Automobile platoon control method and device, vehicle and storage medium

Abstract

The application relates to the technical field of automobile auxiliary intelligent driving systems, in particular to a control method and device for automobile platooning, a vehicle and a storage medium, which comprise the following steps: identifying the platooning type of automobile platooning; if the platooning type is a driving type, when it is identified that the vehicle has a position conversion requirement, generating a position conversion action according to the platooning position information and the expected platooning position of surrounding vehicles, and controlling the vehicle to convert to the expected platooning position based on the position conversion action; if the platooning type is a charging type, broadcasting the charging requirement information of the vehicle to the automobile platooning, calculating the charging requirement degree of each vehicle according to the charging requirement information of all the vehicles in the automobile platooning, generating a charging matrix based on the charging requirement degree, and controlling the vehicles in the automobile platooning to charge when the charging station is idle. Therefore, the problems that the automobile cluster driving process and energy supplement cannot be uniformly assisted, managed and controlled in platooning, the user's driving safety is reduced, and the user's experience is reduced are solved.

Description

Technical Field

[0001] This application relates to the field of automotive assisted intelligent driving system technology, and in particular to a method, device, vehicle and storage medium for controlling vehicle platooning. Background Technology

[0002] Currently, automobiles are becoming increasingly intelligent, with technologies such as human-machine interaction, vehicle-road cooperation, vehicle-to-vehicle cooperation, and air-to-ground cooperation developing rapidly. With the support of communication technologies such as 5G and in-vehicle Ethernet, automobiles are transforming towards platooning, interaction, and autonomous driving.

[0003] Patent CN110775060B proposes a single-lane double-row platooning method for small cars, targeting scenarios where small cars, only one-quarter the size of ordinary cars, are traveling in a single lane in a double-row formation. The method involves platooning multiple small cars in a single-lane urban environment, each equipped with an intelligent control terminal. The first car is driven by a human, while the remaining vehicles automatically adjust their longitudinal and lateral distances within the platoon by receiving information from the first car and sensor data. This achieves platooning, reduces distance between vehicles, improves road capacity, and alleviates traffic congestion. The platooning strategy is implemented using a pilot-follower algorithm, and fuzzy PID control ensures vehicles remain in a following state, enabling vehicles to leave and rejoin the platoon.

[0004] Patent CN115016274A proposes a control method for the cooperative operation of connected vehicle platoons. By acquiring the motion state parameters of vehicle i, the operating state of vehicle i at the sampling time is obtained. Simultaneously, the iteration count variable n is initialized, and initial values ​​for the iteration variables are set. Based on the operating state and a preset iterative relationship, considering the information of "topology-adjacent" vehicles in the connected vehicle platoon, the expected driving torque of vehicle i is calculated. During the algorithm's iterative calculation process, based on the iterative relationship, the state information of "topology-adjacent" vehicles that can directly communicate with the vehicles is utilized to achieve cooperative control of the connected vehicle platoon operation process, improving the safety and stability of the connected vehicle platoon operation process and its robustness to environmental interference.

[0005] In summary, research on vehicle platooning methods and devices in related technologies achieves the purpose of formation control through methods for calculating the lateral position of staggered platooning and strategies for the platooning process. However, it does not address key issues such as how platooned vehicles change formation or how to avoid obstacles. For electric vehicle charging, the main approach is to achieve the purpose of platooned group charging through device identification, without solving the problem of group charging scheduling. Summary of the Invention

[0006] This application provides a method, device, vehicle, and storage medium for controlling vehicle platoons, in order to solve the problems in related technologies such as the inability of intelligent vehicle platoons to optimize traffic in a clustered manner, the inability to effectively avoid traffic accidents and traffic congestion, and the inability of electric vehicle charging to solve clustered charging scheduling, which reduces user safety and user experience.

[0007] The first aspect of this application provides a method for controlling a vehicle platoon, which is applied to any vehicle within the platoon. The method includes the following steps: identifying the platoon type; if the platoon type is driving, and a vehicle is identified to have a position change requirement, generating a position change action based on the platoon position information of surrounding vehicles and a desired platoon position, and controlling the vehicle to change from its current platoon position to the desired platoon position based on the position change action; if the platoon type is charging, broadcasting the vehicle's charging requirement information to the platoon, wherein the charging requirement degree of each vehicle is calculated based on the charging requirement information of all vehicles in the platoon, a charging matrix is ​​generated based on the charging requirement degree, and when a charging station is idle, the charging matrix is ​​used to control the vehicles in the platoon to charge.

[0008] Based on the aforementioned technical means, in this embodiment of the application, when the vehicle platoon type is identified as driving type and the vehicle itself has a position change requirement, a position change action is generated based on the platoon position information of surrounding vehicles and the desired platoon position. The vehicle is then controlled to change from its current platoon position to the desired platoon position based on this position change action. When the vehicle platoon type is identified as charging type, the vehicle's charging requirement is broadcast to the platoon. The charging requirement of each vehicle is calculated based on the charging requirement information of all vehicles in the platoon, and a charging matrix is ​​generated accordingly. When the charging station is idle, the charging matrix is ​​used to control the vehicles in the platoon to charge. This achieves unified auxiliary management and control of the vehicle cluster's driving process and energy replenishment, thereby achieving the goals of regulating traffic, efficient driving, reducing traffic accidents and congestion, and ensuring timely charging, thus improving user safety and user experience.

[0009] Optionally, generating a position change action based on the platooning position information of surrounding vehicles and the desired platooning position includes: determining the longitudinal relative distance between the vehicle and surrounding vehicles based on the platooning position information of surrounding vehicles, and determining whether any longitudinal relative distance satisfies a preset position change condition; if any longitudinal relative distance satisfies the preset position change condition, generating a position change path based on the vehicle's current platooning position, the platooning position of the vehicle corresponding to the any longitudinal relative distance, and the desired platooning position; otherwise, broadcasting deceleration and yielding information to the surrounding vehicles, causing the surrounding vehicles to perform deceleration and yielding actions, and generating a position change path based on the vehicle's current platooning position and the desired platooning position.

[0010] Based on the aforementioned technical means, this application embodiment determines the longitudinal relative position between the vehicle and surrounding vehicles according to the platooning position information of surrounding vehicles, and determines whether the longitudinal relative distance meets the preset position change conditions. If the conditions are met, a position change path is generated based on the vehicle's current platooning position, the vehicle platooning position corresponding to the longitudinal relative distance, and the desired platooning position. If the conditions are not met, a broadcast is made to surrounding vehicles to slow down and give way, and a position change path is generated based on the vehicle's current platooning position and the desired platooning position. This enables unified platooning assistance management and control of the vehicle group driving process, so as to achieve the purpose of regulating traffic, driving efficiently, reducing traffic accidents, reducing traffic congestion, and improving user vehicle safety and user experience.

