Methods, devices and storage media for adding vehicles to a fleet

Abstract

This invention discloses a method, apparatus, and storage medium for a vehicle joining a convoy. The method includes: receiving request information and first distance information from a target vehicle in the convoy via a communication connection between a first vehicle in the convoy and a target vehicle to be joined; responding to the request information and determining the target vehicle's target position information within the convoy based on the first and second distance information; and controlling the target vehicle to join the convoy based on the target position information. This invention solves the technical problem of low flexibility when vehicles join a convoy.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more particularly, to a method, apparatus, and storage medium for adding vehicles to a fleet. Background Technology

[0002] Currently, when a free-rider joins a convoy, it can only join from the back of the convoy. Moreover, the control commands sent by the lead vehicle are designed individually by each manufacturer, and vehicles from different manufacturers cannot be mixed into a convoy.

[0003] There is currently no effective solution to the technical problem of low flexibility when these vehicles are added to a fleet. Summary of the Invention

[0004] This invention provides a method, apparatus, and storage medium for adding vehicles to a fleet, to at least address the technical problem of low flexibility when adding vehicles to a fleet.

[0005] According to one aspect of the present invention, a method for a vehicle to join a convoy is provided. The method may include: receiving, via a communication connection between a first vehicle in the convoy and a target vehicle to be joined in the convoy, requesting the target vehicle to join the convoy, wherein the request information requests the target vehicle to join the convoy, and the first distance information is the distance between the target vehicle's first current position and its intended first destination position, the convoy comprising multiple vehicles, and the first vehicle leading the other vehicles in the convoy; responding to the request information, determining the target vehicle's target position information in the convoy based on the first distance information and the second distance information, wherein the second distance information represents the distance between the second current position of each of the multiple vehicles and its second destination position, and the target position information represents the position where the target vehicle is to be joined in the convoy; and controlling the target vehicle to join the convoy based on the target position information.

[0006] Optionally, in response to the request information, based on the first distance information and the second distance information, the target position information of the target vehicle in the convoy is determined, including: when the difference between the first distance information and the second distance information is less than or equal to a preset distance threshold information, the position after the second vehicle in the convoy is determined as the target position information, wherein the second vehicle is any other vehicle in the convoy other than the first vehicle.

[0007] Optionally, in response to the request information, based on the first distance information and the second distance information, the target position information of the target vehicle in the convoy is determined, including: when the difference between the first distance information and the second distance information is greater than a preset distance threshold information, the position of the second vehicle in the convoy before the target position information is determined, wherein the second vehicle is any other vehicle in the convoy other than the first vehicle.

[0008] Optionally, controlling the target vehicle to join the convoy based on the target location information includes: controlling the target vehicle to join the convoy based on the target location information, which includes: updating the convoy list information based on the target location information, and sending broadcast information corresponding to the updated list information to the target vehicle and each vehicle in the convoy, wherein the updated list information is the location information of each vehicle in the convoy after the target vehicle joins the convoy, and the broadcast information is used to broadcast the location information of the target vehicle joining the convoy to the target vehicle and each vehicle in the convoy; and controlling the target vehicle to join the convoy based on the broadcast information.

[0009] According to one aspect of the present invention, another method for a vehicle to join a convoy is provided, wherein the method may include: sending a request message and first distance information to a first vehicle in the convoy via a communication connection between a first vehicle in the convoy and a target vehicle in the convoy to be joined, wherein the request message is used to request the target vehicle to join the convoy, and the first distance information is the distance between the first current position of the target vehicle and the first destination position to which the target vehicle is to be reached, the convoy includes multiple vehicles, and the first vehicle is used to lead the other vehicles in the multiple vehicles excluding the first vehicle; acquiring broadcast information sent by the first vehicle in response to the request message, the first distance information and the second distance information, wherein the second distance information is used to represent the distance between the second current position of each of the multiple vehicles and the second destination position of each vehicle, and the broadcast information is used to broadcast the location information of the target vehicle joining the convoy to the target vehicle and each vehicle in the convoy; and controlling the target vehicle to join the convoy based on the broadcast information.

[0010] Optionally, controlling the target vehicle to join the convoy based on broadcast information includes: determining the positional relationship information between the target vehicle and the convoy based on broadcast information; and controlling the target vehicle to join the convoy based on the positional relationship information.

[0011] According to one aspect of the present invention, an apparatus for joining a vehicle convoy is provided. The apparatus may include: a receiving unit, configured to receive, via a communication connection between a first vehicle in the convoy and a target vehicle to be joined in the convoy, request information and first distance information sent by the target vehicle, wherein the request information requests the target vehicle to join the convoy, and the first distance information is the distance between the target vehicle's first current position and the target vehicle's intended destination position, the convoy comprising multiple vehicles, and the first vehicle leading the other vehicles in the multiple vehicles; a determining unit, configured to respond to the request information and, based on the first distance information and the second distance information, determine the target vehicle's target position information in the convoy, wherein the second distance information represents the distance between the second current position of each of the multiple vehicles and the second destination position of each vehicle, and the target position information represents the position where the target vehicle is to be joined in the convoy; and a control unit, configured to control the target vehicle to join the convoy based on the target position information.

