A vehicle platoon member de-queue method and apparatus

Abstract

The embodiment of the application provides a kind of vehicle platoon member out of queue method and device, it is related to intelligent driving technical field, the method can be applied to port, mine, trunk logistics, high speed or urban traffic scene, method includes: receiving target vehicle out of queue request information;According to the speed of vehicle platoon and preset time, obtain travel distance, preset time is the time required for target vehicle to exit vehicle platoon;According to road information and travel distance, it is judged whether target vehicle meets the preset condition of exiting vehicle platoon;In the case where preset condition is met, send out of queue response information to target vehicle, and the out of queue response information is used to indicate that target vehicle can exit vehicle platoon. By designing the cooperative interaction process of vehicle platoon member exiting platoon, reduce the unsafe factors of target vehicle when exiting vehicle platoon due to unreasonable exit request or exit position, to ensure that vehicle platoon member quickly and efficiently and safely leaves platoon.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, and in particular to a method and apparatus for the departure of members from a vehicle platoon. Background Technology

[0002] With the development and application of new technologies such as autonomous driving, information and communication technology, and cloud computing, automobiles are rapidly transforming from manually operated mechanical products into intelligent products controlled by intelligent systems. Traffic accidents caused by driver fatigue are frequently reported in the news; applying autonomous driving technology to automobiles can effectively reduce the accident rate. Furthermore, autonomous driving significantly reduces the number of drivers required, lowering labor costs.

[0003] One key area is multi-vehicle platooning. Achieving platooning coordination between vehicles can effectively prevent rear-end collisions caused by the sudden braking of the vehicle in front, significantly improving road safety. Furthermore, multi-vehicle platooning autonomous driving can reduce the following distance between vehicles, resulting in less wind resistance for the following vehicles and reducing their fuel costs.

[0004] However, if a vehicle needs to leave the formation while in formation, it will affect the operation of the entire formation. Summary of the Invention

[0005] This application provides a method and apparatus for vehicle platoon members to join the platoon. By designing a collaborative interaction process for vehicle platoon members to leave the platoon, it ensures that vehicle platoon members can leave the platoon quickly, efficiently and safely.

[0006] In a first aspect, embodiments of this application provide a method for vehicle platoon members to leave the platoon, including:

[0007] Receives a request for the target vehicle to leave the platoon; the target vehicle is located in the vehicle platoon.

[0008] The travel distance is obtained based on the speed of the vehicle platoon and a preset time, where the preset time is the time required for the target vehicle to leave the vehicle platoon.

[0009] Based on road information and driving distance, determine whether the target vehicle meets the preset conditions for leaving the vehicle platoon;

[0010] Under preset conditions, a departure response message is sent to the target vehicle, which is used to instruct the target vehicle to leave the vehicle formation.

[0011] This application implements a collaborative interaction process for vehicle platoon members to leave the platoon, reducing unsafe factors that may occur when a target vehicle leaves the platoon due to an unreasonable exit request or exit position, thereby enabling vehicle platoon members to leave the platoon quickly, efficiently and safely.

[0012] Optionally, the preset conditions include at least one of the following:

[0013] The lane lines within the driving distance are dashed lines; there are no ramps within the driving distance; traffic is unobstructed within the driving distance; and when the target vehicle leaves the platoon within the driving distance, there are no other vehicles in the lane it is about to enter. By designing reasonable pre-set conditions for leaving the platoon, the risk of unsafe situations arising from unreasonable exit requests or exit positions when the target vehicle leaves the platoon is reduced.

[0014] Optionally, after sending the departure response information to the target vehicle, the method for vehicle platoon members to leave the platoon also includes:

[0015] Send a notification message to the target following vehicle, which is the vehicle behind the target vehicle. The notification message is used to instruct the target following vehicle to adjust its following distance to the first safe distance.

[0016] After receiving the confirmation message from the target vehicle and the cut-out request message from the target vehicle, the system reacquires the driving distance and road information. When it determines that the target vehicle has a cut-out opportunity, it sends a departure instruction to the target vehicle. The confirmation message indicates that the target vehicle's following distance has reached the first safe distance, and the cut-out request message indicates that the target vehicle's following distance has reached the second safe distance and that a cut-out opportunity has occurred.

[0017] After receiving the cut-out completion message from the target vehicle, a follow command is sent to the target following vehicle, instructing it to resume the predetermined follow distance and speed. Upon receiving the follow response from the target following vehicle, the vehicle platoon member list is updated. By designing a collaborative interaction process for vehicle platoon members to leave the platoon and confirming when the target vehicle has a cut-out opportunity, the safety of the target vehicle leaving the platoon can be improved, and the impact on the driving safety of other vehicles in the adjacent platoon can be reduced.

[0018] Optionally, the first safe following distance is determined based on the current speed of the target vehicle, the target vehicle's preset exit speed, and the preset duration; the second safe following distance is determined based on the speed of the vehicle platoon, the target vehicle's preset exit speed, and the estimated steering angle. By designing safe following distances, the impact of the target vehicle exiting the platoon on the remaining vehicles in the platoon can be reduced, ensuring the safety of vehicle exiting the platoon.

[0019] Secondly, embodiments of this application provide a method for vehicle platoon members to leave the platoon, including:

[0020] The target vehicle sends a convoy request to the lead vehicle. The vehicle convoy includes the lead vehicle and the following vehicles, and the following vehicles include the target vehicle.

[0021] Receive the departure response information returned by the lead vehicle. The departure response information is used to instruct the target vehicle to leave the vehicle formation.

[0022] This application implements a collaborative interaction process for vehicle platoon members to leave the platoon, reducing unsafe factors that may occur when a target vehicle leaves the platoon due to an unreasonable exit request or exit position, thereby enabling vehicle platoon members to leave the platoon quickly, efficiently and safely.