[0011] Optionally, before generating a position change action based on the platooning position information of surrounding vehicles, the method includes: broadcasting the vehicle's position request information to the vehicle platoon, wherein the position request information includes a current position change request, a current platooning position, and a desired platooning position; determining the surrounding vehicles of the vehicle based on the current platooning position and the desired platooning position; and receiving platooning position information sent by the surrounding vehicles based on the current position change request.

[0012] According to the above technical means, this application embodiment broadcasts the vehicle's location request information to the vehicle platoon, and determines the surrounding vehicles of the vehicle based on the current platoon position and the desired platoon position, so that the surrounding vehicles receive the platoon position information sent by the vehicle's current position change request, so as to achieve the purpose of avoiding or slowing down to give way, reducing traffic accidents, reducing traffic congestion, and improving user vehicle safety and user experience.

[0013] Optionally, the location demand information further includes the location change time, and the step of causing the surrounding vehicles to decelerate and yield includes: when the current time is the location change time, the surrounding vehicles decelerate and yield.

[0014] Based on the above technical means, this application embodiment causes surrounding vehicles to slow down and yield when the current time is the location change time, thereby avoiding traffic accidents and traffic jams and improving user vehicle safety and user experience.

[0015] Optionally, controlling the vehicle to change from the current platoon position to the desired platoon position based on the position change action includes: identifying the number of lanes that need to be changed from the current platoon position to the desired platoon position; if the number of lanes is a preset number, stopping the vehicle's position change action; if the number of lanes is greater than the preset number, controlling the vehicle to adjust to a preset position in an adjacent lane; if the preset position is the desired platoon position, the vehicle's platoon position change is completed; otherwise, re-initiating a position change request at the preset position.

[0016] According to the above technical means, the embodiments of this application identify the number of lanes that need to be changed from the current formation position to the desired formation position. If the number of lanes is a set number, the position change action of this vehicle is stopped; if the number of lanes is greater than the preset number, the vehicle is controlled to adjust to the set position of the adjacent lane. If the set position is the desired formation position, the formation position change of this vehicle is completed; otherwise, the position change request is re-initiated to ensure that the vehicle can reach the desired formation position.

[0017] Optionally, before controlling the vehicle to change from its current platoon position to the desired platoon position based on the position change action, the method further includes: when multiple vehicles in the platoon initiate position change requests, if the desired platoon position of the vehicle is after the longitudinal position of other vehicles in the same lane that initiated position change requests, then the vehicle is controlled to perform a position change action; otherwise, the vehicle is stopped from performing the position change action; if the desired platoon positions of other vehicles are within a preset range of the vehicle, the vehicle is controlled to adjust its platoon position according to a preset adjustment stage until the adjustment is completed.

[0018] Based on the above-mentioned technical means, in this embodiment of the application, when multiple vehicles in a platoon issue position change requests, if the vehicle expects its platoon position to be behind the longitudinal position of other vehicles in the same lane that have initiated position change requests, then the vehicle is controlled to perform a position change action; otherwise, the vehicle stops performing the position change action. If the expected platoon positions of other vehicles are within the range set by the vehicle, then the vehicle is controlled to adjust its platoon position until the adjustment is completed. This achieves unified auxiliary management and control of the platooning process of vehicles, so as to regulate traffic, drive efficiently, reduce traffic accidents, and reduce traffic congestion.

[0019] Optionally, the step of calculating the charging demand degree of each vehicle based on the charging demand information of all vehicles in the vehicle formation, and generating a charging matrix based on the charging demand degree, includes: identifying uncharged vehicles and vehicles charging in the vehicle formation; calculating a first charging demand degree for the uncharged vehicles and a second charging demand degree for the charging vehicles based on the charging demand information of the uncharged vehicles and the charging vehicles, respectively; and transforming the formation position of the vehicles in the vehicle formation according to the first charging demand degree and the second charging demand degree to obtain the charging matrix.

[0020] Based on the above-mentioned technical means, this application embodiment identifies vehicles that are not charging and vehicles that are charging within a vehicle platoon, calculates the first charging demand degree of the vehicles not charging and the second charging demand degree of the vehicles charging based on their charging demand information, and changes the platooning position of the vehicles in the vehicle platoon according to the different charging demand degrees to obtain a charging matrix, so that vehicles can be charged in a timely manner, solving the problem of cluster charging scheduling and improving the user's car use experience.

[0021] A second aspect of this application provides a control device for a vehicle platoon, the device being applied to any vehicle within the platoon, comprising: an identification module for identifying the platoon type; a first control module for generating a position change action based on the platoon position information of surrounding vehicles and a desired platoon position when the platoon type is driving and a position change requirement is detected in the vehicle, and controlling the vehicle to change from its current platoon position to the desired platoon position based on the position change action; and a second control module for broadcasting the vehicle's charging requirement information to the platoon when the platoon type is charging, wherein the charging requirement of each vehicle is calculated based on the charging requirement information of all vehicles in the platoon, a charging matrix is ​​generated based on the charging requirement, and the charging matrix is ​​used to control the vehicles in the platoon to charge when the charging station is idle.

[0022] Optionally, the first control module is further configured to: determine the longitudinal relative distance between the vehicle and the surrounding vehicles based on the platooning position information of the surrounding vehicles, and determine whether any longitudinal relative distance satisfies a preset position change condition; if any longitudinal relative distance satisfies the preset position change condition, generate a position change path based on the current platooning position of the vehicle, the platooning position of the vehicle corresponding to the any longitudinal relative distance, and the desired platooning position; otherwise, broadcast deceleration and yielding information to the surrounding vehicles, causing the surrounding vehicles to perform deceleration and yielding actions, and generate a position change path based on the current platooning position of the vehicle and the desired platooning position.

[0023] Optionally, the first control module is further configured to: broadcast the vehicle's location request information to the vehicle platoon, wherein the location request information includes a current location change request, a current platoon position, and a desired platoon position; determine the surrounding vehicles of the vehicle based on the current platoon position and the desired platoon position; and receive platoon position information sent by the surrounding vehicles based on the current location change request.