[0012] According to one aspect of the present invention, another apparatus for joining a convoy of vehicles is provided. The apparatus may include: a sending unit, configured to send request information and first distance information to a first vehicle in the convoy via a communication connection between a first vehicle in the convoy and a target vehicle in the convoy to be joined, wherein the request information requests the target vehicle to join the convoy, and the first distance information is the distance between the target vehicle's first current position and the target vehicle's intended destination position, the convoy comprising multiple vehicles, and the first vehicle leading the other vehicles in the multiple vehicles; an acquisition unit, configured to acquire broadcast information sent by the first vehicle in response to the request information, the first distance information, and the second distance information, wherein the second distance information represents the distance between the second current position of each of the multiple vehicles and the second destination position of each vehicle, and the broadcast information broadcasts the target vehicle's position information for joining the convoy to the target vehicle and each vehicle in the convoy; and a processing unit, configured to control the target vehicle to join the convoy based on the broadcast information.

[0013] According to another aspect of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the method for vehicles joining a convoy according to the embodiments of the present invention.

[0014] According to another aspect of the present invention, a processor is also provided. The processor is used to run a program, wherein the program, when running, executes the method for adding vehicles to a convoy according to the embodiments of the present invention.

[0015] According to another aspect of the present invention, a vehicle is also provided for performing the method of joining a convoy of vehicles according to the embodiments of the present invention.

[0016] In this embodiment of the invention, through a communication connection between a first vehicle in a convoy and a target vehicle to be joined in the convoy, a request message and a first distance message sent by the target vehicle are received. The request message is used to request the target vehicle to join the convoy, and the first distance message is the distance between the target vehicle's first current position and the first destination position that the target vehicle is to reach. The convoy includes multiple vehicles, and the first vehicle is used to lead the other vehicles in the multiple vehicles. In response to the request message, based on the first distance message and the second distance message, the target position information of the target vehicle in the convoy is determined. The second distance message is used to represent the distance between the second current position of each of the multiple vehicles and the second destination position of each vehicle, and the target position information is used to represent the position of the target vehicle to be joined in the convoy. Based on the target position information, the target vehicle is controlled to join the convoy. In other words, in this embodiment of the invention, the first vehicle in the convoy and the target vehicle communicate with each other to receive the request information sent by the target vehicle to join the convoy. Based on the request information, the first distance information and the second distance information, the target vehicle's target position information in the convoy is determined. Based on the target position information, the target vehicle joins the convoy, thereby achieving the goal of flexible joining position when the target vehicle joins the convoy, solving the technical problem of low flexibility when vehicles join the convoy, and achieving the technical effect of improving the flexibility when vehicles join the convoy. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0018] Figure 1 This is a flowchart of a method for a vehicle to join a convoy according to an embodiment of the present invention;

[0019] Figure 2 This is a flowchart of another method for adding a vehicle to a convoy according to an embodiment of the present invention;

[0020] Figure 3 This is a flowchart of a method for a free vehicle to join a convoy according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of a communication module according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of a device for adding a vehicle to a convoy according to an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of another device for joining a convoy according to an embodiment of the present invention. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] Example 1

[0027] According to an embodiment of the present invention, a method for adding a vehicle to a fleet is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0028] Figure 1 This is a flowchart of a method for adding a vehicle to a convoy according to an embodiment of the present invention, such as... Figure 1 As shown, the method may include the following steps:

[0029] Step S101: Through the communication connection between the first vehicle in the convoy and the target vehicle to be joined in the convoy, receive the request information and the first distance information sent by the target vehicle. The request information is used to request the target vehicle to join the convoy, and the first distance information is the distance between the first current position of the target vehicle and the first destination position that the target vehicle is going to reach. The convoy includes multiple vehicles, and the first vehicle is used to lead the other vehicles in the multiple vehicles except for the first vehicle.

[0030] In the technical solution provided by step S101 of the present invention, a wireless communication connection is established between the first vehicle in the convoy and the target vehicle to be added to the convoy. Through this wireless communication connection, the first vehicle receives the request information sent by the target vehicle to join the convoy and the first distance information between the first current position of the target vehicle and the first destination position to be reached by the target vehicle. The first vehicle can be the lead vehicle and the target vehicle can be a free vehicle. It should be noted that any vehicle in the convoy can be the first vehicle, and each vehicle in the convoy can establish a communication connection with the target vehicle. Each vehicle in the convoy can establish a communication connection with each other.