[0023] Optionally, after receiving the departure response information returned by the lead vehicle, the departure method for vehicle platoon members also includes:

[0024] The following distance is controlled to the second safe following distance, which is determined based on the platoon speed, the target vehicle's preset exit speed, and the estimated steering angle. A request to exit the platoon is sent to the lead vehicle. Upon receiving the lead vehicle's exit command, the target vehicle begins to exit the platoon. After exiting the platoon, the target vehicle sends an exit completion message to the lead vehicle. By designing a safe following distance, the impact of the target vehicle's exit on the remaining vehicles in the platoon can be reduced, ensuring the safety of vehicle exit.

[0025] Optionally, after controlling the following distance to a safe distance, the method for vehicle platoon members to leave the platoon also includes:

[0026] The travel distance is calculated based on the current vehicle platoon speed and a preset time (the time when the target vehicle exits the platoon). Based on road information and travel distance, it is determined whether a cut-out opportunity exists. If so, a cut-out request message is sent to the lead vehicle. Confirming a cut-out opportunity reduces the impact on the driving safety of other vehicles in the adjacent platoon.

[0027] Optionally, before sending a departure request message to the lead vehicle to leave the vehicle formation, the departure method for vehicle formation members may also include:

[0028] The system checks for any abnormal information. If any abnormal information is detected, the vehicle leaves the platoon. Abnormal information includes at least one of the following: solid lane lines, communication equipment malfunction, sensor malfunction, or destination change. By checking for abnormal information, the impact of vehicles exhibiting abnormal information on the normal operation of the platoon can be reduced.

[0029] Thirdly, embodiments of this application provide a vehicle platoon member departure device, comprising:

[0030] The receiving module is used to receive the departure request information of the target vehicle, which is located in the vehicle formation.

[0031] The acquisition module is used to obtain the travel distance based on the speed of the vehicle platoon and a preset time, where the preset time is the time required for the target vehicle to leave the vehicle platoon.

[0032] The judgment module is used to determine whether the target vehicle meets the preset conditions for leaving the vehicle platoon based on road information and driving distance.

[0033] The sending module is used to send a departure response message to the target vehicle when preset conditions are met. The departure response message is used to instruct the target vehicle to leave the vehicle formation.

[0034] Optionally, the vehicle platoon member departure device is used to implement any of the possible implementations of the first aspect of the method described above.

[0035] Fourthly, embodiments of this application provide a vehicle platoon member departure device, comprising:

[0036] The sending module is used for the target vehicle to send a platooning request to the lead vehicle. The vehicle platoon includes the lead vehicle and the following vehicles, and the following vehicles include the target vehicle.

[0037] The receiving module is used to receive the departure response information returned by the navigator vehicle. The departure response information is used to instruct the target vehicle to leave the vehicle formation.

[0038] Optionally, the vehicle platoon member departure device is used to implement any of the possible implementations of the second aspect of the method described above.

[0039] Fifthly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0040] The memory is used to store computer instructions; the processor is used to execute the computer instructions stored in the memory to implement the method of either the first aspect or the second aspect.

[0041] In a sixth aspect, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method of either the first aspect or the second aspect.

[0042] In a seventh aspect, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method of either the first aspect or the second aspect.

[0043] Eighthly, this application provides a chip or chip system including at least one processor and a communication interface. The communication interface and the at least one processor are interconnected via a circuit. The at least one processor is used to run computer programs or instructions to execute the vehicle platoon member departure method described in the possible implementations of the first or second aspect. The communication interface in the chip can be an input / output interface, pins, or circuits, etc.

[0044] In one possible implementation, the chip or chip system described above in this application further includes at least one memory, in which instructions are stored. The memory can be an internal storage unit of the chip, such as a register or cache, or it can be a storage unit of the chip itself (e.g., read-only memory, random access memory, etc.).

[0045] Ninthly, embodiments of this application provide a vehicle platooning member enlistment system, including vehicles and a cloud.

[0046] The lead vehicle is used to forward the departure request information of the target vehicle, which is located in the vehicle formation, to the cloud.

[0047] The cloud platform obtains the travel distance based on the speed of the vehicle platoon and a preset time, where the preset time is the time required for the target vehicle to leave the vehicle platoon.

[0048] The cloud platform determines whether the target vehicle meets the preset conditions for leaving the vehicle platoon based on road information and the travel distance.

[0049] Under preset conditions, the cloud-based system transmits platooning response information to the target vehicle via a lead vehicle. This platooning response information is used to instruct the target vehicle to leave the vehicle formation.

[0050] Optionally, the cloud is also used to forward notification messages to the target following vehicle via the lead vehicle, wherein the target following vehicle is the vehicle behind the target vehicle, and the notification message is used to instruct the target following vehicle to adjust the following distance to the first safe following distance.

[0051] The cloud is also used to reacquire driving distance information and road information after receiving the confirmation message from the target following vehicle and the request to switch out message sent by the target vehicle, and when it is determined that the target vehicle has a chance to switch out, to forward a queuing instruction to the target vehicle through the lead vehicle. The confirmation message is used to indicate that the following distance of the target following vehicle has reached the first safe distance, and the request to switch out message is used to indicate that the following distance of the target vehicle has reached the second safe distance and that a switch out opportunity has occurred.

[0052] The cloud is also used to send a follow command to the target following vehicle through the navigator vehicle after receiving the cut-out completion message sent by the target vehicle forwarded by the navigator vehicle. The follow command is used to instruct the target following vehicle to resume following at a predetermined following distance and speed.

[0053] The cloud is also used to update the vehicle platoon member list after receiving the follow response returned by the target following vehicle forwarded by the lead vehicle.

[0054] In a tenth aspect, embodiments of this application provide a vehicle platoon member departure system, including vehicles and a cloud;

[0055] The target vehicle is used to send a platooning request to the cloud, and the target vehicle is located in the vehicle platoon.