[0024] Optionally, the first control module is further configured to: when the current time is the location change time, the surrounding vehicles perform a deceleration and yielding action.

[0025] Optionally, the first control module is further configured to: identify the number of lanes that need to be changed from the current formation position to the desired formation position; if the number of lanes is a preset number, then stop the position change action of the vehicle; if the number of lanes is greater than the preset number, then control the vehicle to adjust to a preset position in an adjacent lane; if the preset position is the desired formation position, then the formation position change of the vehicle is completed; otherwise, re-initiate the position change request at the preset position.

[0026] Optionally, the first control module is further configured to: when multiple vehicles in a platoon initiate position change requests, if the desired platoon position of the vehicle is after the longitudinal position of other vehicles in the same lane that initiated position change requests, then control the vehicle to perform a position change action; otherwise, stop the vehicle from performing the position change action; if the desired platoon positions of other vehicles are within a preset range of the vehicle, control the vehicle to adjust the platoon position according to a preset adjustment stage until the adjustment is completed.

[0027] Optionally, the second control module is further configured to: identify uncharged vehicles and charging vehicles in the vehicle platoon; calculate a first charging demand degree for the uncharged vehicles and a second charging demand degree for the charging vehicles based on the charging demand information of the uncharged vehicles and the charging vehicles, respectively; and transform the platooning positions of the vehicles in the vehicle platoon based on the first charging demand degree and the second charging demand degree to obtain the charging matrix.

[0028] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle platooning control method as described in the above embodiments.

[0029] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the vehicle platooning control method as described in the above embodiments.

[0030] Therefore, this application has at least the following beneficial effects:

[0031] (1) When the vehicle formation type is identified as driving type and the vehicle has a position change requirement, the embodiment of this application generates a position change action based on the formation position information of surrounding vehicles and the desired formation position, and controls the vehicle to change from the current formation position to the desired formation position based on the position change action; when the vehicle formation type is identified as charging type, the vehicle broadcasts its charging requirement to the vehicle formation, calculates the charging requirement of each vehicle based on the charging requirement information of all vehicles in the vehicle formation, generates a charging matrix based on it, and uses the charging matrix to control the vehicles in the vehicle formation to charge when the charging station is idle, thereby realizing unified auxiliary management and control of the vehicle group driving process and energy replenishment, so as to achieve the purpose of standardizing traffic, driving efficiently, reducing traffic accidents, reducing traffic congestion, and enabling timely charging, thereby improving user vehicle safety and user experience.

[0032] (2) In this embodiment, the longitudinal relative position between the vehicle and the surrounding vehicles is determined based on the platooning position information of the surrounding vehicles, and it is determined whether the longitudinal relative distance meets the preset position change conditions. If the conditions are met, a position change path is generated based on the current platooning position of the vehicle and the platooning position and desired platooning position of the corresponding vehicle based on the longitudinal relative distance. If the conditions are not met, the surrounding vehicles are broadcast to slow down and give way, and a position change path is generated based on the current platooning position and desired platooning position of the vehicle. The platooning process of the vehicle group is uniformly assisted in management and control, so as to achieve the purpose of standardizing traffic, driving efficiently, reducing traffic accidents and traffic congestion, and improving user vehicle safety and user experience.

[0033] (3) In this embodiment of the application, the vehicle’s location request information is broadcast to the vehicle platoon, and the surrounding vehicles are determined based on the current platoon position and the desired platoon position. This allows the surrounding vehicles to receive the platoon position information sent by the vehicle’s current position change request, so as to avoid or slow down to give way, reduce traffic accidents, reduce traffic congestion, and improve user vehicle safety and user experience.

[0034] (4) In this embodiment of the application, when the current time is the location change time, the surrounding vehicles perform deceleration and yielding actions to avoid traffic accidents and traffic jams, thereby improving the user's vehicle safety and user experience.

[0035] (5) In this embodiment of the application, the number of lanes that need to be changed from the current formation position to the desired formation position is identified. If the number of lanes is a set number, the position change action of the vehicle is stopped. If the number of lanes is greater than the preset number, the vehicle is controlled to adjust to the set position of the adjacent lane. If the set position is the desired formation position, the formation position change of the vehicle is completed. Otherwise, the position change request is re-initiated to ensure that the vehicle can reach the desired formation position.

[0036] (6) In this embodiment of the application, when multiple vehicles in a platoon issue position change requests, if the vehicle expects its platoon position to be behind the longitudinal position of other vehicles in the same lane that have initiated position change requests, the vehicle is controlled to perform a position change action; otherwise, the vehicle stops performing the position change action. If the expected platoon positions of other vehicles are within the range set by the vehicle, the vehicle is controlled to adjust its platoon position until the adjustment is completed. This achieves unified auxiliary management and control of the platooning process of the vehicle group, so as to regulate traffic, drive efficiently, reduce traffic accidents, and reduce traffic congestion.

[0037] (7) In this embodiment of the application, the uncharged vehicles and the charging vehicles in the car formation are identified, and the first charging demand degree of the uncharged vehicles and the second charging demand degree of the charging vehicles are calculated according to their charging demand information. The formation position of the vehicles in the car formation is changed according to the different charging demand degrees to obtain a charging matrix, so that the vehicles can be charged in time, which solves the problem of cluster charging scheduling and improves the user's car experience.

[0038] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

[0040] Figure 1 This is a flowchart of a vehicle platooning control method according to an embodiment of this application;

[0041] Figure 2 This is a flowchart of an intelligent vehicle platooning driving control method based on C-V2X (Cellular-Vehicle to Everything) according to an embodiment of this application;

[0042] Figure 3 This is a motion model diagram of the vehicle position transformation process provided according to an embodiment of this application;

[0043] Figure 4This is a structural framework diagram of a vehicle position change process controller provided according to an embodiment of this application;

[0044] Figure 5 This is a block diagram of a vehicle platooning control device according to an embodiment of this application;

[0045] Figure 6 This is a structural schematic diagram of a vehicle according to an embodiment of this application. Detailed Implementation

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

[0047] As cars become increasingly intelligent, technologies such as human-machine interaction, vehicle-road collaboration, vehicle-to-vehicle collaboration, and air-to-ground collaboration are developing rapidly. With the support of communication technologies such as 5G and in-vehicle Ethernet, cars are transforming towards platooning, interaction, and autonomous driving.

