Vehicle queuing control methods, vehicle queuing control devices, and electronic devices

Abstract

This application provides a vehicle queuing control method, a vehicle queuing control device, and an electronic device. The vehicle queuing control method includes: acquiring target vehicle information, first vehicle information, and second vehicle information; acquiring the target distance and target time distance of the vehicle queuing, and calculating the target vehicle position error and the first vehicle position error based at least on the first vehicle information, the second vehicle information, the target distance, and the target time distance; calculating the target acceleration based at least on the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information, and the target time distance, and setting the target vehicle acceleration as the target acceleration; repeating the acquisition step, the first calculation step, and the second calculation step at least once until the acceleration of all vehicles in the vehicle queuing is set. This method solves the problem of poor stability and security of vehicle queuing systems under unstable communication conditions.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation system control technology, and more specifically, to a vehicle queuing control method, a vehicle queuing control device, a computer-readable storage medium, and an electronic device. Background Technology

[0002] With increasingly severe urban traffic congestion, the safety, efficiency, and economy of transportation operations face new challenges. Intelligent connected vehicles, born from communication and artificial intelligence technologies, offer novel solutions to alleviate traffic problems. Vehicle platooning technology, a typical application of intelligent connected vehicle technology, can reduce driver fatigue, thereby minimizing traffic accidents and improving transportation safety. It can also reduce overall wind resistance by decreasing following distance, thus achieving energy conservation.

[0003] Most existing patents on vehicle platoon stability control assume ideal communication conditions and achieve information transmission between vehicles through vehicle-to-vehicle communication. In practical applications, communication is subject to various interferences due to different weather conditions and complex driving environments. Furthermore, high-speed vehicle travel inevitably causes communication delays and packet loss, resulting in the vehicle platooning system being unable to respond in real time, thus affecting system stability and security.

[0004] Therefore, there is an urgent need for a method to address the poor stability and security of vehicle queuing systems under unstable communication conditions. Summary of the Invention

[0005] The main objective of this application is to provide a vehicle queuing control method, a vehicle queuing control device, a computer-readable storage medium, and an electronic device, so as to at least solve the problem of poor stability and security of vehicle queuing systems under unstable communication conditions in the prior art.

[0006] According to one aspect of this application, a method for controlling a vehicle queue is provided, comprising: an acquisition step, acquiring target vehicle information, first vehicle information, and second vehicle information, wherein the target vehicle information is communication information of a target vehicle, the first vehicle information is communication information of a first vehicle, the second vehicle information is communication information of a second vehicle, the first vehicle is a vehicle in the vehicle queue located in front of and adjacent to the target vehicle, the second vehicle is the vehicle in the vehicle queue located in front of and adjacent to the first vehicle, the vehicle queue includes a plurality of vehicles, the target vehicle is any one of the plurality of vehicles, and the communication information is information on communication between the vehicle and any other vehicle in the vehicle queue; a first calculation step, acquiring target distance and target time distance of the vehicle queue, and calculating the target distance and time distance based at least on the first vehicle information, the second vehicle information, and the target vehicle information. The target vehicle position error and the first vehicle position error are calculated based on the distance and the target time interval. The target vehicle position error is the error between the first actual position and the first estimated position of the target vehicle, and the first vehicle position error is the error between the second actual position and the second estimated position of the first vehicle. The target distance is the distance between any two vehicles in the vehicle queue that is preset, and the target time interval is the time difference between any two vehicles in the vehicle queue that is preset. The second calculation step involves calculating the target acceleration based at least on the target vehicle position error, the first vehicle information, the target vehicle information, and the target time interval, and setting the target vehicle's acceleration as the target acceleration. The acquisition step, the first calculation step, and the second calculation step are repeated at least once until the accelerations of all vehicles in the vehicle queue are set.

[0007] Optionally, the first calculation step includes: calculating a first estimate based on the first vehicle information and an acceleration threshold, wherein the first estimate is an estimate of the motion parameters of the first vehicle, the motion parameters including position, velocity, and acceleration; calculating a second estimate based on the second vehicle information and the acceleration threshold, wherein the second estimate is an estimate of the motion parameters of the second vehicle; calculating the target vehicle position error based on the first estimate, the target vehicle information, the target distance, and the target time interval; and calculating the first vehicle position error based on the first estimate, the second estimate, the target distance, and the target time interval.

[0008] Optionally, a first estimated value is calculated based on the first vehicle information and an acceleration threshold, wherein the first vehicle information includes a first timestamp, a first position, a first speed, and a first acceleration, and the first estimated value includes a first estimated position, a first estimated speed, and a first estimated acceleration. The first estimated acceleration includes: calculating the difference between the current time and the first timestamp to obtain a first delay time period, wherein the first timestamp is the time when the first vehicle receives the first vehicle information; determining whether the absolute value of the first acceleration is greater than the acceleration threshold, wherein the first acceleration is the actual acceleration of the first vehicle; if the absolute value of the first acceleration is greater than the acceleration threshold, determining the first estimated acceleration as the first acceleration, determining the first estimated speed as the sum of the product of the first delay time period and the first estimated acceleration and the first speed, and determining the first estimated position as the product of the first delay time period and the first estimated acceleration. The product of the first estimated speed and the sum of the first position, wherein the first estimated acceleration is the estimated acceleration value of the first vehicle, the first estimated speed is the estimated speed value of the first vehicle, the first speed is the actual speed of the first vehicle, the first estimated position is the estimated position of the first vehicle, and the first position is the actual position of the first vehicle; if the absolute value of the first acceleration is less than or equal to the acceleration threshold, the first estimated acceleration is determined to be 0, the first estimated speed is determined to be the first speed, and the abscissa value of the first estimated position is determined to be the sum of the product of the first delay time period and the first estimated speed and the abscissa value of the first position, wherein the first estimated position and the first position are located in the same coordinate system, the horizontal axis of the coordinate system is the straight line in the forward direction of the vehicle convoy, and the vertical axis of the coordinate system is any straight line perpendicular to the horizontal axis.