[0056] The cloud is used to obtain the travel distance based on the speed of the vehicle platoon and a preset time, wherein the preset time is the time required for the target vehicle to leave the vehicle platoon;

[0057] The cloud platform is also used to determine, based on road information and the travel distance, whether the target vehicle meets the preset conditions for leaving the vehicle platoon;

[0058] Under preset conditions, the cloud is used to send a de-queue response message to the target vehicle, which instructs the target vehicle to leave the vehicle formation.

[0059] Optionally, the cloud is also used to send a notification message to the target following vehicle, the target following vehicle being the vehicle behind the target vehicle, and the notification message is used to instruct the target following vehicle to adjust its following distance to a first safe following distance;

[0060] The cloud is also used to reacquire driving distance information and road information after receiving the confirmation message from the target following vehicle and the request to switch out message sent by the target vehicle, and when it is determined that the target vehicle has a chance to switch out, send a departure instruction to the target vehicle. The confirmation message is used to indicate that the following distance of the target following vehicle has reached the first safe distance, and the request to switch out message is used to indicate that the following distance of the target vehicle has reached the second safe distance and that a switch out opportunity has occurred.

[0061] The cloud is also used to send a follow command to the target following vehicle after receiving the cut-out completion message sent by the target vehicle. The follow command is used to instruct the target following vehicle to resume following at a predetermined following distance and speed.

[0062] The cloud platform is also used to update the vehicle platoon member list after receiving a follow response from the target following vehicle.

[0063] The vehicle platoon member de-platformation method provided in this application receives a de-platformation request from a target vehicle, obtains the distance traveled by the platoon within a preset time based on the platoon's speed and a preset time, and determines whether the de-platformation request meets preset conditions based on road information and travel distance. If it does, a de-platformation response is sent to the target vehicle, enabling the target vehicle to exit the platoon. By designing a collaborative interaction process for vehicle platoon members to exit the platoon, the method reduces unsafe factors that may arise when a target vehicle exits the platoon due to an unreasonable exit request or exit position, achieving a fast, efficient, and safe departure of platoon members. Attached Figure Description

[0064] Figure 1 This is a schematic diagram of a scenario provided for an embodiment of this application;

[0065] Figure 2 This application provides a schematic flowchart of a method for vehicle platoon members to leave the platoon.

[0066] Figure 3 This is a schematic flowchart illustrating another method for departing members from a vehicle platoon, provided in an embodiment of this application.

[0067] Figure 4 This is a timing diagram illustrating the vehicle platoon member departure method provided in an embodiment of this application;

[0068] Figure 5 A schematic diagram of safe vehicle distance provided for an embodiment of this application;

[0069] Figure 6 This is a schematic diagram of the target vehicle cutting out of the vehicle platoon provided in an embodiment of this application;

[0070] Figure 7 A schematic diagram of the vehicle platoon member departure system provided in this application embodiment;

[0071] Figure 8 A schematic diagram of another vehicle platoon member departure system provided in this application embodiment;

[0072] Figure 9 This is a schematic diagram of the vehicle platoon member departure device provided in an embodiment of this application;

[0073] Figure 10 A schematic diagram of another vehicle platoon member departure device provided in this application embodiment;

[0074] Figure 11 A schematic diagram of the electronic equipment structure for vehicle platoon members leaving the platoon, provided in an embodiment of this application; Detailed Implementation

[0075] To facilitate a clear description of the technical solutions in the embodiments of this application, some terms and technologies involved in the embodiments of this application will be briefly introduced below:

[0076] 1) Vehicle platooning refers to multiple vehicles traveling in a longitudinal formation, maintaining a much lower safe distance between vehicles than the conventional vehicle spacing. For autonomous truck platoons operating on open roads, the internal spacing between vehicles is approximately one vehicle length. Due to aerodynamics, this significantly reduces air resistance for platoon members at high speeds, achieving excellent energy conservation and emission reduction effects. Furthermore, the extremely low spacing, combined with platooning cooperative driving based on vehicle-to-vehicle (V2V) communication technology, helps improve road capacity and road safety.

[0077] Truck platoons typically have a maximum number of members. This maximum number is also dynamically adjusted based on factors such as traffic flow, weather conditions, road management requirements, and road surface conditions.

[0078] When vehicles are in convoy, the following vehicle must follow the vehicle in front at a very low distance. In order to ensure that no rear-end collisions occur under such low distance conditions, the following vehicle must periodically obtain (e.g., 10-20Hz) the speed, acceleration, and position of the vehicle in front and the lead vehicle. Using this information from the vehicle in front and the lead vehicle, the following vehicle will accelerate and decelerate in sync with the vehicle in front and the lead vehicle.

[0079] 2) V2V communication technology is a communication technology that is not limited by fixed base stations, providing direct one-to-one wireless communication for moving vehicles. That is, through V2V communication technology, vehicle terminals can directly exchange wireless information with each other without the need for base station relay.

[0080] 3) Other terms

[0081] In the embodiments of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect, without limiting their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0082] It should be noted that, in the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0083] The method for departing vehicle platoon members provided in this application embodiment will be described in detail below with reference to the accompanying drawings. It should be noted that "at...time" in the embodiments of this application can refer to the instant at which a certain situation occurs, or to a period of time after the occurrence of a certain situation; this application embodiment does not specifically limit this.

[0084] With the development and application of new technologies such as autonomous driving, information and communication technology, and cloud computing, automobiles are rapidly transforming from manually operated mechanical products into intelligent products controlled by intelligent systems. Traffic accidents caused by driver fatigue are frequently reported in the news; applying autonomous driving technology to automobiles can effectively reduce the accident rate. Furthermore, autonomous driving significantly reduces the number of drivers required, lowering labor costs.