[0048] C-V2X technology aims to enable vehicles to interact with any entity that may affect them. It uses cellular communication technology to receive and transmit location, speed, road conditions, traffic signals, and driving behavior information to alert surrounding drivers. The goal is to reduce accidents, alleviate traffic congestion, reduce environmental pollution, and provide other information services. V2X primarily includes V2V (vehicle-to-vehicle communication), V2I (vehicle-to-infrastructure communication), V2N (vehicle-to-network communication), and V2P (virtual-to-physical communication).

[0049] Vehicle platooning control is a more advanced intelligent method of vehicle-to-vehicle interaction. It groups a cluster of vehicles with the same task into a platoon, which can communicate with each other. It is mainly for multiple vehicles in complex and ever-changing traffic environments to adjust their own speed and steering to maintain a relatively stable geometric attitude and operating state with nearby autonomous vehicles, while meeting task requirements and adapting to the surrounding environment.

[0050] In related technology (1), a method and device for platooning cars are studied. RFID (Radio Frequency Identification), GPS (Global Positioning System), ranging sensors, accelerometers and road test control equipment are used. Based on the platooning algorithm of lead-follow, the operation status of the vehicles following the lead vehicle is controlled to realize the orderly platooning of cars at intersections, thereby achieving the goal of solving traffic problems in the scenario of intersections.

[0051] In related technology (2), the target is a small car that is only one-quarter the size of a regular car and is driving in a single lane in a double-row configuration. The other vehicles receive the driving information of the first car to achieve platooning. The platooning strategy is implemented through a navigator-follower algorithm. The vehicles are controlled by fuzzy PID to keep following, thereby realizing vehicle leaving and joining the platoon.

[0052] In related technology (3), the communication distance between vehicles is calculated to determine the formation to which the vehicles belong and generate the desired formation. The principle is to minimize the sum of the distances between each point in the formation and the target point, so that each vehicle can reach the formation target point. This patent invented a method for calculating the lateral position of staggered formations and a formation implementation strategy, but it did not point out key issues such as how the formation of vehicles changes and how to form formations to avoid obstacles.

[0053] In related technology (4), the multi-vehicle platoon charging cabinet is configured with multiple power outputs and equipped with power dividers. Vehicles are identified by linking each power divider to an addressable power divider. Each power divider also has a controller configured to control power delivery to a selected destination from the charging power outputs of the power divider and to another power divider in the power divider chain. While this method of device identification achieves the purpose of platoon charging, it does not solve the problem of platoon charging scheduling.

[0054] Therefore, current research on intelligent vehicle platooning mainly focuses on formation control and cannot optimize traffic through cluster platooning. It also fails to provide scheduling and control strategies to address charging congestion and queuing issues associated with electric vehicle charging. Furthermore, the field of intelligent driving currently features two main technological approaches: single-vehicle autonomous driving and V2X-based autonomous driving based on infrastructure platform interaction. Combining these two technologies, with a development trend that integrates vehicle intelligent controller decision-making with infrastructure perception, is becoming increasingly evident and reliable. In specific scenarios, autonomous driving technologies can effectively avoid traffic accidents, traffic congestion, and queuing for charging and refueling.

[0055] The following description, with reference to the accompanying drawings, outlines a method, apparatus, vehicle, and storage medium for controlling vehicle platooning according to embodiments of this application. Specifically, Figure 1 This is a flowchart illustrating a vehicle platooning control method provided in an embodiment of this application.

[0056] like Figure 1 As shown, the method for controlling a car platoon is applicable to any vehicle within the platoon, and includes the following steps:

[0057] In step S101, the formation type of the car formation is identified.

[0058] The formation type can be either driving or charging, and can be selected according to the actual situation. No specific restrictions are made here.

[0059] It is understood that the embodiments of this application identify the formation type of the car formation so that different actions can be performed subsequently according to different formation types.

[0060] In step S102, if the formation type is driving type, when it is detected that the vehicle has a position change requirement, a position change action is generated based on the formation position information of surrounding vehicles and the desired formation position, and the vehicle is controlled to change from the current formation position to the desired formation position based on the position change action.

[0061] The desired formation position can be the formation position desired based on the vehicle's position change requirements, and can be selected according to the user's actual intention. No specific limitation is made here.

[0062] The position change requirement includes the current position change request, the current formation position, the desired formation position, and the position change time, which are not specifically limited here.

[0063] The current formation position can be the current position of this vehicle in the formation, and there is no specific limitation.

[0064] It is understood that, in the embodiments of this application, when the formation type is driving type and the vehicle is identified to have a position change requirement, a position change action is generated based on the formation position information of surrounding vehicles and the desired formation position. Based on the position change action, the vehicle is controlled to change from the current formation position to the desired formation position. This realizes unified auxiliary management and control of the vehicle group driving process, so as to achieve the purpose of regulating traffic, driving efficiently, reducing traffic accidents, reducing traffic congestion, and improving user vehicle safety and user experience.

[0065] In this embodiment of the application, before generating a position change action based on the platooning position information of surrounding vehicles, the method includes: broadcasting the vehicle's position request information to the vehicle platoon, wherein the position request information includes the current position change request, the current platooning position, and the desired platooning position; determining the surrounding vehicles of the vehicle based on the current platooning position and the desired platooning position; and receiving the platooning position information sent by the surrounding vehicles based on the current position change request.

[0066] It is understood that the embodiments of this application broadcast the vehicle's location request information to the vehicle platoon, and determine the surrounding vehicles of the vehicle based on the current platoon position and the desired platoon position, so that the surrounding vehicles receive the platoon position information sent by the vehicle's current position change request, so as to achieve the purpose of avoiding or slowing down to give way, reducing traffic accidents, reducing traffic congestion, and improving user vehicle safety and user experience.

[0067] In this embodiment of the application, the location demand information also includes the location change time, which causes surrounding vehicles to perform deceleration and yielding actions, including: when the current time is the location change time, surrounding vehicles perform deceleration and yielding actions.

[0068] The position change time can be the time required for the vehicle to perform a position change, and can be set according to the actual traffic conditions. No specific limit is set here.

[0069] It is understood that, in the embodiments of this application, when the current time is the location change time, surrounding vehicles perform deceleration and yielding actions to avoid traffic accidents and traffic congestion, thereby improving user vehicle safety and user experience.

[0070] In this embodiment, generating a position change action based on the platooning position information of surrounding vehicles and the desired platooning position includes: determining the longitudinal relative distance between the vehicle and surrounding vehicles based on the platooning position information of surrounding vehicles, and determining whether any longitudinal relative distance satisfies a preset position change condition; if any longitudinal relative distance satisfies the preset position change condition, generating a position change path based on the vehicle's current platooning position, the platooning position of the vehicle corresponding to any longitudinal relative distance, and the desired platooning position; otherwise, broadcasting deceleration and yielding information to surrounding vehicles, causing surrounding vehicles to perform deceleration and yielding actions, and generating a position change path based on the vehicle's current platooning position and the desired platooning position.