[0031] Step S102: Respond to the request information and determine the target location information of the target vehicle in the convoy based on the first distance information and the second distance information. The second distance information is used to represent the distance between the second current position of each vehicle and the second destination position of each vehicle among the multiple vehicles, and the target location information is used to represent the position of the target vehicle to be added to the convoy.

[0032] In the technical solution provided by step S102 of the present invention, in response to the request information, the target vehicle is determined to join the convoy at a target location in the convoy based on the relationship between the first distance information and the second distance information. The target location can be between two vehicles in the convoy, behind the last vehicle in the convoy, or behind the first vehicle in the convoy. Each of the multiple vehicles can be a following vehicle.

[0033] Step S103: Based on the target location information, control the target vehicle to join the convoy.

[0034] In the technical solution provided by step S103 of the present invention, based on the target vehicle's target position information in the convoy, the target vehicle drives to the adjacent lane of the convoy, and adjusts its position to be parallel to the second vehicle in the convoy by accelerating and decelerating, while maintaining the same speed as the convoy. The second vehicle leaves a distance to ensure that the target vehicle can enter the convoy, and the target vehicle enters the convoy.

[0035] In steps S101 to S103 of this application, through the communication connection between the first vehicle in the convoy and the target vehicle to be joined in the convoy, a request message and a first distance message sent by the target vehicle are received. The request message is used to request the target vehicle to join the convoy, and the first distance message is the distance between the first current position of the target vehicle and the first destination position that the target vehicle is to reach. The convoy includes multiple vehicles, and the first vehicle is used to lead the other vehicles in the multiple vehicles. In response to the request message, based on the first distance message and the second distance message, the target position information of the target vehicle in the convoy is determined. The second distance message is used to represent the distance between the second current position of each of the multiple vehicles and the second destination position of each vehicle, and the target position information is used to represent the position of the target vehicle to be joined in the convoy. Based on the target position information, the target vehicle is controlled to join the convoy. In other words, in this embodiment of the invention, the first vehicle in the convoy and the target vehicle communicate with each other to receive the request information sent by the target vehicle to join the convoy. Based on the request information, the first distance information and the second distance information, the target vehicle's target position information in the convoy is determined. Based on the target position information, the target vehicle joins the convoy, thereby achieving the goal of flexible joining position when the target vehicle joins the convoy, solving the technical problem of low flexibility when vehicles join the convoy, and achieving the technical effect of improving the flexibility when vehicles join the convoy.

[0036] The method described in this embodiment will be further described below.

[0037] As an optional embodiment, step S102, responding to the request information, determines the target location information of the target vehicle in the convoy based on the first distance information and the second distance information, including: when the difference between the first distance information and the second distance information is less than or equal to a preset distance threshold information, the position after the second vehicle in the convoy is determined as the target location information, wherein the second vehicle is any other vehicle in the convoy other than the first vehicle.

[0038] In this embodiment, when the difference between the first distance information and the second distance information is less than or equal to a preset distance threshold information, that is, when the distance between the target vehicle and the first destination position is less than or equal to the distance between the second vehicle in the convoy and the second destination position, the second vehicle in the convoy is closer to the second destination position than the target vehicle is closer to the destination position, and the target position of the target vehicle is after the second vehicle.

[0039] For example, when the first distance information is 5 kilometers, the second distance information is 4 kilometers, the difference between the first distance information and the second distance information is 1 kilometer, and the preset distance threshold information is 0.5 meters, the target position of the target vehicle is behind the second vehicle.

[0040] As an optional embodiment, step S102, responding to the request information, determines the target location information of the target vehicle in the convoy based on the first distance information and the second distance information, including: when the difference between the first distance information and the second distance information is greater than a preset distance threshold information, the position of the second vehicle in the convoy is determined as the target location information, wherein the second vehicle is any other vehicle in the convoy other than the first vehicle.

[0041] In this embodiment, when the difference between the first distance information and the second distance information is greater than the preset distance threshold information, that is, when the distance between the target vehicle and the first destination position is greater than the distance between the second vehicle in the convoy and the second destination position, the second vehicle in the convoy is farther from the second destination position than the target vehicle is from the destination position, and the target position of the target vehicle is ahead of the second vehicle.

[0042] For example, when the first distance information is 5 kilometers, the second distance information is 4 kilometers, and the difference between the first distance information and the second distance information is 1 kilometer, and when the preset distance threshold information is 1.5 meters, the target position of the target vehicle is in front of the second vehicle.

[0043] As an optional embodiment, step S103, controlling the target vehicle to join the fleet based on the target location information, includes: updating the fleet list information based on the target location information, and sending broadcast information corresponding to the updated list information to the target vehicle and each vehicle in the fleet, wherein the updated list information is the location information of each vehicle in the fleet after the target vehicle joins the fleet, and the broadcast information is used to broadcast the location information of the target vehicle joining the fleet to the target vehicle and each vehicle in the fleet; and controlling the target vehicle to join the fleet based on the broadcast information.

