem of being unable to achieve time synchronization, real-time processing, and precise positioning when acquiring data in the target test scenario, resulting in cumbersome and time-consuming testing. Through the multi-vehicle collaborative positioning test system, multi-target positioning data and positional relationships are collected and processed in real time. By solidifying the scenario, the test scope is narrowed, thereby effectively reducing the number of tests, reducing the difficulty of the test, and improving the test efficiency.

[0067] Next, a vehicle control device for multi-vehicle collaborative positioning proposed in an embodiment of the present application will be described with reference to the accompanying drawings.

[0068] Figure 5 It is a block diagram of a vehicle control device for multi-vehicle collaborative positioning according to an embodiment of the present application.

[0069] like Figure 5 As shown, the vehicle control device 10 for multi-vehicle collaborative positioning includes: a receiving module 300 , an acquisition module 400 and a generation module 500 .

[0070] The receiving module 300 is configured to receive the positioning data of the slave vehicle itself sent by at least one slave vehicle;

[0071] an acquisition module 400 for obtaining actual relative position information between at least one slave vehicle and the master vehicle based on the slave vehicle self-positioning data sent by at least one slave vehicle and the master vehicle self-positioning data; and

[0072] The generation module 500 is used to generate driving behavior reminder information of at least one slave vehicle based on actual relative position information based on multiple preset test scenarios, and send the driving behavior reminder information to at least one slave vehicle to remind the driver of at least one slave vehicle to perform corresponding driving behavior operations.

[0073] Furthermore, in some embodiments, the driving behavior reminder information includes at least one of braking behavior reminder information, lane change behavior reminder information, cut-in behavior reminder information, and cut-out behavior reminder information.

[0074] Furthermore, in some embodiments, the generating module 500 is specifically configured to:

[0075] Get the current test scene;

[0076] Based on the current test scenario and the actual relative position information, the driving behavior reminder information corresponding to the current test scenario is matched from the preset scenario-position-behavior relationship.

[0077] Furthermore, in some embodiments, before generating driving behavior reminder information of at least one slave vehicle according to actual relative position information based on multiple preset test scenarios, the generating module 500 further includes:

[0078] Collect current road environment information;

[0079] A plurality of preset test scenarios are generated according to current road environment information, vehicle information of the master vehicle and vehicle information of at least one slave vehicle.

[0080] Furthermore, in some embodiments, the multi-vehicle cooperative positioning vehicle control device 10 is further configured to:

[0081] Based on multiple preset test scenarios, the system generates driving behavior reminders for the vehicle according to the actual relative position information.

[0082] Send the host vehicle's driving behavior reminder information to the host vehicle to remind the host vehicle's driver to perform corresponding driving behavior operations.

[0083] According to the multi-vehicle collaborative positioning vehicle control device of the embodiment of the present application, the self-positioning data of the slave vehicle sent by at least one slave vehicle is received, and the actual relative position information between the at least one slave vehicle and the master vehicle is obtained by combining the self-positioning data of the master vehicle. Based on multiple preset test scenarios, driving behavior reminder information of at least one slave vehicle is generated, and sent to at least one slave vehicle to remind the driver of at least one slave vehicle to perform corresponding driving behavior operations. This solves the problems of being unable to achieve time synchronization, real-time processing, and precise positioning when acquiring data in the target test scenario, resulting in cumbersome and time-consuming testing. Through the multi-vehicle collaborative positioning test system, multi-target positioning data and positional relationships are collected and processed in real time. By solidifying the scenario, the test scope is narrowed, thereby effectively reducing the number of tests, reducing the difficulty of the test, and improving the test efficiency.

[0084] Figure 6 This is a schematic diagram of the structure of the server provided in the embodiment of the present application. The server may include:

[0085] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0086] When the processor 602 executes the program, the vehicle control method for multi-vehicle cooperative positioning provided in the above embodiment is implemented.

[0087] Furthermore, the server further includes:

[0088] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0089] The memory 601 is used to store computer programs that can be run on the processor 602 .

[0090] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0091] If the memory 601, processor 602, and communication interface 603 are implemented independently, the communication interface 603, memory 601, and processor 602 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0092] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0093] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0094] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle control method for multi-vehicle collaborative positioning as described above.

[0095] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0096] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0097] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0098] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing it in a suitable manner if necessary, and then storing it in a computer memory.

[0099] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0100] Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above-mentioned embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0101] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0102] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A vehicle control method for multi-vehicle collaborative positioning, characterized in that: The following steps are involved: Receiving the slave vehicle positioning data sent by at least one slave vehicle; Obtaining actual relative position information between the at least one slave vehicle and the master vehicle based on the slave vehicle self-positioning data sent by the at least one slave vehicle and the master vehicle self-positioning data; as well as Based on a plurality of preset test scenarios, generating driving behavior reminder information of the at least one slave vehicle according to the actual relative position information, and sending the driving behavior reminder information to the at least one slave vehicle to remind the driver of the at least one slave vehicle to perform corresponding driving behavior operations; The driving behavior reminder information includes: at least one of braking behavior reminder information, lane change behavior reminder information, cut-in behavior reminder information, and cut-out behavior reminder information; The generating of driving behavior reminder information of the at least one slave vehicle based on the actual relative position information based on multiple preset test scenarios includes: obtaining a current test scenario; and matching the driving behavior reminder information corresponding to the current test scenario from a preset scene-position-behavior relationship based on the current test scenario and the actual relative position information; The above-mentioned vehicle control method for multi-vehicle collaborative positioning also includes: based on the multiple preset test scenarios, generating the main vehicle driving behavior reminder information according to the actual relative position information; sending the main vehicle driving behavior reminder information to the main vehicle to remind the driver of the main vehicle to perform corresponding driving behavior operations.

2. The method according to claim 1, characterized in that Before generating driving behavior reminder information of the at least one slave vehicle according to the actual relative position information based on the multiple preset test scenarios, the method further includes: Collect current road environment information; The plurality of preset test scenarios are generated according to the current road environment information, the vehicle information of the master vehicle and the vehicle information of the at least one slave vehicle.

3. A vehicle control device for multi-vehicle collaborative positioning, characterized in that: include: A receiving module, configured to receive positioning data of a slave vehicle sent by at least one slave vehicle; an acquisition module, configured to obtain actual relative position information between the at least one slave vehicle and the master vehicle based on the slave vehicle self-positioning data sent by the at least one slave vehicle and the master vehicle self-positioning data; as well as a generating module, configured to generate driving behavior reminder information of the at least one slave vehicle according to the actual relative position information based on a plurality of preset test scenarios, and transmit the driving behavior reminder information to the at least one slave vehicle to remind the driver of the at least one slave vehicle to perform corresponding driving behavior operations; The driving behavior reminder information includes: at least one of braking behavior reminder information, lane change behavior reminder information, cut-in behavior reminder information, and cut-out behavior reminder information; The generating module is specifically configured to: obtain a current test scenario; and based on the current test scenario and the actual relative position information, match the driving behavior reminder information corresponding to the current test scenario from a preset scenario-position-behavior relationship; The above-mentioned vehicle control device for multi-vehicle collaborative positioning is also used to: generate the main vehicle driving behavior reminder information based on the actual relative position information based on the multiple preset test scenarios; and send the main vehicle driving behavior reminder information to the main vehicle to remind the driver of the main vehicle to perform corresponding driving behavior operations.

4. A server, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle control method for multi-vehicle collaborative positioning as described in any one of claims 1 to 2.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle control method for multi-vehicle collaborative positioning as described in any one of claims 1-2.

Images