[0071] Among them, the preset position change condition can be that the vehicle can meet the safe position change. For example, if the vehicle decides to overtake based on the actual traffic situation, and determines the safe overtaking distance based on the longitudinal relative distance with the selected vehicle, then the safe position change condition is met, and the vehicle can overtake. No specific limitation is made here.

[0072] It is understood that, in this embodiment of the application, the longitudinal relative position between the vehicle and the surrounding vehicles is determined based on the platooning position information of the surrounding vehicles, and it is determined whether the longitudinal relative distance meets the set position change conditions. If the conditions are met, a position change path is generated based on the vehicle's current platooning position, the vehicle platooning position corresponding to the longitudinal relative distance, and the desired platooning position. If the conditions are not met, a broadcast is made to the surrounding vehicles to make them slow down and give way, and a position change path is generated based on the vehicle's current platooning position and the desired platooning position. This enables unified platooning assistance management and control of the vehicle group driving process, so as to achieve the purpose of regulating traffic, driving efficiently, reducing traffic accidents, reducing traffic congestion, and improving user vehicle safety and user experience.

[0073] In this embodiment of the application, before controlling the vehicle to change from the current platoon position to the desired platoon position based on the position change action, the method further includes: when multiple vehicles in the platoon initiate position change requests, if the desired platoon position of the vehicle is after the longitudinal position of other vehicles in the same lane that initiated position change requests, then the vehicle is controlled to perform a position change action; otherwise, the vehicle stops performing the position change action; if the desired platoon positions of other vehicles are within the preset range of the vehicle, the vehicle is controlled to adjust the platoon position according to a preset adjustment stage until the adjustment is completed.

[0074] The preset range can be a range set by the user, such as the desired formation position of other vehicles being within a 2m or 3m range set by this vehicle, without specific limitations.

[0075] The preset adjustment phase can be a phase in which relevant adjustment actions are performed according to the desired formation positions of multiple vehicles based on their respective position change requests, and no specific limitation is made here.

[0076] It is understood that in this embodiment of the application, when multiple vehicles in a platoon issue position change requests, if the vehicle expects its platoon position to be behind the longitudinal position of other vehicles in the same lane that have initiated position change requests, then the vehicle is controlled to perform a position change action; otherwise, the vehicle stops performing the position change action. If the expected platoon positions of other vehicles are within the range set by the vehicle, then the vehicle is controlled to adjust its platoon position until the adjustment is completed. This achieves unified auxiliary management and control of the platooning process of the vehicles, so as to regulate traffic, drive efficiently, reduce traffic accidents, and reduce traffic congestion.

[0077] In this embodiment of the application, controlling the vehicle to change from the current formation position to the desired formation position based on the position change action includes: identifying the number of lanes that need to be changed from the current formation position to the desired formation position; if the number of lanes is a preset number, then stopping the position change action of the vehicle; if the number of lanes is greater than the preset number, then controlling the vehicle to adjust to a preset position of the adjacent lane; if the preset position is the desired formation position, then the formation position change of the vehicle is completed; otherwise, re-initiating the position change request at the preset position.

[0078] The preset quantity can be 0, etc., and no specific limit is made here.

[0079] The preset position can be the desired platooning position of the vehicle, or the current position of the vehicle after adjusting to an adjacent lane. It can be set according to the actual situation and is not specifically limited here.

[0080] It is understood that, in this embodiment of the application, the number of lanes that need to be changed from the current formation position to the desired formation position is identified. If the number of lanes is a set number, the position change action of the vehicle is stopped. If the number of lanes is greater than the preset number, the vehicle is controlled to adjust to the set position of the adjacent lane. If the set position is the desired formation position, the formation position change of the vehicle is completed. Otherwise, the position change request is re-initiated to ensure that the vehicle can reach the desired formation position.

[0081] In step S103, if the platoon type is charging type, the charging demand information of this vehicle is broadcast to the vehicle platoon. The charging demand of each vehicle is calculated based on the charging demand information of all vehicles in the vehicle platoon. A charging matrix is ​​generated based on the charging demand. When the charging station is idle, the charging matrix is ​​used to control the vehicles in the vehicle platoon to charge.

[0082] The charging demand can be calculated based on the actual electricity consumption of the vehicle, and no specific limit is set here.

[0083] It is understood that, in the embodiments of this application, when the vehicle platoon type is identified as charging type, the vehicle broadcasts its charging demand to the vehicle platoon, calculates the charging demand of each vehicle based on the charging demand information of all vehicles in the platoon, generates a charging matrix based on it, and uses the charging matrix to control the vehicles in the platoon to charge when the charging station is idle. This realizes unified auxiliary management and control of vehicle energy replenishment, so as to achieve the purpose of timely charging of vehicles and improve the user's car use experience.

[0084] In this embodiment of the application, the charging demand degree of each vehicle is calculated based on the charging demand information of all vehicles in the vehicle platoon, and a charging matrix is ​​generated based on the charging demand degree. The process includes: identifying uncharged vehicles and vehicles charging in the vehicle platoon; calculating the first charging demand degree of the uncharged vehicles and the second demand degree of the charging vehicles based on the charging demand information of the uncharged vehicles and the charging vehicles, respectively; and transforming the platoon positions of the vehicles in the vehicle platoon based on the first charging demand degree and the second demand degree to obtain the charging matrix.

[0085] The first charging demand level refers to the charging demand of vehicles that are not charging, while the second charging demand level refers to the charging demand of vehicles that are currently charging. No specific definition is given here.

[0086] According to the vehicle platooning control method proposed in this application, when the vehicle platooning type is identified as driving type and the vehicle itself needs to change positions, a position change action is generated based on the platooning position information of surrounding vehicles and the desired platooning position. Based on this position change action, the vehicle is controlled to change from its current platooning position to the desired platooning position. When the vehicle platooning type is identified as charging type, the vehicle's charging demand is broadcast to the platoon. The charging demand of each vehicle is calculated based on the charging demand information of all vehicles in the platoon, and a charging matrix is ​​generated. When the charging station is idle, the charging matrix is ​​used to control the vehicles in the platoon to charge. This achieves unified auxiliary management and control of the vehicle platooning process and energy replenishment, aiming to regulate traffic, improve driving efficiency, reduce traffic accidents and congestion, and ensure timely charging, thereby enhancing user safety and user experience. This solves the problems in related technologies where unified auxiliary management and control of vehicle platooning process and energy replenishment is not possible, leading to reduced user safety and user experience.