[0009] Optionally, a second estimated value is calculated based on the second vehicle information and the acceleration threshold, wherein the second vehicle information includes a second timestamp, a second position, a second speed, and a second acceleration, and the second estimated value includes a second estimated position, a second estimated speed, and a second estimated acceleration. The second estimated acceleration includes: calculating the difference between the current time and the second timestamp to obtain a second delay period, wherein the second timestamp is the time when the second vehicle receives the second vehicle information; determining whether the absolute value of the second acceleration is greater than the acceleration threshold, wherein the second acceleration is the actual acceleration of the second vehicle; if the absolute value of the second acceleration is greater than the acceleration threshold, determining the second estimated acceleration as the second acceleration, determining the second estimated speed as the product of the second delay period and the second estimated acceleration plus the second speed, and determining the second estimated position as the second delay period. The product of the second estimated velocity and the second position is summed, where the second estimated acceleration is the estimated acceleration of the second vehicle, the second estimated velocity is the estimated velocity of the second vehicle, the second velocity is the actual velocity of the second vehicle, the second estimated position is the estimated position of the second vehicle, and the second position is the actual position of the second vehicle; if the absolute value of the second acceleration is less than or equal to the acceleration threshold, the second estimated acceleration is determined to be 0, the second estimated velocity is determined to be the second velocity, and the abscissa value of the second estimated position is determined to be the sum of the product of the second delay time period and the second estimated velocity and the abscissa value of the second position, where the second estimated position and the second position are located in the same coordinate system, the horizontal axis of the coordinate system is the straight line in the forward direction of the vehicle convoy, and the vertical axis of the coordinate system is any straight line perpendicular to the horizontal axis.

[0010] Optionally, the target vehicle position error is calculated based on the first estimated value, the target vehicle information, the target distance, and the target time distance. The first estimated value includes a first estimated speed and a first estimated position. The target vehicle information includes the target position and the target speed, including: according to the formula... Calculate the target vehicle position error e i (t), where p i (t) represents the target position. Let H be the first estimated position, D be the target distance, and h be the distance to the target. i v represents the target time interval. i(t) represents the target speed; based on the first estimated value, the second estimated value, the target distance, and the target time distance, the first vehicle position error is calculated. The first estimated value includes a first estimated position and a first estimated speed, and the second estimated value includes a second estimated position, including: according to the formula Calculate the position error e of the first vehicle i-1 (t), For the first estimated position, Let H be the second estimated position, D be the target distance, and h be the distance to the target. i The target time interval, This is the first estimated velocity.

[0011] Optionally, if the target vehicle is the first vehicle in the vehicle queue, the target vehicle information includes the target speed, and the second calculation step includes: according to formula a id (t)=(-k i ×e i (t)-v i (t)) / h i Calculate the target acceleration a id (t), k i e is the first gain coefficient. i (t) represents the position error of the target vehicle, v i (t) represents the target velocity, h i The target time interval is denoted as .

[0012] Optionally, if the target vehicle is not the first vehicle in the vehicle queue, the target vehicle information includes the target speed, and the second calculation step includes: according to the formula Calculate the target acceleration a id (t), k i e is the first gain coefficient. i (t) represents the target vehicle position error, β is the second gain coefficient, and e i-1 (t) represents the position error of the first vehicle. For the first estimated speed, For the second estimated velocity, v i (t) represents the target velocity. For the first estimated acceleration, h i The target time interval is denoted as .

[0013] According to another aspect of this application, a vehicle queue control device is provided, comprising: an acquisition unit, configured to acquire target vehicle information, first vehicle information, and second vehicle information, wherein the target vehicle information is communication information of a target vehicle, the first vehicle information is communication information of a first vehicle, the second vehicle information is communication information of a second vehicle, the first vehicle is a vehicle in the vehicle queue located in front of and adjacent to the target vehicle, the second vehicle is the vehicle in the vehicle queue located in front of and adjacent to the first vehicle, the vehicle queue includes a plurality of vehicles, the target vehicle is any one of the plurality of vehicles, and the communication information is information on communication between the vehicle and any other vehicle in the vehicle queue; and a first calculation unit, configured to acquire the target vehicle information of the vehicle queue in a first calculation step. The system includes a target distance and a target time distance, and calculates the target vehicle position error and the first vehicle position error based at least on the first vehicle information, the second vehicle information, the target distance, and the target time distance. The target vehicle position error is the error between the first actual position and the first estimated position of the target vehicle, and the first vehicle position error is the error between the second actual position and the second estimated position of the first vehicle. A second calculation unit is used in a second calculation step to calculate the target acceleration based at least on the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information, and the target time distance, and sets the target vehicle acceleration as the target acceleration. A repetition unit is used to repeat the acquisition step, the first calculation step, and the second calculation step at least once until all vehicles in the vehicle queue are set.