[0044] In this embodiment, the list information of vehicles not yet joined to the target is updated based on the target location information of the vehicles, resulting in an updated list information of vehicles joined to the target. The list information may include the location information of each vehicle in the convoy, the vehicle's license plate, vehicle model, vehicle color, etc. The list information is broadcast to the target vehicle and each vehicle in the convoy, so that each vehicle in the convoy can determine which vehicle will join and adjust its speed to allow the target vehicle to join the convoy.

[0045] In this embodiment of the invention, when the difference between the first distance information and the second distance information is less than or equal to a preset distance threshold information, the position after the second vehicle in the convoy is determined as the target position information; or when the difference between the first distance information and the second distance information is greater than the preset distance threshold information, the position before the second vehicle in the convoy is determined as the target position information. Based on the target position information, the convoy list information is updated, and broadcast information corresponding to the updated list information is sent to the target vehicle and each vehicle in the convoy. Based on the broadcast information, the target vehicle is controlled to join the convoy. This solves the technical problem of low flexibility when vehicles join the convoy and achieves the technical effect of improving the flexibility when vehicles join the convoy.

[0046] Figure 2 This is a flowchart of another method for adding a vehicle to a convoy according to an embodiment of the present invention, such as... Figure 2 As shown, the method may include the following steps:

[0047] Step S201: Through the communication connection between the first vehicle in the convoy and the target vehicle to be joined in the convoy, a request message and a first distance message are sent to the first vehicle. The request message is used to request the target vehicle to join the convoy, and the first distance message is the distance between the first current position of the target vehicle and the first destination position that the target vehicle is going to reach. The convoy includes multiple vehicles, and the first vehicle is used to lead the other vehicles in the multiple vehicles except for the first vehicle.

[0048] In the technical solution provided by step S201 of the present invention, a wireless communication connection is established between the first vehicle in the convoy and the target vehicle to be added to the convoy. Through this wireless communication connection, the target vehicle sends a request message and a first distance message to the first vehicle. The first vehicle can be the lead vehicle, and the target vehicle can be a free vehicle. It should be noted that any vehicle in the convoy can be the first vehicle, and each vehicle in the convoy can establish a communication connection with the target vehicle. Each vehicle in the convoy can also establish a communication connection with each other.

[0049] Step S202: Obtain the broadcast information sent by the first vehicle in response to the request information, the first distance information and the second distance information, wherein the second distance information is used to represent the distance between the second current position of each of the multiple vehicles and the second end position of each vehicle, and the broadcast information is used to broadcast the position information of the target vehicle joining the convoy to the target vehicle and each vehicle in the convoy.

[0050] In the technical solution provided by step S202 of the present invention, in response to the request information, the target vehicle's target position in the convoy is determined based on the relationship between the first distance information and the second distance information. The target position can be between two vehicles in the convoy, behind the last vehicle in the convoy, or behind the first vehicle in the convoy. Each of the multiple vehicles can be a following vehicle. Based on the target vehicle's position information in the convoy, the convoy list information is updated, and the list information is broadcast to the target vehicle and every vehicle in the convoy. That is, the specific position of the target vehicle joining the convoy is broadcast to the target vehicle and every vehicle in the convoy.

[0051] Step S203: Based on the broadcast information, control the target vehicle to join the convoy.

[0052] In the technical solution provided by step S203 of the present invention, according to the position of the target vehicle in the convoy in the broadcast information, the target vehicle drives to the adjacent lane of the convoy, and adjusts its position to be parallel to the second vehicle in the convoy by accelerating and decelerating, while maintaining the same speed as the convoy. The second vehicle leaves a distance to ensure that the target vehicle drives into the convoy, and the target vehicle drives into the convoy.

[0053] In steps S201 to S203 of this application, a request message and a first distance message are sent to the first vehicle through a communication connection between the first vehicle in the convoy and the target vehicle to be joined in the convoy. The request message is used to request the target vehicle to join the convoy, and the first distance message is the distance between the first current position of the target vehicle and the first destination position that the target vehicle is going to reach. The convoy includes multiple vehicles, and the first vehicle is used to lead the other vehicles in the multiple vehicles. A broadcast message sent by the first vehicle in response to the request message, the first distance message, and the second distance message is obtained. The second distance message is used to represent the distance between the second current position of each of the multiple vehicles and the second destination position of each vehicle. The broadcast message is used to broadcast the position information of the target vehicle joining the convoy to the target vehicle and each vehicle in the convoy. Based on the broadcast message, the target vehicle is controlled to join the convoy. In other words, in this embodiment of the invention, a request to join the convoy is sent to the first vehicle through the communication connection between the first vehicle in the convoy and the target vehicle. The first vehicle then sends a broadcast message to each vehicle in the convoy and the target vehicle based on the request message, the first distance information, and the second distance information. The target vehicle joins the convoy based on the broadcast message, thereby achieving the goal of flexible joining position when the target vehicle joins the convoy. This solves the technical problem of low flexibility when vehicles join the convoy and achieves the technical effect of improving the flexibility when vehicles join the convoy.