[0087] The following will combine Figure 2 , Figure 3 and Figure 4 The control method for vehicle platooning is described in detail, which is divided into two modules: a system and method for intelligent vehicle platooning driving control based on C-V2X, and a system and method for intelligent vehicle platooning charging control based on C-V2X, as detailed below:

[0088] 1. Systems and methods for intelligent vehicle platooning driving control based on C-V2X, such as... Figure 2 As shown, it includes the following steps:

[0089] S1: N cars on the same road segment form a platoon A{1,2,......,n} for auxiliary driving;

[0090] Among them, N cars traveling on the same section of the road form a formation A. The number of vehicles N in formation A is determined according to the driving conditions of different sections. When a vehicle exits the intersection or merges into the route of formation A, the formation set A{1, 2,......, N + m} changes, and the members within the team are reorganized, and the formation maintains according to the new set A, where m > 0, the number of formations increases, and m < 0, the number of formations decreases;

[0091] S2: When vehicle Ax has a need for formation position transformation, it broadcasts the Ax position requirement information M1, where x ≤ N; M1 includes the current position transformation request field M1Q, the current formation position field M1P, the expected formation position field M1E, and the position transformation time M1T;

[0092] According to the fields, form a 16-bit binary M1 message format:

[0093] Table 1

[0094]

[0095] S3: The vehicles in front, behind, left, and right of Ax send formation position information M2 to Ax, and Ax judges whether the current formation vehicles affect its own safe position transformation;

[0096] Among them, M2 is the current position information of each vehicle, which is M2{pl1,..., pla; pr1,..., plb; pu; pd}. If there are no vehicles in the front, behind, left, or right positions, M2 does not have the position information; a is the number of vehicles on the left side of Ax, and b is the number of vehicles on the right side of Ax; where Px is the longitudinal position of Ax, Pl is the longitudinal position of the left vehicle, Pr is the longitudinal position of the right vehicle, Pu is the longitudinal position of the front vehicle, and Pd is the longitudinal position of the left vehicle. The longitudinal position is the relative appropriate distance position within the formation.

[0097] The method for Ax to judge whether the current formation vehicles affect its own safe position transformation is as Figure 3 shown:

[0098] 1) Ll = Px - Pl. If L1 > L, then it is safe to overtake and transform the driving on the left side. Ll is the longitudinal relative distance between the left vehicle and Ax. If L is the overtaking safety distance, it is a positive distance greater than 0;

[0099] 2) Lr = Px - Pr. If Lr > L, then it is safe to overtake and transform the driving on the right side. Lr is the longitudinal relative distance between the right vehicle and Ax;

[0100] 3) If Lr > Ll and there is a same-lane road condition, choose to overtake and transform the formation position on the right side. If Lr < Ll and there is a same-lane road condition, choose to overtake and transform the formation position on the left side;

[0101] S4: Ax determines that vehicles such as Aa, Ab,......, Am have a safety impact on the position change of Ax. It sends the position change information M3 to Aa, Ab,......, Am. Vehicles Aa, Ab,......, Am all maintain their original formation and decelerate to give way, where m ≤ N - 1;

[0102] And M3 includes the current position change request field M3Q, the current formation position field M3P, the expected formation position field M3E, the position change time M3T, and the request deceleration to give way field M3L; According to the field composition, it forms a 16 - bit binary M3 message format, as shown in Table 2.

[0103] Table 2

[0104] [[ID=1|1]]

[0105] S5: The Ax vehicle controller controls Ax to complete the formation position change, as Figure 4 shown. The transformation method is: <|15|

[0106] Among them, TI represents the number of lanes that need to be changed to reach the target position, that is:

[0107]

[0108] Among them, C is judged by the continuity of the lateral appropriate position, and ATI represents the number of lanes that Ax needs to change to reach the target position; when ATI > 0, Ax needs to change lanes for position adjustment. After one adjustment, wait for the vehicle to drive stably and then initiate the next position change request. When ATI = 〖|23|〗0, the lane change request stops, and the vehicle starts longitudinal driving until the target position;

[0109] Calculate the relative vector distance L between the current position and the target position of the adjacent lane, then there is:

[0110]

[0111] Among them, Ex is the input error of the vehicle lateral controller, Ey is the input error of the vehicle longitudinal controller, Kx, Ky are the coefficients of the lateral controller and the longitudinal controller, and & is the vehicle heading angle;

[0112] The longitudinal speed of the vehicle is Uy = U * cos&, where U is the vehicle speed, then there is:

[0113]

[0114] The intelligent vehicle formation driving control method. When multiple vehicles in the formation initiate position change requests, it is necessary to satisfy PQx < Py, where Py is the longitudinal position of the vehicle in the same lane that needs to change the formation position recently, and PQx is A X It should be noted that there seems to be an incomplete or incorrect expression in the original text at the end of ID = 41. The translation is done as accurately as possible based on the existing content. If you can provide more context or clarify the text, it will be helpful for a more precise translation.The desired longitudinal position of the formation is achieved; if another vehicle that needs to change position is within the horizontal and vertical coordinate space of the position change in Ax, it is considered an unsafe change, and Ax is adjusted in one stage until the adjustment is completed.

[0115] 2. A system and method for intelligent vehicle platooning charging control based on C-V2X, the main steps of which are as follows:

[0116] 1) The vehicles in formation A {1, 2, ..., N} determine whether they need to be charged based on the location of the mission objective. If they need to be charged, they are simultaneously added to the charging vehicle formation B {1, 2, ..., N}. Formation B contains vehicles waiting to be charged and vehicles that are currently being charged.

[0117] 2) Car Bx broadcasts charging demand information M4 to the platoon B{1, 2, ..., N}, including: distance to destination Ld, current battery level E, and distance P from the current location to the charging station;

[0118] 3) Calculate the charging requirements within the formation. The calculation method is as follows:

[0119] (1) Calculate the charging demand Q for vehicles that are not currently charging. The vehicles to be charged are arranged according to their Q values, where K is the energy consumption coefficient per unit distance and T is the charging time coefficient per unit of energy.