[0014] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0015] According to another aspect of this application, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to execute any of the methods described by the computer program.

[0016] Applying the technical solution of this application, firstly, target vehicle information, first vehicle information, and second vehicle information are acquired; then, the target distance and target time interval of the vehicle queue are acquired, and the target vehicle position error and the first vehicle position error are calculated at least based on the first vehicle information, the second vehicle information, the target distance, and the target time interval; then, the target acceleration is calculated at least based on the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information, and the target time interval, and the acceleration of the target vehicle is set as the target acceleration; finally, the acquisition step, the first calculation step, and the second calculation step are repeated at least once until the acceleration of all vehicles in the vehicle queue is set. The above vehicle queue control method targets vehicle platooning systems under unstable communication conditions. Based on the received information of neighboring vehicles, the position errors of neighboring vehicles are estimated and predicted. The desired acceleration is calculated based on the position errors, and the vehicles are sequentially set to the calculated desired acceleration, thereby solving the problem of poor stability and security of vehicle queue systems under unstable communication conditions. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0018] Figure 1 A hardware structure block diagram of a mobile terminal for executing a vehicle queue control method according to an embodiment of this application is shown;

[0019] Figure 2 A flowchart illustrating a vehicle queuing control method according to an embodiment of this application is shown.

[0020] Figure 3 A detailed flowchart of a vehicle queuing control method according to an embodiment of this application is shown;

[0021] Figure 4 A structural block diagram of a vehicle queuing control device according to an embodiment of this application is shown.

[0022] The above figures include the following reference numerals:

[0023] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application 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 for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover 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.

[0027] As described in the background section, the stability and security of vehicle queuing systems under unstable communication conditions in the prior art are poor. To solve the above problems, embodiments of this application provide a vehicle queuing control method, a vehicle queuing control device, a computer-readable storage medium, and an electronic device.

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0029] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a vehicle queue control method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1The different configurations shown.

[0030] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the vehicle queue control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0031] This embodiment provides a method for controlling a vehicle queue that runs on a mobile terminal, computer terminal, or similar computing device. 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. Also, 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.

[0032] Figure 2 This is a flowchart of a vehicle queuing control method according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0033] Step S201, the acquisition step, acquires target vehicle information, first vehicle information and second vehicle information, wherein the target vehicle information is the communication information of the target vehicle, the first vehicle information is the communication information of the first vehicle, the second vehicle information is the communication information of the second vehicle, the first vehicle is the vehicle in the vehicle queue that is in front of and adjacent to the target vehicle, the second vehicle is the vehicle in the vehicle queue that is in front of and adjacent to the first vehicle, the vehicle queue includes multiple vehicles, the target vehicle is any one of the multiple vehicles, and the communication information is the communication information between the vehicle and any other vehicle in the vehicle queue;

[0034] Specifically, a dual-leader follower communication structure can be used to establish a vehicle platoon. This means that following vehicles obtain information about the preceding and preceding vehicles through vehicle-to-vehicle communication and store the received neighbor vehicle information in a buffer. The phrase "the first vehicle in the platoon is in front of the target vehicle" means that the vehicle in front of the target vehicle in the direction of travel of the platoon is the first vehicle, and the vehicle in front of the first vehicle is the second vehicle. The vehicles in the platoon are numbered from 0 to N from front to back, where vehicle 0 is the lead vehicle and the remaining N are the following vehicles. Each following vehicle in the platoon is equipped with positioning, communication, and control devices. The positioning device acquires the current vehicle's position, speed, and acceleration information and sends it to the CAN bus. The communication device can acquire its own vehicle information from the CAN bus, send it to other vehicles, and receive information from other vehicles. A dynamic model is established, where the first derivative of the vehicle's position is the velocity, and the first derivative of the velocity is the acceleration.

[0035] Step S202, first calculation step, obtain the target distance and target time distance of the vehicle queue, and calculate the target vehicle position error and the first vehicle position error based at least on the first vehicle information, the second vehicle information, the target distance and the target time distance, wherein the target vehicle position error is the error between the first actual position and the first estimated position of the target vehicle, the first vehicle position error is the error between the second actual position and the second estimated position of the first vehicle, the target distance is the distance between any two vehicles in the vehicle queue that is preset, and the target time distance is the time difference between any two vehicles in the vehicle queue that is preset;

[0036] Specifically, the target distance and target time distance mentioned above can be set to appropriate values ​​based on the actual operating conditions such as the stable operating speed and time delay of the vehicle platoon, thereby determining the safe distance and ensuring the safety of the vehicle platoon.

[0037] Step S203, the second calculation step, calculates the target acceleration based at least on the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information, and the target time distance, and sets the target vehicle acceleration as the target acceleration.

[0038] Specifically, the above calculation of target acceleration considers several influencing factors, including the target vehicle's position, the position error of the preceding vehicle, the information of the preceding vehicle, the target vehicle's information, and the target time distance, thus avoiding the impact of communication latency and packet loss. It should be noted during the calculation process that it is important to distinguish whether the target vehicle is the first vehicle in the vehicle queue. If the target vehicle is the first vehicle in the queue, there is no preceding vehicle, and the preceding vehicle information is 0.