[0054] The method described in this embodiment will be further described below.

[0055] As an optional embodiment, step S203, controlling the target vehicle to join the convoy based on broadcast information, includes: determining the positional relationship information between the target vehicle and the convoy based on broadcast information; and controlling the target vehicle to join the convoy based on the positional relationship information.

[0056] In this embodiment, the positional relationship information between the target vehicle and the convoy is determined based on the target vehicle's position in the convoy. Based on the positional relationship information, the target vehicle travels to the adjacent lane of the convoy. Then, based on the target vehicle's target position information in the convoy, the target vehicle joins the convoy.

[0057] In this embodiment of the invention, the positional relationship between the target vehicle and the convoy is determined based on broadcast information. The target vehicle then travels to the adjacent lane of the convoy according to the positional relationship. Based on the target location information, the target vehicle joins the convoy. This solves the technical problem of low flexibility when a vehicle joins a convoy and achieves the technical effect of improving the flexibility when a vehicle joins a convoy.

[0058] Example 2

[0059] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0060] Currently, in related technologies, when a vehicle joins a convoy, the communication between the free vehicle and the lead vehicle in the convoy uses not only the standard-defined inter-vehicle communication information but also custom inter-vehicle communication information. In the technical solution where the lead vehicle sends vehicle formation control commands, the vehicle formation control commands are sent through a cloud server. Furthermore, the roles of the lead vehicle and the following vehicles cannot be interchanged. Moreover, since the control commands sent by the lead vehicle are designed separately by each manufacturer, vehicles produced by different manufacturers cannot achieve mixed formation.

[0061] However, embodiments of the present invention propose a method for adding a vehicle to a convoy. Figure 3 This is a flowchart of a method for adding a free vehicle to a convoy according to an embodiment of the present invention, such as... Figure 3 As shown, the method may include the following steps:

[0062] Step S301: The free bike requests to join the team.

[0063] The free vehicle sends a request to join the convoy to the lead vehicle via a communication connection. This embodiment of the invention provides a communication module. Figure 4 This is a schematic diagram of a communication module according to an embodiment of the present invention, such as... Figure 4As shown, the communication module may include: a vehicle positioning device module 401, a controller module 402, a workshop communication device module 403, a vehicle steering actuator module 404, a vehicle drive actuator module 405, and a vehicle brake actuator module 406. The controller module 402 can be a microcontroller system, a high-performance onboard computing unit, or other onboard equipment capable of performing the same function. The workshop communication device module 403 needs to meet performance requirements such as communication range, bandwidth, and latency, and can be Dedicated Short Range Communications (DSRC), a direct communication interface (PC5 interface), or other interfaces. The positioning service used by the vehicle positioning device module 401 can be GPS, BeiDou, or Galileo, etc. The vehicle steering actuator module 404 can receive steering control commands from the controller module 402 to control the vehicle's steering. The vehicle drive actuator module 405 can receive drive control commands from the controller module 402 to drive the vehicle. The vehicle brake actuator module 406 can receive braking control commands from the controller module 402 to control the vehicle's deceleration. The workshop communication equipment module 403, vehicle positioning equipment module 401, vehicle steering actuator module 404, vehicle drive actuator module 405, and vehicle braking actuator module 406 are connected to the controller through the vehicle communication network to transmit the information and control commands required for vehicle platooning control.

[0064] Step S302: Does the lead car agree to let the free bike join the team?

[0065] The lead car receives a request from a free rider to join the team. If it agrees to the free rider joining, it proceeds to step S303; otherwise, the entire process ends.

[0066] Step S303: The lead car determines the position where the free bike joins the convoy.

[0067] Once the lead car agrees to let the free car join the convoy, it will determine the free car's position within the convoy. The free car's position can be determined based on the distance of the destinations of the following vehicles in the convoy. Following vehicles with farther destinations will be placed in front, and following vehicles with closer destinations will be placed behind. For example, the free car may join between the (i-1)th following vehicle and the ith following vehicle.

[0068] Step S304: The lead vehicle sends the updated fleet list information.

[0069] Once the lead car has determined the location of the free rider joining the team, it will broadcast the updated team list.

[0070] Step S305: The free car adjusts its position.

[0071] After receiving the convoy list from the lead vehicle, the independent vehicle determines that the lead vehicle agrees to its joining the convoy and specifies its position within the convoy. The independent vehicle adjusts its position to the adjacent lane of the convoy by changing lanes; it then adjusts its position to be alongside the i-th following vehicle by accelerating and decelerating, maintaining the same speed as the convoy. During this process, all vehicles in the convoy, as well as the independent vehicle, broadcast their position, message sending time, location, speed, vehicle role, and destination to other surrounding vehicles.