[0120] (2) Calculate the charging demand R for vehicles that are currently charging. The charging vehicles are arranged according to their R-values;

[0121] (3) Transform the charging formation B{1, 2, ..., N} according to the demand level, then:

[0122]

[0123] The charging method adjusts the charging demand priority according to the charging demand level Q and R to carry out orderly charging of charging platoon C. When there is a vehicle in C2... Then the vehicle is fully charged and exits the charging platoon C, where Ldz represents the distance the Zth vehicle needs to travel and Ez1 represents the current battery level of the Zth vehicle.

[0124] When there is an available charging spot at the charging station, C11 will be charged first, so C is:

[0125]

[0126] In summary, the embodiments of this application, based on C-V2X, enable platooning driving and charging control of intelligent vehicles. This allows for unified auxiliary management and control of the vehicle platooning process and energy replenishment, thereby achieving the goals of regulating traffic, improving driving efficiency, reducing traffic accidents, and alleviating traffic congestion.

[0127] Next, the control device for vehicle formation according to an embodiment of this application is described with reference to the accompanying drawings.

[0128] Figure 5 This is a block diagram of a vehicle formation control device according to an embodiment of this application.

[0129] like Figure 5 As shown, the control device 10 for the car formation includes: an identification module 100, a first control module 200, and a second control module 300.

[0130] The identification module 100 is used to identify the formation type of the car formation; the first control module 200 is used to generate a position change action based on the formation position information of surrounding vehicles and the desired formation position when the formation type is driving and the vehicle is detected to have a position change requirement, and control the vehicle to change from the current formation position to the desired formation position based on the position change action; the second control module 300 is used to broadcast the charging requirement information of the vehicle to the car formation when the formation type is charging, wherein the charging requirement degree of each vehicle is calculated based on the charging requirement information of all vehicles in the car formation, a charging matrix is ​​generated based on the charging requirement degree, and the charging matrix is ​​used to control the vehicles in the car formation to charge when the charging station is idle.

[0131] In this embodiment, the first control module 200 is further configured to: determine the longitudinal relative distance between the vehicle and the surrounding vehicles based on the platooning position information of the surrounding vehicles, and determine whether any longitudinal relative distance satisfies the preset position change condition; if any longitudinal relative distance satisfies the preset position change condition, generate a position change path based on the vehicle's current platooning position, the platooning position of the vehicle corresponding to any longitudinal relative distance, and the desired platooning position; otherwise, broadcast deceleration and yielding information to the surrounding vehicles, causing the surrounding vehicles to perform deceleration and yielding actions, and generate a position change path based on the vehicle's current platooning position and the desired platooning position.

[0132] In this embodiment of the application, the first control module 200 is further configured to: broadcast the vehicle's location request information to the vehicle platoon, wherein the location request information includes a current location change request, the current platoon position, and the desired platoon position; determine the surrounding vehicles of the vehicle based on the current platoon position and the desired platoon position; and receive platoon position information sent by the surrounding vehicles based on the current location change request.

[0133] In this embodiment of the application, the first control module 200 is further configured to: when the current time is the position change time, surrounding vehicles perform deceleration and yielding actions.

[0134] In this embodiment of the application, the first control module 200 is further configured to: identify the number of lanes that need to be changed from the current formation position to the desired formation position; if the number of lanes is a preset number, then stop the position change action of the vehicle; if the number of lanes is greater than the preset number, then control the vehicle to adjust to a preset position of the adjacent lane; if the preset position is the desired formation position, then the formation position change of the vehicle is completed; otherwise, re-initiate the position change request at the preset position.

[0135] In this embodiment of the application, the first control module 200 is further configured to: when multiple vehicles in a platoon initiate a position change request, if the vehicle expects its platoon position to be after the longitudinal position of other vehicles in the same lane that initiated the position change request, then control the vehicle to perform a position change action; otherwise, stop the vehicle from performing the position change action; if the expected platoon positions of other vehicles are within the vehicle's preset range, control the vehicle to adjust its platoon position according to a preset adjustment stage until the adjustment is completed.

[0136] In this embodiment, the second control module 300 is further configured to: identify uncharged vehicles and charging vehicles in the vehicle platoon; calculate the first charging demand degree of the uncharged vehicles and the second charging demand degree of the charging vehicles based on the charging demand information of the uncharged vehicles and the charging vehicles, respectively; and transform the platooning position of the vehicles in the vehicle platoon based on the first charging demand degree and the second charging demand degree to obtain a charging matrix.

[0137] It should be noted that the foregoing explanation of the control method embodiment for car formations also applies to the control device for car formations in this embodiment, and will not be repeated here.

[0138] The vehicle platooning control device proposed in this application, when identifying a vehicle platooning type as driving and recognizing a need for a position change, generates a position change action based on the platooning position information of surrounding vehicles and the desired platooning position. Based on this action, it controls the vehicle to change from its current platooning position to the desired position. When identifying a vehicle platooning type as charging, it broadcasts its charging needs to the platoon, calculates the charging demand of each vehicle based on the charging demand information of all vehicles in the platoon, generates a charging matrix, and uses the charging matrix to control the vehicles in the platoon to charge when the charging station is idle. This achieves unified auxiliary management and control of vehicle platooning during driving and energy replenishment, aiming to regulate traffic, improve driving efficiency, reduce traffic accidents and congestion, and ensure timely charging, thereby enhancing user safety and experience. This solves the problems in related technologies where unified auxiliary management and control of vehicle platooning during driving and energy replenishment is not possible, leading to reduced user safety and experience.

[0139] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0140] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0141] When the processor 602 executes the program, it implements the vehicle platooning control method provided in the above embodiments.

[0142] Furthermore, the vehicle also includes:

[0143] Communication interface 603 is used for communication between memory 601 and processor 602.

[0144] The memory 601 is used to store computer programs that can run on the processor 602.

[0145] The memory 601 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0146] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0147] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.

[0148] The processor 602 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0149] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method for controlling car formations.