[0039] Step S204: Repeat the above acquisition step, the above first calculation step, and the above second calculation step at least once, until the acceleration of all the vehicles in the above vehicle queue is set.

[0040] Specifically, the target acceleration of different vehicles at different times is calculated, and the acceleration of each vehicle in the vehicle queue is set to the current target acceleration in turn.

[0041] In this embodiment, firstly, target vehicle information, first vehicle information, and second vehicle information are acquired; then, the target distance and target time interval of the vehicle queue are acquired, and the target vehicle position error and the first vehicle position error are calculated at least based on the first vehicle information, the second vehicle information, the target distance, and the target time interval; then, the target acceleration is calculated at least based on the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information, and the target time interval, and the target vehicle acceleration is set as the target acceleration; finally, the acquisition step, the first calculation step, and the second calculation step are repeated at least once until the acceleration of all vehicles in the vehicle queue is set. The above vehicle queue control method addresses vehicle platooning systems under unstable communication conditions. Based on received neighboring vehicle information, the position errors of neighboring vehicles are estimated and predicted. The desired acceleration is calculated based on the position errors, and the vehicles are sequentially set to the calculated desired acceleration, thereby solving the problem of poor stability and security of vehicle queue systems under unstable communication conditions.

[0042] In specific implementation, step S202 can be achieved through the following steps: Step S2021, calculate a first estimated value based on the first vehicle information and the acceleration threshold, wherein the first estimated value is an estimate of the motion parameters of the first vehicle, including position, velocity, and acceleration; Step S2022, calculate a second estimated value based on the second vehicle information and the acceleration threshold, wherein the second estimated value is an estimate of the motion parameters of the second vehicle; Step S2023, calculate the target vehicle position error based on the first estimated value, the target vehicle information, the target distance, and the target time interval; Step S2024, calculate the first vehicle position error based on the first estimated value, the second estimated value, the target distance, and the target time interval. This method can further calculate the accurate target vehicle position error and the first vehicle position error.

[0043] Specifically, the aforementioned acceleration threshold is taken as an appropriate value based on actual operating conditions such as vehicle platoon speed and time delay. In practice, the target vehicle position error is calculated based on the estimated value of the preceding vehicle, the target vehicle information, the aforementioned target distance, and the aforementioned target time interval. The first vehicle position error is calculated based on the estimated value of the preceding vehicle, the estimated value of the vehicle before that, the aforementioned target distance, and the aforementioned target time interval.

[0044] In specific implementation, step S2021 can be achieved through the following steps: Step S20211, the first vehicle information includes a first timestamp, a first position, a first speed, and a first acceleration; the first estimated value includes a first estimated position, a first estimated speed, and a first estimated acceleration; calculate the difference between the current time and the first timestamp to obtain a first delay time period, wherein the first timestamp is the time when the first vehicle receives the first vehicle information; Step S20212, determine whether the absolute value of the first acceleration is greater than the acceleration threshold, wherein the first acceleration is the actual acceleration of the first vehicle; Step S20213, if the absolute value of the first acceleration is greater than the acceleration threshold, determine the first estimated acceleration as the first acceleration; determine the first estimated speed as the sum of the product of the first delay time period and the first estimated acceleration and the first speed; determine the first estimated position as the first... The product of the delay period and the first estimated speed is summed with the first position, where the first estimated acceleration is the estimated acceleration of the first vehicle, the first estimated speed is the estimated speed of the first vehicle, the first speed is the actual speed of the first vehicle, the first estimated position is the estimated position of the first vehicle, and the first position is the actual position of the first vehicle; in step S20214, if the absolute value of the first acceleration is less than or equal to the acceleration threshold, the first estimated acceleration is determined to be 0, the first estimated speed is determined to be the first speed, and the abscissa value of the first estimated position is determined to be the sum of the product of the first delay period and the first estimated speed and the abscissa value of the first position, where the first estimated position and the first position are located in the same coordinate system, the horizontal axis of the coordinate system is the straight line of the forward direction of the vehicle convoy, and the vertical axis of the coordinate system is any straight line perpendicular to the horizontal axis. This method can further calculate a precise first estimated value including the first estimated position, the first estimated speed, and the first estimated acceleration.

[0045] Specifically, based on the aforementioned first acceleration, if the acceleration is greater than the acceleration threshold, it can be determined that the vehicle's acceleration is relatively large, and it can be approximately considered that the vehicle's acceleration is constant. Therefore, the aforementioned first estimated acceleration is equal to the aforementioned first acceleration. Since the first derivative of the first estimated velocity is the first estimated acceleration, and the first estimated acceleration is equal to the first acceleration, the aforementioned first estimated velocity is calculated as the sum of the product of the aforementioned first delay time period and the aforementioned first estimated acceleration and the aforementioned first velocity. Since the first derivative of the first estimated position is the aforementioned first estimated velocity, the aforementioned first estimated position is calculated as the sum of the product of the aforementioned first delay time period and the aforementioned first estimated velocity and the aforementioned first position. If the acceleration is less than or equal to the acceleration threshold, it can be determined that the acceleration of the vehicle is small, and the speed of the vehicle can be approximated as constant, i.e. uniform speed. Therefore, the first estimated acceleration is 0. Since the first derivative of the first estimated speed is the first estimated acceleration, and the first estimated acceleration is 0, the first estimated speed is calculated as the first speed. Since the first derivative of the first estimated position is the first estimated speed, the abscissa value of the first estimated position is calculated as the sum of the product of the first delay time period and the first estimated speed and the abscissa value of the first position.