[0085] One key area is multi-vehicle platooning. Achieving platooning coordination between vehicles can effectively prevent rear-end collisions caused by the sudden braking of the vehicle in front, significantly improving road safety. Furthermore, multi-vehicle platooning autonomous driving can reduce the following distance between vehicles, resulting in less wind resistance for the following vehicles and reducing their fuel costs.

[0086] However, in actual platooning operations, any vehicle within the platoon may experience a malfunction or need to leave the platoon. Because the intervals between vehicles in a platoon are relatively small, it is difficult for a vehicle in the middle of the platoon to leave, which can significantly disrupt the normal operation of other vehicles within the platoon.

[0087] In view of this, this application proposes a method for vehicle platoon members to leave the platoon. By designing a collaborative interaction process for vehicle platoon members to leave the platoon, it ensures that vehicle platoon members can leave the platoon quickly, efficiently and safely.

[0088] The technical solution of this application will be described in detail below. The embodiments of this application can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0089] Figure 1 This is a schematic diagram of a scenario provided for an embodiment of this application, such as... Figure 1 As shown, this includes a convoy of vehicles. The convoy consists of a lead vehicle and multiple follower vehicles. All vehicles in the convoy are connected to the cloud, and one of the follower vehicles is a target vehicle that needs to leave the convoy.

[0090] For example, the target vehicle can send a departure request to the lead vehicle or the cloud. The lead vehicle or the cloud determines whether to allow the target vehicle to leave the vehicle formation based on the departure request. If the target vehicle is allowed to leave, it can leave the vehicle formation according to the instructions of the lead vehicle or the cloud.

[0091] If the target vehicle executes the vehicle formation member de-teaming method through interaction with the lead vehicle, the lead vehicle can directly receive the de-teaming request information sent by the target vehicle and determine whether to allow the target vehicle to leave the vehicle formation, or it can send the de-teaming request information to the cloud, where the cloud will determine whether to allow the target vehicle to leave the vehicle formation, and the lead vehicle will forward the cloud's determination result to the target vehicle.

[0092] If the target vehicle executes the vehicle platoon member de-queue method through interaction with the cloud, the cloud can directly receive the de-queue request information sent by the target vehicle, determine whether to allow the target vehicle to leave the vehicle platoon, and if the target vehicle is allowed to leave, send the de-queue response information to the target vehicle.

[0093] The above provides a brief illustration of the scenario of this application. The following section describes its application... Figure 1 Taking the lead vehicle as an example, this application will explain in detail the method for vehicle platoon members to leave the platoon.

[0094] Figure 2 This is a flowchart illustrating the method for departing members from a vehicle platoon provided in this embodiment. The departure method provided in this embodiment can be executed by a lead vehicle or by a cloud platform. The method provided in this embodiment includes:

[0095] S201. Receive the departure request information of the target vehicle in the vehicle formation.

[0096] In this embodiment, the vehicle platoon includes a lead vehicle and follower vehicles, and the target vehicle can be any follower vehicle in the platoon. The departure request information includes the departure position of the target vehicle.

[0097] In this embodiment of the application, communication between vehicles can be achieved through V2V communication technology or cellular mobile remote communication technology. Correspondingly, all vehicles in the formation and the target vehicle that is about to join the formation are equipped with V2V communication modules and cellular mobile remote communication modules.

[0098] In this embodiment, if the action is performed by a lead vehicle, vehicle-to-vehicle (V2V) communication technology can be used. V2V communication can be a point-to-point communication method, for example, the lead vehicle receives a departure request from the target vehicle, and this departure request is shared only between the lead vehicle and the target vehicle; other vehicles cannot access this departure request. Alternatively, it can be a group broadcast communication method, where the lead vehicle receives the departure request from the target vehicle, and any vehicle within the target vehicle's communication range can obtain this departure request. The target vehicle can also communicate with other vehicles using roadside units, such as traffic lights or signs. For example, the target vehicle can send a departure request to a roadside unit, which acts as an intermediary, forwarding the departure request to the lead vehicle. This embodiment does not limit the communication method between vehicles.

[0099] In this embodiment of the application, if the communication is performed by the cloud, the communication between vehicles or between vehicles and the cloud is achieved through cellular mobile telematics technology, and the target vehicle can send a platooning request to the cloud.

[0100] S202. Obtain the travel distance based on the current vehicle platoon speed and preset time.

[0101] In this embodiment, the preset time is the time required for the target vehicle to leave the vehicle platoon. The travel distance is the distance the vehicle platoon travels forward within the preset time.

[0102] The lead vehicle or cloud-based system calculates the estimated distance the platoon will travel during the process of the target vehicle leaving the platoon, based on the current speed of the platoon and the time required for the target vehicle to exit the platoon.

[0103] S203. Based on road information and travel distance, determine whether the target vehicle meets the preset conditions for leaving the vehicle platoon. If yes, proceed with the steps shown in S204; otherwise, reject the target vehicle's request to leave the platoon.

[0104] In this embodiment of the application, road information includes information such as lane information of the current vehicle platoon, traffic information, and road information of the target location.

[0105] The lead vehicle or cloud-based system uses road information and travel distance to comprehensively determine whether the target vehicle meets the preset conditions for leaving the platoon. For example, the preset condition could be that if all lane lines within the travel distance are dashed lines, the vehicle can leave the platoon; if there are continuous solid lines, the vehicle's request to leave the platoon is rejected.

[0106] S204. Send a convoy response message to the target vehicle.

[0107] The platooning response information is used to indicate that the target vehicle can leave the vehicle formation.

[0108] Once the lead vehicle or cloud-based system determines that the target vehicle meets the preset conditions for leaving the vehicle platoon based on road information and travel distance, it sends a departure response message to the target vehicle so that the target vehicle can leave the vehicle platoon according to the departure response message.