[0072] Step S306: The free vehicle intends to join the following vehicle behind the position and slow down.

[0073] During steady-state driving of the convoy, the distance between vehicles can be D. In this process, the i-th following vehicle monitors the position of any free vehicle about to join the convoy. When it detects a free vehicle about to join the convoy driving alongside the i-th vehicle, the i-th following vehicle adjusts its distance from the free vehicle in the direction of travel to D by slowing down.

[0074] Step S307: The free bike changes lanes to join the team.

[0075] At this point, the team had left enough space for the free riders, who joined the team by changing lanes.

[0076] Step S308: Complete the process of joining the fleet.

[0077] The entire process of joining the team is complete.

[0078] In this embodiment, the independent vehicle sends a request to join the convoy. The lead vehicle receives this request and, if it agrees, proceeds to the next step; otherwise, the process ends. After agreeing, the lead vehicle determines the independent vehicle's position within the convoy and broadcasts an updated convoy list. Upon receiving this list, the independent vehicle determines that the lead vehicle has agreed and confirms its position. The independent vehicle then adjusts its position to the adjacent lane of the convoy by changing lanes. The independent vehicle accelerates and decelerates accordingly. The method involves adjusting the position of the vehicle to be parallel to the i-th following vehicle and maintaining the same speed as the convoy. During steady-state driving, the distance between vehicles in the convoy is D. The i-th following vehicle monitors the position of any free vehicle about to join the convoy. When it detects a free vehicle about to join the convoy parallel to its own vehicle, the i-th following vehicle slows down and adjusts its distance from the free vehicle in the direction of travel to D. At this point, the convoy has provided sufficient space for the free vehicle, which then joins the convoy by changing lanes. This completes the process of joining the convoy and solves the technical problem of low flexibility when vehicles join the convoy, thus improving the flexibility of vehicles joining the convoy.

[0079] Example 3

[0080] According to an embodiment of the present invention, a device for joining a vehicle convoy is also provided. It should be noted that this device for joining a vehicle convoy can be used to perform the actions described in Embodiment 1. Figure 1 The method for adding vehicles to a convoy in the illustrated embodiment.

[0081] Figure 5 This is a schematic diagram of a device for joining a vehicle convoy according to an embodiment of the present invention. Figure 5 As shown, the device 500 for a vehicle to join a convoy may include: a receiving unit 501, a determining unit 502, and a control unit 503.

[0082] The receiving unit 501 is used to receive request information and first distance information sent by the target vehicle through the communication connection between the first vehicle in the convoy and the target vehicle to be joined in the convoy. The request information is used to request the target vehicle to join the convoy, and the first distance information is the distance between the first current position of the target vehicle and the first destination position that the target vehicle is going to reach. The convoy includes multiple vehicles, and the first vehicle is used to lead the other vehicles in the multiple vehicles except for the first vehicle.

[0083] The determining unit 502 is used to respond to the request information and determine the target position information of the target vehicle in the convoy based on the first distance information and the second distance information. The second distance information is used to represent the distance between the second current position of each vehicle and the second end position of each vehicle among the multiple vehicles, and the target position information is used to represent the position of the target vehicle to be added to the convoy.

[0084] Control unit 503 is used to control the target vehicle to join the convoy based on the target location information.

[0085] Optionally, the determining unit 502 may include: a first determining module, used to determine the position after the second vehicle in the convoy as the target position information when the difference between the first distance information and the second distance information is less than or equal to a preset distance threshold information, wherein the second vehicle is any other vehicle in the convoy other than the first vehicle.

[0086] Optionally, the determining unit 502 may further include: a second determining module, used to determine the position of the second vehicle in the convoy as the target position information when the difference between the first distance information and the second distance information is greater than a preset distance threshold information, wherein the second vehicle is any other vehicle in the convoy other than the first vehicle.

[0087] Optionally, the control unit 503 may include: a processing module, configured to update the fleet list information based on the target location information, and send broadcast information corresponding to the updated list information to the target vehicle and each vehicle in the fleet, wherein the updated list information is the location information of each vehicle in the fleet after the target vehicle joins the fleet, and the broadcast information is used to broadcast the location information of the target vehicle joining the fleet to the target vehicle and each vehicle in the fleet; and a control module, configured to control the target vehicle to join the fleet based on the broadcast information.

[0088] In this embodiment, a receiving unit is used to receive request information and first distance information sent by the target vehicle through a communication connection between a first vehicle in the convoy and a target vehicle to be joined in the convoy. The request information requests the target vehicle to join the convoy, and the first distance information is the distance between the target vehicle's first current position and the first destination position to which the target vehicle will reach. The convoy includes multiple vehicles, and the first vehicle is used to lead the other vehicles in the multiple vehicles. A determining unit is used to respond to the request information and determine the target position information of the target vehicle in the convoy based on the first distance information and the second distance information. The second distance information represents the distance between the second current position of each of the multiple vehicles and the second destination position of each vehicle, and the target position information represents the position of the target vehicle to be joined in the convoy. A control unit is used to control the target vehicle to join the convoy based on the target position information. This solves the technical problem of low flexibility when vehicles join the convoy and achieves the technical effect of improving the flexibility when vehicles join the convoy.