[0046] To further calculate a precise second estimated value including the second estimated position, second estimated velocity, and second estimated acceleration, step S2022 of this application can be implemented through the following steps: Step S20221, the second vehicle information includes a second timestamp, a second position, a second velocity, and a second acceleration; the second estimated value includes the second estimated position, the second estimated velocity, and the second estimated acceleration; calculate the difference between the current time and the second timestamp to obtain a second delay time period, wherein the second timestamp is the time when the second vehicle receives the second vehicle information; Step S20222, determine whether the absolute value of the second acceleration is greater than the acceleration threshold, wherein the second acceleration is the actual acceleration of the second vehicle; Step S20223, if the absolute value of the second acceleration is greater than the acceleration threshold, determine the second estimated acceleration as the second acceleration; determine the second estimated velocity as the product of the second delay time period and the second estimated acceleration, and the second estimated velocity. The sum of degrees, the second estimated position is determined to be the sum of the product of the second delay time period and the second estimated speed and the second position, wherein the second estimated acceleration is the estimated acceleration value of the second vehicle, the second estimated speed is the estimated speed value of the second vehicle, the second speed is the actual speed of the second vehicle, the second estimated position is the estimated position of the second vehicle, and the second position is the actual position of the second vehicle; step S20224, if the absolute value of the second acceleration is less than or equal to the acceleration threshold, the second estimated acceleration is determined to be 0, the second estimated speed is determined to be the second speed, and the abscissa value of the second estimated position is determined to be the sum of the product of the second delay time period and the second estimated speed and the abscissa value of the second position, wherein the second estimated position and the second position are located in the same coordinate system, the horizontal axis of the coordinate system is the straight line where the forward direction of the vehicle queue is located, and the vertical axis of the coordinate system is any straight line perpendicular to the horizontal axis.

[0047] Specifically, based on the aforementioned second acceleration, if the acceleration is greater than the acceleration threshold, it can be determined that the vehicle's acceleration is relatively large, and it can be approximately considered that the vehicle's acceleration is constant. Therefore, the aforementioned second estimated acceleration is equal to the aforementioned second acceleration. Since the second derivative of the second estimated velocity is the second estimated acceleration, and the second estimated acceleration is equal to the second acceleration, the aforementioned second estimated velocity is calculated as the sum of the product of the aforementioned second delay time period and the aforementioned second estimated acceleration and the aforementioned second velocity. Since the second derivative of the second estimated position is the aforementioned second estimated velocity, the aforementioned second estimated position is calculated as the sum of the product of the aforementioned second delay time period and the aforementioned second estimated velocity and the aforementioned second position. If the acceleration is less than or equal to the acceleration threshold, it can be determined that the acceleration of the vehicle is small, and the speed of the vehicle can be approximated as constant, i.e. uniform speed. Therefore, the second estimated acceleration is 0. Since the second derivative of the second estimated speed is the second estimated acceleration, and the second estimated acceleration is 0, the second estimated speed is calculated as the second speed. Since the second derivative of the second estimated position is the second estimated speed, the abscissa value of the second estimated position is calculated as the sum of the product of the second delay time period and the second estimated speed and the abscissa value of the second position.

[0048] The above step S2023 can also be achieved in other ways, for example: according to the formula Calculate the target vehicle position error e above. i (t), where p i (t) represents the target location mentioned above. Here, D represents the first estimated location, and h represents the target distance. i For the target time interval mentioned above, v i (t) represents the target velocity. This method can further calculate the precise target vehicle position error.

[0049] Specifically, the target vehicle position error is the error between the target vehicle's current position and its estimated position. In addition, it also includes the aforementioned target distance, i.e., the distance between two adjacent vehicles, and the distance determined based on the target time distance and target speed.

[0050] The above step S2024 can also be implemented in other ways, for example: according to the formula Calculate the first vehicle position error e mentioned above. i-1 (t), The first estimated position mentioned above, Here, D represents the second estimated location, and h represents the target distance. i For the aforementioned target time interval, This is the first estimated speed mentioned above. This method can further calculate the precise first vehicle position error.

[0051] Specifically, the first vehicle position error is the error between the position of the first vehicle and the estimated position of the first vehicle. In addition, it also includes the aforementioned target distance, i.e., the distance between two adjacent vehicles, and the distance determined based on the target time distance and the first estimated speed.

[0052] In some embodiments, step S203 can be implemented through the following steps: Step S2031, when the target vehicle is the first vehicle in the vehicle queue, the target vehicle information includes the target speed, according to formula a id (t)=(-k i ×e i (t)-v i (t)) / h i Calculate the target acceleration a. id (t), k i e is the first gain coefficient. i (t) represents the target vehicle position error mentioned above, v i (t) represents the target velocity mentioned above, h i The target time distance is given above. This method can further calculate the precise target acceleration when the target vehicle is the first vehicle in the vehicle queue.