[0109] The vehicle platoon member de-platformation method provided in this application receives a de-platformation request from a target vehicle, obtains the distance traveled by the platoon within a preset time based on the platoon's speed and a preset time, and determines whether the de-platformation request meets preset conditions based on road information and travel distance. If it does, a de-platformation response is sent to the target vehicle, enabling the target vehicle to exit the platoon. By designing a collaborative interaction process for vehicle platoon members to exit the platoon, the method reduces unsafe factors that may arise when a target vehicle exits the platoon due to an unreasonable exit request or exit position, achieving a fast, efficient, and safe departure of platoon members.

[0110] Figure 3 A flowchart illustrating another method for departing members of a vehicle platoon, provided in an embodiment of this application, includes the following steps:

[0111] S301, The target vehicle sends a departure request to the lead vehicle.

[0112] The vehicle platoon consists of a lead vehicle and follower vehicles, and the target vehicle can be any of the follower vehicles.

[0113] In this embodiment of the application, the communication method between vehicles is similar to... Figure 2 The method shown in S201 in the illustrated embodiment is similar and will not be described again here.

[0114] If a target vehicle needs to leave the platoon due to reasons such as sensor failure, it will send a departure request to the lead vehicle.

[0115] S302. Receive the departure response information returned by the lead vehicle. The departure response information is used to indicate that the target vehicle can leave the vehicle formation.

[0116] In this embodiment of the application, after the target vehicle receives the departure response information returned by the navigator vehicle, it executes the departure process.

[0117] The vehicle platoon member de-teaming method provided in this application sends a de-teaming request to the lead vehicle and de-teams after receiving a de-teaming response from the lead vehicle. By designing a collaborative interaction process for vehicle platoon members to leave the platoon, it avoids unsafe factors when the target vehicle leaves the platoon due to an unreasonable exit request or exit position, thereby ensuring that vehicle platoon members leave the platoon quickly, efficiently and safely.

[0118] Figure 4 This is a timing diagram illustrating the method for departing members of a vehicle platoon provided in this embodiment. In this embodiment, the actions performed by the lead vehicle can also be implemented in the cloud. This embodiment uses the lead vehicle as an example for illustration, and the method includes:

[0119] S401. After detecting abnormal information in the target vehicle, a departure request message is sent to the lead vehicle.

[0120] In this embodiment of the application, abnormal information refers to one or more of the following: communication equipment failure, sensor failure, lane lines becoming solid, or destination change.

[0121] Normally, the order in which a following vehicle in a convoy exits the convoy is from the back of the convoy. If the target vehicle detects abnormal information and is unable to exit the convoy as originally planned, then the target vehicle must exit the convoy.

[0122] After detecting abnormal information, the target vehicle sends a departure request to the lead vehicle.

[0123] In one possible implementation, when a vehicle platoon is formed, due to differences in the braking performance of the following vehicles, when a following vehicle arrives at its destination, it may still be in the middle of the platoon rather than at the end. In this case, the following vehicle will act as the target vehicle and send a de-platooning request to the lead vehicle.

[0124] S402, the navigator vehicle obtains the travel distance based on the current speed of the vehicle platoon and the preset departure time of the target vehicle.

[0125] In this embodiment of the application, the implementation method of S402 is the same as... Figure 2 The implementation of S202 in the illustrated embodiment is similar and will not be repeated here.

[0126] S403: The lead vehicle determines whether the target vehicle's departure request meets preset conditions based on road information and travel distance. If so, the steps shown in S404 can be executed; otherwise, the departure request of the target vehicle is rejected.

[0127] In this embodiment, the road information includes lane line information, ramp information, traffic congestion information, and vehicle information at the target location. The navigator can obtain road information based on a high-precision map.

[0128] The lead vehicle determines whether the target vehicle meets the preset conditions for leaving the vehicle platoon based on road information and travel distance. The preset conditions include at least one of the following:

[0129] If there are consecutive solid lane lines within the driving distance, the preset conditions are not met.

[0130] If there is a ramp in the current driving lane or the lane where the target location is located within the driving distance, the preset conditions will not be met.

[0131] If traffic is congested within the driving distance, the preset conditions are not met.

[0132] If other vehicles are present in the lane where the target location is located within the driving distance, the preset conditions are not met.

[0133] S404, the lead vehicle sends a convoy response message to the target vehicle.

[0134] The implementation method of embodiment S404 of this application is the same as Figure 2 The implementation of S203 in the illustrated embodiment is similar and will not be repeated here.

[0135] S405, the lead vehicle sends a notification message to the target following vehicle.

[0136] In the embodiments of this application, such as Figure 5 As shown, the target following vehicle is the vehicle behind the target vehicle, and the notification message is used to instruct the target following vehicle to adjust the following distance to the first safe distance (S1).

[0137] The first safe following distance can be determined by the current speed of the target vehicle, the target vehicle's preset cut-out speed, and the preset time.

[0138] For example, the first safe following distance can satisfy the following formula:

[0139] D1 = (V1 - V2) * T + S q

[0140] Where D1 is the first safe following distance, V1 is the current speed of the target vehicle, V2 is the preset cut-out speed of the target vehicle, T is the preset time, and S is the preset distance. q The predetermined following distance for vehicle platooning.

[0141] It is understood that the steps shown in S404 and S405 can be executed simultaneously, sequentially, or in reverse order, and this application embodiment does not impose any restrictions on this.

[0142] S406, Increase the following distance of the target vehicle to the second safe following distance.

[0143] After the target vehicle receives the convoy response information, please continue to refer to... Figure 5 The target vehicle adjusts its following distance to the second safe following distance (S2).

[0144] The second safe following distance can be determined based on the speed of the vehicle platoon, the target vehicle's preset cut-out speed, and the target vehicle's estimated steering angle.