[0089] According to embodiments of the present invention, another device for joining a vehicle platoon is also provided. It should be noted that this device for joining a vehicle platoon can be used to perform the function described in Embodiment 1. Figure 2 The method for adding vehicles to a convoy in the illustrated embodiment.

[0090] Figure 6 This is a schematic diagram of another device for joining a convoy according to an embodiment of the present invention. Figure 6 As shown, the device 600 for a vehicle to join a convoy may include: a sending unit 601, an acquisition unit 602, and a control unit 603.

[0091] The sending unit 601 is used to send a request message and a first distance message to the first vehicle through the communication connection between the first vehicle in the convoy and the target vehicle to be joined in the convoy. The request message is used to request the target vehicle to join the convoy, and the first distance message is the distance between the first current position of the target vehicle and the first destination position that the target vehicle is going to reach. The convoy includes multiple vehicles, and the first vehicle is used to lead the other vehicles in the multiple vehicles except for the first vehicle.

[0092] The acquisition unit 602 is used to acquire broadcast information sent by the first vehicle in response to the request information, the first distance information and the second distance information, wherein the second distance information is used to represent the distance between the second current position of each of the multiple vehicles and the second end position of each vehicle, and the broadcast information is used to broadcast the position information of the target vehicle joining the convoy to the target vehicle and each vehicle in the convoy.

[0093] Control unit 603 is used to control the target vehicle to join the convoy based on broadcast information.

[0094] Optionally, the control unit 603 may include: a determining module for determining the positional relationship information between the target vehicle and the convoy based on broadcast information; and a control module for joining the convoy in response to the target position information when the target vehicle travels to an adjacent lane of the convoy based on the positional relationship information.

[0095] In this embodiment, a sending unit is used to send request information and first distance information to the first vehicle through a communication connection between the first vehicle in the convoy and the target vehicle to be joined in the convoy. The request information is used to request the target vehicle to join the convoy, and the first distance information is the distance between the first current position of the target vehicle and the first destination position that the target vehicle is going to reach. The convoy includes multiple vehicles, and the first vehicle is used to lead the other vehicles in the multiple vehicles. An acquisition unit is used to acquire broadcast information sent by the first vehicle in response to the request information, the first distance information and the second distance information. The second distance information is used to represent the distance between the second current position of each of the multiple vehicles and the second destination position of each vehicle. The broadcast information is used to broadcast the position information of the target vehicle joining the convoy to the target vehicle and each vehicle in the convoy. A control unit is used to control the target vehicle to join the convoy based on the broadcast information. This solves the technical problem of low flexibility when vehicles join the convoy and achieves the technical effect of improving the flexibility when vehicles join the convoy.

[0096] Example 4

[0097] According to an embodiment of the present invention, a computer-readable storage medium is also provided, the storage medium including a stored program, wherein the program executes the method of adding a vehicle to a convoy in Embodiment 1.

[0098] Example 5

[0099] According to an embodiment of the present invention, a processor is also provided for running a program, wherein the program executes the method of adding vehicles to a convoy in Embodiment 1.

[0100] Example 6

[0101] According to an embodiment of the present invention, a vehicle is also provided for performing the method of adding a vehicle to a convoy in Embodiment 1.

[0102] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0103] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0105] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0106] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0107] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0108] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method of a vehicle joining a platoon, characterized by, The application comprises: receiving request information and first distance information sent by a target vehicle through a communication connection between a first vehicle in a vehicle group and the target vehicle to be added to the vehicle group, wherein the request information is used to request the target vehicle to join the vehicle group, the first distance information is the distance between the first current position of the target vehicle and the first end position to be reached by the target vehicle, the vehicle group comprises a plurality of vehicles, and the first vehicle is used to lead other vehicles in the plurality of vehicles except the first vehicle; determining target position information of the target vehicle in the vehicle group based on the first distance information and second distance information in response to the request information, wherein the second distance information is used to represent the distance between the second current position of each vehicle in the plurality of vehicles and the second end position of the vehicle, the target position information is used to represent the position of the target vehicle to be added to the vehicle group, and the target position information at least comprises one of the following: the position between two vehicles in the plurality of vehicles, the position behind the last vehicle in the vehicle group, and the position behind the first vehicle; controlling the target vehicle to join the vehicle group based on the target position information; wherein the controlling the target vehicle to join the vehicle group based on the target position information comprises: performing acceleration operation or deceleration operation on the target vehicle based on the target position information of the target vehicle in the vehicle group, adjusting the position of the target vehicle to the position of side-by-side driving with a second vehicle in the vehicle group, and keeping the target vehicle at the same speed with the vehicle group, wherein the second vehicle is any one of the other vehicles in the vehicle group except the first vehicle.