[0053] Specifically, if the target vehicle is the first vehicle in the vehicle queue, it can be assumed that the target vehicle has no preceding vehicle, meaning the position error of the preceding vehicle is 0. The aforementioned first gain coefficient can be appropriately determined based on actual operating conditions such as vehicle queue speed, vehicle actuator output capability, and vehicle response speed.

[0054] In some embodiments, step S203 can be implemented through the following steps: Step S2032, when the target vehicle is not the first vehicle in the vehicle queue, the target vehicle information includes the target speed, according to the formula Calculate the target acceleration a mentioned above. id (t), k i e is the first gain coefficient. i (t) represents the target vehicle position error, β is the second gain coefficient, and e i-1 (t) represents the position error of the first vehicle mentioned above. For the first estimated speed, For the second estimated velocity, v i (t) represents the target velocity mentioned above. For the first estimated acceleration, h iThe target time distance is given above. This method calculates the accurate target acceleration even when the target vehicle is not the first vehicle in the vehicle queue.

[0055] Specifically, if the target vehicle is not the first vehicle in the vehicle queue, the error value of the preceding vehicle needs to be considered. The first gain coefficient can be appropriately determined based on actual operating conditions such as vehicle queue speed, vehicle actuator output capability, and vehicle response speed. The second gain coefficient, which is greater than 0 and less than 1, can be the norm of the error transfer function, which is the ratio of the Laplace transform of the target vehicle's position error to the Laplace transform of the first vehicle's position error.

[0056] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the vehicle queue control method of this application will be described in detail below with reference to specific embodiments.

[0057] This embodiment relates to a specific method for controlling a vehicle queue, such as... Figure 3 As shown, it includes the following steps:

[0058] Step S1: Parameter initialization. A vehicle platoon is established using a dual-lead vehicle following communication structure. That is, the following vehicle obtains information about the preceding vehicle and the vehicle before that through vehicle-to-vehicle communication, and stores the received information about neighboring vehicles in a buffer.

[0059] Step S2: Number the vehicles in the formation from 0 to N from front to back, where vehicle 0 is the lead vehicle and the remaining N are the following vehicles. Establish the vehicle dynamics model:

[0060] Step S3: Construct a constant distance following strategy;

[0061] Step S4: The information preprocessing layer of each following vehicle calculates the equivalent delay of the comprehensive communication delay and packet loss based on the neighbor vehicle data packets collected by the communication. The estimation layer of each following vehicle calculates the state estimates of the preceding vehicle i-2 and the preceding vehicle i-1 at time t based on the neighbor vehicle data packets collected by the communication and the equivalent delay obtained by the information preprocessing layer.

[0062] Step S5: Each following vehicle i calculates its position error using the state estimates of neighboring vehicles obtained from the estimation layer;

[0063] Step S6: Determine whether the tracking error meets the requirements. If it does not meet the requirements, adaptively adjust the controller parameters. If it meets the requirements, proceed to step S7.

[0064] Step S7: Each following vehicle i calculates its own expected acceleration using the state estimates of neighboring vehicles, position errors, and its own vehicle information;

[0065] Step S8: Each following vehicle i transmits the obtained desired acceleration to the lower-level controller, so that the vehicle tracks the desired acceleration as its own desired acceleration;

[0066] Step S9: Repeat steps 4 to 8 until the queue ends.

[0067] This application also provides a vehicle queue control device. It should be noted that the vehicle queue control device of this application can be used to execute the vehicle queue control method provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0068] The following describes the vehicle queue control device provided in the embodiments of this application.

[0069] Figure 4 This is a schematic diagram of a vehicle queuing control device according to an embodiment of this application. Figure 4 As shown, the device includes:

[0070] The acquisition unit 10 is used for the acquisition step to acquire target vehicle information, first vehicle information, and second vehicle information, wherein the target vehicle information is the communication information of the target vehicle, the first vehicle information is the communication information of the first vehicle, the second vehicle information is the communication information of the second vehicle, the first vehicle is a vehicle in the vehicle queue that is in front of and adjacent to the target vehicle, the second vehicle is a vehicle in the vehicle queue that is in front of and adjacent to the first vehicle, the vehicle queue includes multiple vehicles, the target vehicle is any one of the multiple vehicles, and the communication information is the communication information between the target vehicle and any other vehicle in the vehicle queue.

[0071] Specifically, a dual-leader follower communication structure can be used to establish a vehicle platoon. This means that following vehicles obtain information about the preceding and preceding vehicles through vehicle-to-vehicle communication and store the received neighbor vehicle information in a buffer. The phrase "the first vehicle in the platoon is in front of the target vehicle" means that the vehicle in front of the target vehicle in the direction of travel of the platoon is the first vehicle, and the vehicle in front of the first vehicle is the second vehicle. The vehicles in the platoon are numbered from 0 to N from front to back, where vehicle 0 is the lead vehicle and the remaining N are the following vehicles. Each following vehicle in the platoon is equipped with positioning, communication, and control devices. The positioning device acquires the current vehicle's position, speed, and acceleration information and sends it to the CAN bus. The communication device can acquire its own vehicle information from the CAN bus, send it to other vehicles, and receive information from other vehicles. A dynamic model is established, where the first derivative of the vehicle's position is the velocity, and the first derivative of the velocity is the acceleration.