[0145] For example, the second safe following distance can satisfy the following formula:

[0146] D2=V2TCOSθ+S q

[0147] Where V2 is the preset cut-out speed of the target vehicle, T is the preset duration, and S is the preset cut-out speed. q The predetermined following distance for the vehicle platoon, θ is the estimated steering angle of the target vehicle.

[0148] S407. The target vehicle determines whether there is an opportunity to switch out based on road information and travel distance. If there is, the steps shown in S408 can be executed; otherwise, wait for an opportunity to switch out to appear.

[0149] After the target vehicle increases its following distance to the second safe distance, the travel distance is obtained based on the speed of the vehicle platoon and the preset time. Based on the road information and the travel distance, it is determined whether there is an opportunity to cut out.

[0150] The method by which the target vehicle determines whether there is a cut-out opportunity based on road information and travel distance is similar to the method in S403, and will not be elaborated here.

[0151] The target vehicle can acquire road information by interacting with other vehicles in the platoon. For example, members of the platoon can periodically share collected road information; the target vehicle can also acquire road information through a cloud platform; or the target vehicle can interact with roadside units to acquire road information. This application does not limit the method by which the target vehicle acquires road information.

[0152] After obtaining road information, the target vehicle determines whether a cut-out opportunity has occurred based on the calculated travel distance. If it has, the step shown in S408 can be executed; otherwise, it waits for a cut-out opportunity to occur.

[0153] S408, The target vehicle sends a request to switch out to the lead vehicle.

[0154] When the target vehicle increases its following distance to the second safe distance and confirms that there is an opportunity to switch out, it can send a request to switch out to the lead vehicle.

[0155] S409: The navigator vehicle receives the confirmation message and the cut-out request message sent by the target vehicle. After confirming that the target vehicle has a cut-out opportunity, it sends a departure command to the target vehicle.

[0156] After the lead vehicle receives the confirmation message and the cut-out request message from the target vehicle, it re-acquires the driving distance and road information, and determines whether the target vehicle has a cut-out opportunity based on the driving distance and road information. The specific implementation of determining whether the target vehicle has a cut-out opportunity is similar to that in S403, and will not be described in detail here.

[0157] If it is confirmed that the target vehicle has a cut-out opportunity, a de-queue command is sent to the target vehicle; if it is confirmed that the target vehicle has not a cut-out opportunity, a de-queue command is sent to the target vehicle.

[0158] S410, the target vehicle cuts out of the vehicle formation.

[0159] like Figure 6 As shown, after receiving the departure instruction from the navigator vehicle, the target vehicle begins to leave the vehicle formation.

[0160] S411: The lead vehicle notifies the target following vehicle to adjust its following distance and speed, and updates the crew list.

[0161] Once the target vehicle has completely left the vehicle formation, it sends a "segmentation complete" message to the lead vehicle. Please continue to refer to [the relevant documentation / reference]. Figure 6 At this point, the distance between the target following vehicle and the vehicle in front does not meet the conditions for smooth operation of the vehicle platoon. After receiving the cut-out completion message from the target vehicle, the lead vehicle sends a follow message to the target following vehicle so that the target vehicle can adjust its following distance and speed to achieve the desired distance and speed for the vehicle platoon.

[0162] After receiving a message from the target vehicle indicating that it has reached the predetermined distance and speed for the vehicle platoon, the lead vehicle updates the list of members in the vehicle platoon and synchronizes it on the cloud platform.

[0163] The method for removing members from a vehicle platoon provided in this application receives a removal request from a target vehicle and determines whether preset conditions for leaving the platoon are met based on road information and travel distance. If the preset conditions are met, a removal response is sent to the target vehicle, and a notification message is sent to the following vehicles. Based on the removal response, the target vehicle, upon confirming a safe following distance and an opportune moment to exit, sends a request to exit to the lead vehicle. The lead vehicle, upon further confirmation of an exit opportunity, allows the target vehicle to exit the platoon. By designing a collaborative interaction process for removing members from the platoon, the method reduces unsafe factors arising from improper removal requests or exit positions, thereby ensuring that members of the platoon leave the platoon quickly, efficiently, and safely.

[0164] Figure 7 A schematic diagram of a vehicle platoon member de-queueing system provided in this application embodiment includes vehicles and a cloud, and can execute a vehicle platoon member de-queueing method, including:

[0165] S701, the navigator vehicle, is used to forward the target vehicle's departure request information to the cloud. The target vehicle is located in the vehicle formation.

[0166] S702. The cloud obtains the travel distance based on the speed of the vehicle platoon and the preset time, where the preset time is the time required for the target vehicle to leave the vehicle platoon.

[0167] S703. Based on road information and travel distance, the cloud determines whether the target vehicle meets the preset conditions for leaving the vehicle platoon. If so, steps S704 and S705 can be executed.

[0168] The preset conditions and embodiments of this application Figure 4 The embodiment S403 shown is similar and will not be described again here.

[0169] S704. The cloud-based vehicle transmits platooning response information to the target vehicle via the navigator vehicle. The platooning response information is used to instruct the target vehicle to leave the vehicle formation.

[0170] S705: The cloud forwards notification messages to the lead vehicle and the target following vehicle through the navigator vehicle and the target following vehicle. The notification message is used to instruct the target following vehicle to adjust the following distance to the first safe distance.

[0171] S706. The target vehicle sends a request to switch out to the cloud via the lead vehicle. The request to switch out is used to instruct the target vehicle to adjust the following distance to the second safe distance and to indicate when to switch out.

[0172] S707. The target following vehicle sends a confirmation message to the cloud via the lead vehicle. The confirmation message is used to indicate that the following distance of the target following vehicle has reached the first safe distance.