[0150] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0151] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0152] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0153] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0154] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0155] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for controlling car platooning, characterized in that, The method is applied to any vehicle within a platoon, and includes the following steps: Identify the formation type of the car formation; If the formation type is driving type, when it is detected that the vehicle has a position change requirement, a position change action is generated based on the formation position information of surrounding vehicles and the desired formation position, and the vehicle is controlled to change from the current formation position to the desired formation position based on the position change action; If the platoon type is charging type, the charging demand information of this vehicle is broadcast to the vehicle platoon. The charging demand of each vehicle is calculated based on the charging demand information of all vehicles in the vehicle platoon. A charging matrix is ​​generated based on the charging demand. When the charging station is idle, the charging matrix is ​​used to control the vehicles in the vehicle platoon to charge. The step of calculating the charging demand of each vehicle based on the charging demand information of all vehicles in the vehicle platoon, and generating a charging matrix based on the charging demand, includes: Identify vehicles that are not charging and vehicles that are charging within the platoon; The first charging demand of the uncharged vehicle and the second charging demand of the charging vehicle are calculated based on the charging demand information of the uncharged vehicle and the charging vehicle, respectively. The platooning positions of the vehicles in the platoon are transformed based on the first charging demand level and the second demand level to obtain the charging matrix.

2. The method according to claim 1, characterized in that, The step of generating a position change action based on the platooning position information of surrounding vehicles and the desired platooning position includes: The longitudinal relative distance between the vehicle and the surrounding vehicles is determined based on the platooning position information of the surrounding vehicles, and it is determined whether any longitudinal relative distance satisfies the preset position change condition. If any of the longitudinal relative distances satisfies the preset position transformation condition, then a position transformation path is generated based on the current formation position of the vehicle, the vehicle formation position corresponding to any longitudinal relative distance, and the desired formation position; Otherwise, broadcast a slow-down and yield information to the surrounding vehicles, causing the surrounding vehicles to perform slow-down and yield actions, and generate a position change path based on the vehicle's current formation position and the desired formation position.

3. The method according to claim 2, characterized in that, Before generating a position change action based on the platooning position information of surrounding vehicles, the following steps are included: The vehicle broadcasts its location request information to the vehicle platoon, wherein the location request information includes a current location change request, the current platoon position, and the desired platoon position, and determines the surrounding vehicles of the vehicle based on the current platoon position and the desired platoon position; Receive the platooning position information sent by the surrounding vehicles based on the current position change request.

4. The method according to claim 3, characterized in that, The location demand information also includes the location change time, and the action of causing the surrounding vehicles to decelerate and yield includes: When the current time is the location change time, the surrounding vehicles perform a deceleration and yielding action.

5. The method according to claim 1, characterized in that, The step of controlling the vehicle to change from its current formation position to the desired formation position based on the position change action includes: Identify the number of lanes that need to be changed from the current formation position to the desired formation position; If the number of lanes is a preset number, then the vehicle's position change action will stop; If the number of lanes is greater than the preset number, the vehicle is controlled to adjust to a preset position in an adjacent lane. If the preset position is the desired platooning position, the platooning position change of the vehicle is completed; otherwise, a position change request is re-initiated at the preset position.

6. The method according to claim 1, characterized in that, Before controlling the vehicle to change from its current formation position to the desired formation position based on the position change action, the method further includes: When multiple vehicles in a platoon initiate a position change request, if the vehicle expects its platoon position to be after the longitudinal position of other vehicles in the same lane that initiated the position change request, then the vehicle is controlled to perform the position change action; otherwise, the vehicle is stopped from performing the position change action. If the desired formation positions of other vehicles are within the preset range of this vehicle, control this vehicle to adjust the formation position according to the preset adjustment stages until the adjustment is completed.

7. A control device for car platooning, characterized in that, The device is applied to any vehicle within a platoon, wherein the device includes: The identification module is used to identify the formation type of the car formation; The first control module is used to generate a position change action based on the formation position information of surrounding vehicles and the desired formation position when the formation type is driving type and the vehicle is identified to have a position change requirement. Based on the position change action, the module controls the vehicle to change from the current formation position to the desired formation position. The second control module is used to broadcast the charging demand information of the vehicle to the vehicle platoon if the platoon type is charging type. The module calculates the charging demand of each vehicle based on the charging demand information of all vehicles in the vehicle platoon, generates a charging matrix based on the charging demand, and controls the vehicles in the vehicle platoon to charge when the charging station is idle. The second control module is further used for: Identify vehicles that are not charging and vehicles that are charging within the platoon; The first charging demand of the uncharged vehicle and the second charging demand of the charging vehicle are calculated based on the charging demand information of the uncharged vehicle and the charging vehicle, respectively. The platooning positions of the vehicles in the platoon are transformed based on the first charging demand level and the second demand level to obtain the charging matrix.

8. The apparatus according to claim 7, characterized in that, The first control module is further configured to: The longitudinal relative distance between the vehicle and the surrounding vehicles is determined based on the platooning position information of the surrounding vehicles, and it is determined whether any longitudinal relative distance satisfies the preset position change condition. If any of the longitudinal relative distances satisfies the preset position transformation condition, then a position transformation path is generated based on the current formation position of the vehicle, the vehicle formation position corresponding to any longitudinal relative distance, and the desired formation position; Otherwise, broadcast a slow-down and yield information to the surrounding vehicles, causing the surrounding vehicles to perform slow-down and yield actions, and generate a position change path based on the vehicle's current formation position and the desired formation position.

9. The apparatus according to claim 8, characterized in that, The first control module is further configured to: The vehicle broadcasts its location request information to the vehicle platoon, wherein the location request information includes a current location change request, the current platoon position, and the desired platoon position, and determines the surrounding vehicles of the vehicle based on the current platoon position and the desired platoon position; Receive the platooning position information sent by the surrounding vehicles based on the current position change request.

10. The apparatus according to claim 9, characterized in that, The first control module is further configured to: When the current time is the location change time, the surrounding vehicles perform a deceleration and yielding action.

11. The apparatus according to claim 7, characterized in that, The first control module is further configured to: Identify the number of lanes that need to be changed from the current formation position to the desired formation position; If the number of lanes is a preset number, then the vehicle's position change action will stop; If the number of lanes is greater than the preset number, the vehicle is controlled to adjust to a preset position in an adjacent lane. If the preset position is the desired platooning position, the platooning position change of the vehicle is completed; otherwise, a position change request is re-initiated at the preset position.

12. The apparatus according to claim 7, characterized in that, The first control module is further configured to: When multiple vehicles in a platoon initiate a position change request, if the vehicle expects its platoon position to be after the longitudinal position of other vehicles in the same lane that initiated the position change request, then the vehicle is controlled to perform the position change action; otherwise, the vehicle is stopped from performing the position change action. If the desired formation positions of other vehicles are within the preset range of this vehicle, control this vehicle to adjust the formation position according to the preset adjustment stages until the adjustment is completed.

13. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the vehicle platooning control method as described in any one of claims 1-6.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the vehicle platooning control method as described in any one of claims 1-6.

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