[0072] The first calculation unit 20 is used in the first calculation step to obtain the target distance and target time distance of the vehicle queue, and to calculate the target vehicle position error and the first vehicle position error based at least on the first vehicle information, the second vehicle information, the target distance and the target time distance, wherein the target vehicle position error is the error between the first actual position and the first estimated position of the target vehicle, and the first vehicle position error is the error between the second actual position and the second estimated position of the first vehicle.

[0073] Specifically, the target distance and target time distance mentioned above can be set to appropriate values ​​based on the actual operating conditions such as the stable operating speed and time delay of the vehicle platoon, thereby determining the safe distance and ensuring the safety of the vehicle platoon.

[0074] The second calculation unit 30 is used in the second calculation step to calculate the target acceleration based at least on the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information, and the target time distance, and set the target vehicle acceleration as the target acceleration.

[0075] Specifically, the above calculation of target acceleration considers several influencing factors, including the target vehicle's position, the position error of the preceding vehicle, the information of the preceding vehicle, the target vehicle's information, and the target time distance, thus avoiding the impact of communication latency and packet loss. It should be noted during the calculation process that it is important to distinguish whether the target vehicle is the first vehicle in the vehicle queue. If the target vehicle is the first vehicle in the queue, there is no preceding vehicle, and the preceding vehicle information is 0.

[0076] The repeating unit 40 is used to repeat the above-mentioned acquisition step, the above-mentioned first calculation step, and the above-mentioned second calculation step at least once, until all the above-mentioned vehicles in the above-mentioned vehicle queue are set.

[0077] Specifically, the target acceleration of different vehicles at different times is calculated, and the acceleration of each vehicle in the vehicle queue is set to the current target acceleration in turn.

[0078] In this embodiment, the acquisition unit acquires target vehicle information, first vehicle information, and second vehicle information; the first calculation unit acquires the target distance and target time interval of the vehicle queue, and calculates the target vehicle position error and the first vehicle position error based at least on the first vehicle information, the second vehicle information, the target distance, and the target time interval; the second calculation unit calculates the target acceleration based at least on the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information, and the target time interval, and sets the target vehicle's acceleration as the target acceleration; the repeating unit repeats the acquisition step, the first calculation step, and the second calculation step at least once, until the acceleration of all vehicles in the vehicle queue is set. The above-described vehicle queue control device, designed for vehicle platooning systems under unstable communication conditions, estimates and predicts the position errors of neighboring vehicles based on received neighbor vehicle information, calculates the desired acceleration based on the position errors, and sequentially sets the vehicles to the calculated desired acceleration, thereby solving the problem of poor stability and security of vehicle queue systems under unstable communication conditions.

[0079] As an optional solution, the first calculation unit includes a first calculation module, a second calculation module, a third calculation module, and a fourth calculation module. The first calculation module calculates a first estimate based on the first vehicle information and an acceleration threshold, wherein the first estimate is an estimate of the motion parameters of the first vehicle, including position, velocity, and acceleration. The second calculation module calculates a second estimate based on the second vehicle information and the acceleration threshold, wherein the second estimate is an estimate of the motion parameters of the second vehicle. The third calculation module calculates the target vehicle position error based on the first estimate, the target vehicle information, the target distance, and the target time interval. The fourth calculation module calculates the first vehicle position error based on the first estimate, the second estimate, the target distance, and the target time interval. This device can further calculate accurate target vehicle position errors and first vehicle position errors.

[0080] Specifically, the aforementioned acceleration threshold is taken as an appropriate value based on actual operating conditions such as vehicle platoon speed and time delay. In practice, the target vehicle position error is calculated based on the estimated value of the preceding vehicle, the target vehicle information, the aforementioned target distance, and the aforementioned target time interval. The first vehicle position error is calculated based on the estimated value of the preceding vehicle, the estimated value of the vehicle before that, the aforementioned target distance, and the aforementioned target time interval.

[0081] In specific implementation, the first calculation module includes a first calculation submodule, a first determination module, a second determination module, and a third determination module. The first calculation submodule is used to calculate the difference between the current time and the first timestamp to obtain a first delay period, where the first timestamp is the time when the first vehicle receives the first vehicle information (including a first timestamp, a first position, a first speed, and a first acceleration), and the first estimated value includes a first estimated position, a first estimated speed, and a first estimated acceleration. The first determination module is used to determine whether the absolute value of the first acceleration is greater than the acceleration threshold, where the first acceleration is the actual acceleration of the first vehicle. The second determination module is used to determine that, if the absolute value of the first acceleration is greater than the acceleration threshold, the first estimated acceleration is the first acceleration, and the first estimated speed is the sum of the product of the first delay period and the first estimated acceleration and the first speed. The first estimated position is the sum of the product of the first delay time period and the first estimated speed, and the first position. Here, the first estimated acceleration is the estimated acceleration of the first vehicle, the first estimated speed is the estimated speed of the first vehicle, the first speed is the actual speed of the first vehicle, the first estimated position is the estimated position of the first vehicle, and the first position is the actual position of the first vehicle. The third determining module is used to determine that, if the absolute value of the first acceleration is less than or equal to the acceleration threshold, the first estimated acceleration is 0, the first estimated speed is the first speed, and the abscissa value of the first estimated position is the sum of the product of the first delay time period and the first estimated speed, and the abscissa value of the first position. Here, the first estimated position and the first position are located in the same coordinate system, where the horizontal axis of the coordinate system is the straight line representing the forward direction of the vehicle convoy, and the vertical axis is any straight line perpendicular to the horizontal axis. This device can further calculate a precise first estimated value including the first estimated position, the first estimated speed, and the first estimated acceleration.