[0173] After receiving confirmation messages from the target vehicle and requests to switch out from the target vehicle, the S708 and cloud systems reacquire driving distance and road information. When it is determined that the target vehicle has a chance to switch out, the queuing instruction is forwarded to the target vehicle through the lead vehicle.

[0174] After receiving the cut-out completion message from the target vehicle forwarded by the navigator vehicle, the cloud sends a follow command to the target following vehicle through the navigator vehicle. The follow command is used to instruct the target following vehicle to resume the predetermined follow distance and speed.

[0175] After receiving the follow response from the target vehicle forwarded by the lead vehicle, the S710 and cloud update the vehicle platoon member list.

[0176] For specific implementation details of the embodiments in this application, please refer to... Figure 4 The embodiments shown are not described in detail here.

[0177] The technical effects of the vehicle platooning departure system and the vehicle platooning departure method implemented in this application embodiment are similar to those of the vehicle platooning departure system. Figure 4 The implementation examples are similar and will not be repeated here.

[0178] Figure 8 A schematic diagram of another vehicle platoon member de-queueing system provided in this application embodiment includes vehicles and a cloud, and can execute a vehicle platoon member de-queueing method, including:

[0179] S801, The target vehicle sends a platooning request to the cloud, indicating that the target vehicle is in the vehicle platoon.

[0180] S802, the cloud is used to obtain the travel distance based on the speed of the vehicle platoon and the preset time, which is the time required for the target vehicle to leave the vehicle platoon.

[0181] S803. Based on road information and travel distance, the cloud determines whether the target vehicle meets the preset conditions for leaving the vehicle platoon. If so, steps S804 and S805 can be executed.

[0182] The preset conditions and embodiments of this application Figure 4 The embodiment S403 shown is similar and will not be described again here.

[0183] S804. The cloud sends a departure response message to the target vehicle, which is used to instruct the target vehicle to leave the vehicle formation.

[0184] S805: The cloud sends a notification message to the target following vehicle, which is the vehicle behind the target vehicle. The notification message is used to instruct the target following vehicle to adjust its following distance to the first safe distance.

[0185] S806. The target vehicle sends a request to switch out to the cloud. The request to switch out is used to instruct the target vehicle to adjust the following distance to the second safe distance and to indicate when to switch out.

[0186] S807. The target following vehicle sends a confirmation message to the cloud. The confirmation message is used to indicate that the following distance of the target following vehicle has reached the first safe distance.

[0187] After receiving the confirmation message from the target vehicle and the request to leave the platoon from the target vehicle, the S808 and cloud reacquire the driving distance and road information. When it is determined that the target vehicle has an opportunity to leave the platoon, the cloud sends a departure command to the target vehicle.

[0188] S809. After receiving the cut-out completion message from the target vehicle, the cloud sends a follow command to the target following vehicle. The follow command is used to instruct the target following vehicle to resume the predetermined follow distance and speed.

[0189] After receiving the follow response from the target vehicle, the S810 and cloud update the vehicle platoon member list.

[0190] For specific implementation details of the embodiments in this application, please refer to... Figure 4 The embodiments shown are not described in detail here.

[0191] The technical effects of the vehicle platooning departure system and the vehicle platooning departure method implemented in this application embodiment are similar to those of the vehicle platooning departure system. Figure 4 The implementation examples are similar and will not be repeated here.

[0192] Figure 9 The schematic diagram of the vehicle platoon member departure device 90 provided in the embodiments of this application includes: a receiving module 901, a judging module 902, and a sending module 903.

[0193] The receiving module 901 is used to receive a request for a target vehicle to leave the convoy, which includes a lead vehicle and follower vehicles, and the target vehicle is located in the convoy.

[0194] The acquisition module 902 is used to obtain the travel distance based on the speed of the current vehicle platoon and a preset time, where the preset time is the time when the target vehicle leaves the vehicle platoon.

[0195] The judgment module 903 is used to determine whether the target vehicle meets the preset conditions for leaving the vehicle platoon based on road information and driving distance.

[0196] The sending module 904 is used to send a departure response message to the target vehicle, which indicates that the target vehicle can leave the vehicle formation.

[0197] The vehicle platoon member departure device provided in this application embodiment can perform... Figure 2 The technical solutions of the method embodiments shown are similar in principle and technical effect, and will not be described again here.

[0198] Figure 10 A schematic diagram of another vehicle platoon member departure device 100 provided in this application embodiment includes: a sending module 1001 and a receiving module 1002.

[0199] The sending module 1001 is used for the target vehicle to send a platooning request information to the lead vehicle. The vehicle platoon includes the lead vehicle and the following vehicles, and the following vehicles include the target vehicle.

[0200] The receiving module 1002 is used to receive the departure response information returned by the navigator vehicle. The departure response is used to indicate that the target vehicle can leave the vehicle formation.

[0201] The vehicle platoon member departure device 100 provided in this application embodiment can execute the technical solution of the method embodiment shown in 3. Its principle and technical effect are similar, and will not be described again here.

[0202] Figure 11 This is a schematic diagram of the electronic device for disembarking vehicle platoon members provided in an embodiment of this application. Figure 11 As shown, the vehicle platoon member departure electronic device 110 provided in this embodiment may include:

[0203] Processor 1101.

[0204] Memory 1102 is used to store executable instructions for the terminal device.

[0205] The processor is configured to execute the technical solution of the above-described vehicle platoon member departure method embodiment by executing executable instructions. Its implementation principle and technical effect are similar, and will not be described again here.

[0206] This application also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the technical solution of the above-described method for the departure of vehicle platoon members. Its implementation principle and technical effects are similar, and will not be repeated here.