2. The method of claim 1, wherein, The determining target position information of the target vehicle in the vehicle group based on the first distance information and second distance information in response to the request information comprises: when the difference between the first distance information and the second distance information is less than or equal to the preset distance threshold information, determining the position behind the second vehicle in the vehicle group as the target position information.

3. The method of claim 1, wherein, The determining target position information of the target vehicle in the vehicle group based on the first distance information and second distance information in response to the request information comprises: when the difference between the first distance information and the second distance information is greater than the preset distance threshold information, determining the position in front of the second vehicle in the vehicle group as the target position information.

4. The method of claim 1, wherein, The controlling the target vehicle to join the vehicle group based on the target position information comprises: updating the list information of the vehicle group based on the target position information, and sending broadcast information corresponding to the updated list information to the target vehicle and each vehicle in the vehicle group, wherein the updated list information is the position information of each vehicle in the vehicle group after the target vehicle joins the vehicle group, and the broadcast information is used to broadcast the position information of the target vehicle to join the vehicle group to the target vehicle and each vehicle in the vehicle group. Based on the broadcast information, control the target vehicle to join the vehicle team.

5. A method of a vehicle joining a platoon, characterized by, Comprise: Through the communication connection between the first vehicle in the vehicle team and the target vehicle to be joined in the vehicle team, send the request information and the first distance information to the first vehicle, wherein the request information is used to request the target vehicle to join the vehicle team, and the first distance information is the distance between the first current position of the target vehicle and the first terminal position to be reached by the target vehicle, the vehicle team comprises a plurality of vehicles, and the first vehicle is used to lead other vehicles in the plurality of vehicles except the first vehicle; Obtain the broadcast information sent by the first vehicle in response to the request information, the first distance information and the second distance information, wherein the second distance information is used to represent the distance between the second current position of each vehicle in the plurality of vehicles and the second terminal position of the each vehicle, and the broadcast information is used to broadcast the position information of the target vehicle to join the vehicle team to the target vehicle and each vehicle in the vehicle team, and the target position information at least comprises one of the following: the position between two vehicles in the plurality of vehicles, the position behind the last vehicle in the vehicle team and the position behind the first vehicle; Based on the broadcast information, control the target vehicle to join the vehicle team; Wherein, the method further comprises: based on the target position information of the target vehicle in the vehicle team, performing acceleration operation or deceleration operation on the target vehicle, adjusting the position of the target vehicle to the position of side-by-side driving with the second vehicle in the vehicle team, and keeping the target vehicle driving at the same speed with the vehicle team, wherein the second vehicle is any one of the other vehicles in the vehicle team except the first vehicle.

6. The method of claim 5, wherein, Based on the broadcast information, control the target vehicle to join the vehicle team, comprising: Based on the broadcast information, determine the position relationship information between the target vehicle and the vehicle team; Based on the position relationship information, control the target vehicle to join the vehicle team.

7. An apparatus for a vehicle to join a platoon, the apparatus comprising: Comprise: The receiving unit is used for receiving the request information and the first distance information sent by the target vehicle through the communication connection between the first vehicle in the vehicle team and the target vehicle to be joined in the vehicle team, wherein the request information is used to request the target vehicle to join the vehicle team, the first distance information is the distance between the first current position of the target vehicle and the first terminal position to be reached by the target vehicle, the vehicle team comprises a plurality of vehicles, and the first vehicle is used to lead other vehicles in the plurality of vehicles except the first vehicle; determining, in response to the request information, a target position information of the target vehicle in the vehicle group based on the first distance information and second distance information, wherein the second distance information is used to represent a distance between a second current position of each vehicle in the vehicle group and a second terminal position of the each vehicle, the target position information is used to represent a position where the target vehicle is to be added to the vehicle group, and the target position information comprises at least one of a position between two vehicles in the vehicle group, a position behind a last vehicle in the vehicle group, and a position behind the first vehicle; controlling the target vehicle to be added to the vehicle group based on the target position information; wherein the control unit is further configured to perform the following steps: based on the target position information of the target vehicle in the vehicle group, performing an acceleration operation or a deceleration operation on the target vehicle, adjusting the position of the target vehicle to a position where the target vehicle travels side by side with a second vehicle in the vehicle group, and keeping the target vehicle traveling at a same speed as the vehicle group, wherein the second vehicle is any one vehicle in the vehicle group except the first vehicle.

8. A processor, comprising: The processor is configured to execute a program, and the program is configured to perform the method in any one of claims 1 to 6 when the program is executed.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored program, and the program is configured to control a device where the computer readable storage medium is located to perform the method in any one of claims 1 to 6 when the program is executed.

10. A vehicle characterized by comprising: The vehicle is configured to perform the method in any one of claims 1 to 6.

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