[0207] In one possible implementation, a computer-readable medium may include random access memory (RAM), read-only memory (ROM), compact discread-only memory (CD-ROM) or other optical disc storage, disk storage or other magnetic storage devices, or any other medium targeted to carry or to store the required program code in the form of instructions or data structures, and accessible by a computer. Furthermore, any connection is appropriately referred to as a computer-readable medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. As used herein, disks and optical discs include optical discs, laser discs, optical discs, Digital Versatile Discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while optical discs optically reproduce data using lasers. The above combinations should also be included within the scope of computer-readable media.

[0208] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the technical solution of the above-described vehicle platoon member departure method embodiment. Its implementation principle and technical effects are similar and will not be repeated here.

[0209] In the specific implementation of the aforementioned terminal device or server, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0210] Those skilled in the art will understand that all or part of the steps in any of the above method embodiments can be implemented by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium, and when the program is executed, all or part of the steps in the above method embodiments are performed.

[0211] If the technical solution of this application is implemented in software form and sold or used as a product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of this application can be embodied in the form of a software product, which is stored in a storage medium and includes a computer program or several instructions. This computer software product causes a computer device (which may be a personal computer, server, network device, or similar electronic device) to execute all or part of the steps of the method described in Embodiment 1 of this application.

[0212] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for departing members of a vehicle platoon, characterized in that, The method includes: Receive a request for a target vehicle to leave the platoon, wherein the target vehicle is located in the vehicle platoon; The travel distance is obtained based on the speed of the vehicle platoon and a preset time, wherein the preset time is the time required for the target vehicle to leave the vehicle platoon; Based on the road information and the travel distance, it is determined whether the target vehicle meets the preset conditions for leaving the vehicle platoon; the road information includes the lane information of the current vehicle platoon, traffic information, and road information of the target location; Under preset conditions, a de-queue response message is sent to the target vehicle, which is used to instruct the target vehicle to leave the vehicle formation. A notification message is sent to the target following vehicle, which is the vehicle behind the target vehicle. The notification message instructs the target following vehicle to adjust its following distance to a first safe following distance; wherein the first safe following distance satisfies the following formula: Where D1 is the first safe following distance, V1 is the current speed of the target vehicle, V2 is the preset cut-out speed of the target vehicle, T is the preset time, and S is the preset distance. q The predetermined following distance for vehicle platooning; After receiving the confirmation message from the target following vehicle and the cut-out request message from the target vehicle, the driving distance information and road information are reacquired. If it is determined that the target vehicle has a cut-out opportunity, a departure command is sent to the target vehicle. The confirmation message indicates that the following distance of the target following vehicle has reached the first safe following distance, and the cut-out request message indicates that the following distance of the target vehicle has reached the second safe following distance and a cut-out opportunity has occurred. The second safe following distance satisfies the following formula: ； Where V2 is the preset cut-out speed of the target vehicle, T is the preset duration, and S is the preset cut-out speed. q The predetermined following distance for vehicle platooning The estimated steering angle for the target vehicle; The preset conditions include at least one of the following: The lane lines within the specified driving distance are dashed lines; There are no ramps within the stated travel distance; Traffic was smooth within the stated travel distance; When the target vehicle breaks out of the vehicle platoon within the specified driving distance, there are no other vehicles in the lane it is to enter.

2. The method according to claim 1, further comprising: After receiving the cut-out completion message from the target vehicle, a follow command is sent to the target following vehicle, which instructs the target following vehicle to resume following at the predetermined following distance and speed. Upon receiving the follow response from the target vehicle, the vehicle platoon member list is updated.

3. A method for departing members of a vehicle platoon, characterized in that, include: The target vehicle sends a convoy request to the lead vehicle. The convoy includes the lead vehicle and the following vehicles, and the following vehicles include the target vehicle. The system receives a departure response message from the lead vehicle, which instructs the target vehicle to leave the platoon. The departure response message is sent by the lead vehicle when it determines, based on road information and travel distance, that the target vehicle meets preset conditions for leaving the platoon. The travel distance is obtained based on the platoon's speed and a preset time. The preset time is the time required for the target vehicle to leave the platoon. The preset conditions include at least one of the following: The lane lines within the specified driving distance are dashed lines; There are no ramps within the stated travel distance; Traffic was smooth within the stated travel distance; When the target vehicle breaks out of the vehicle platoon within the specified driving distance, there are no other vehicles in the lane it is about to enter. After receiving the queuing response information returned by the lead vehicle, the method further includes: The following distance is controlled to a second safe following distance, which is determined based on the speed of the vehicle platoon, the preset exit speed of the target vehicle, and the estimated steering angle; wherein, the second safe following distance satisfies the following formula: ； Where V2 is the preset cut-out speed of the target vehicle, T is the preset duration, and S is the preset cut-out speed. q The predetermined following distance for vehicle platooning The estimated steering angle for the target vehicle; Send a request to switch out message to the lead vehicle; Upon receiving the de-queue command returned by the navigator vehicle, the target vehicle begins to leave the vehicle formation; After the target vehicle switches out, a switch-out completion message is sent to the lead vehicle. After controlling the following distance to a safe following distance, the method further includes: The travel distance is obtained based on the speed of the vehicle platoon and a preset time, wherein the preset time is the time when the target vehicle leaves the vehicle platoon; Based on the road information and the travel distance, it is determined whether there is an opportunity to cut out; the road information includes the lane information of the current vehicle platoon, traffic information, and road information of the target location; If it exists, send a request to switch out message to the lead vehicle.

4. The method according to claim 3, characterized in that, Before sending the departure request message to the lead vehicle, the method further includes: Check for any abnormal information; if any abnormal information is found, remove the vehicle from the platoon. The abnormal information includes at least one of the following: lane lines becoming solid, communication equipment failure, sensor failure, or destination change.

5. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the method of any one of claims 1-2, or the method of any one of claims 3-4.

6. A computer-readable storage medium, characterized in that, It stores a computer program, which is executed by a processor to implement the method of any one of claims 1-2, or the method of any one of claims 3-4.

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