[0082] Specifically, based on the aforementioned first acceleration, if the acceleration is greater than the acceleration threshold, it can be determined that the vehicle's acceleration is relatively large, and it can be approximately considered that the vehicle's acceleration is constant. Therefore, the aforementioned first estimated acceleration is equal to the aforementioned first acceleration. Since the first derivative of the first estimated velocity is the first estimated acceleration, and the first estimated acceleration is equal to the first acceleration, the aforementioned first estimated velocity is calculated as the sum of the product of the aforementioned first delay time period and the aforementioned first estimated acceleration and the aforementioned first velocity. Since the first derivative of the first estimated position is the aforementioned first estimated velocity, the aforementioned first estimated position is calculated as the sum of the product of the aforementioned first delay time period and the aforementioned first estimated velocity and the aforementioned first position. If the acceleration is less than or equal to the acceleration threshold, it can be determined that the acceleration of the vehicle is small, and the speed of the vehicle can be approximated as constant, i.e. uniform speed. Therefore, the first estimated acceleration is 0. Since the first derivative of the first estimated speed is the first estimated acceleration, and the first estimated acceleration is 0, the first estimated speed is calculated as the first speed. Since the first derivative of the first estimated position is the first estimated speed, the abscissa value of the first estimated position is calculated as the sum of the product of the first delay time period and the first estimated speed and the abscissa value of the first position.

[0083] To further calculate a precise second estimated value including a second estimated position, a second estimated velocity, and a second estimated acceleration, the second calculation module of this application includes a second calculation submodule, a fourth determining module, a fifth determining module, and a sixth determining module. The second calculation submodule is used to calculate the difference between the current time and the second timestamp to obtain a second delay time period, where the second timestamp is the moment the second vehicle receives the second vehicle information. The fourth determining module is used to determine whether the absolute value of the second acceleration is greater than the acceleration threshold, where the second acceleration is the actual acceleration of the second vehicle. The fifth determining module is used to determine the second estimated acceleration as the second acceleration if the absolute value of the second acceleration is greater than the acceleration threshold, and to determine the second estimated velocity as the second delay time period and the second estimated velocity as the second estimated velocity. The second estimated position is determined by summing the product of the second estimated acceleration and the second estimated velocity, where the second estimated position is the sum of the product of the second delay time period and the second estimated velocity, and the second position. The second estimated acceleration is the estimated acceleration value of the second vehicle, the second estimated velocity is the estimated velocity value of the second vehicle, the second velocity is the actual velocity of the second vehicle, the second estimated position is the estimated position of the second vehicle, and the second position is the actual position of the second vehicle. The sixth determining module is used to determine that, when the absolute value of the second acceleration is less than or equal to the acceleration threshold, the second estimated acceleration is 0, the second estimated velocity is the second velocity, and the abscissa value of the second estimated position is the sum of the product of the second delay time period and the second estimated velocity, and the abscissa value of the second position. The second estimated position and the second position are located in the same coordinate system, where the horizontal axis of the coordinate system is the straight line of the vehicle convoy's forward direction, and the vertical axis of the coordinate system is any straight line perpendicular to the horizontal axis.

[0084] Specifically, based on the aforementioned second acceleration, if the acceleration is greater than the acceleration threshold, it can be determined that the vehicle's acceleration is relatively large, and it can be approximately considered that the vehicle's acceleration is constant. Therefore, the aforementioned second estimated acceleration is equal to the aforementioned second acceleration. Since the second derivative of the second estimated velocity is the second estimated acceleration, and the second estimated acceleration is equal to the second acceleration, the aforementioned second estimated velocity is calculated as the sum of the product of the aforementioned second delay time period and the aforementioned second estimated acceleration and the aforementioned second velocity. Since the second derivative of the second estimated position is the aforementioned second estimated velocity, the aforementioned second estimated position is calculated as the sum of the product of the aforementioned second delay time period and the aforementioned second estimated velocity and the aforementioned second position. If the acceleration is less than or equal to the acceleration threshold, it can be determined that the acceleration of the vehicle is small, and the speed of the vehicle can be approximated as constant, i.e. uniform speed. Therefore, the second estimated acceleration is 0. Since the second derivative of the second estimated speed is the second estimated acceleration, and the second estimated acceleration is 0, the second estimated speed is calculated as the second speed. Since the second derivative of the second estimated position is the second estimated speed, the abscissa value of the second estimated position is calculated as the sum of the product of the second delay time period and the second estimated speed and the abscissa value of the second position.

[0085] In an alternative approach, the third calculation module described above is also used to calculate according to the formula. Calculate the target vehicle position error e above. i (t), where p i (t) represents the target location mentioned above. Here, D represents the first estimated location, and h represents the target distance. i For the target time interval mentioned above, v i (t) represents the target speed. This device can further calculate the precise target vehicle position error.

[0086] Specifically, the target vehicle position error is the error between the target vehicle's current position and its estimated position. In addition, it also includes the aforementioned target distance, i.e., the distance between two adjacent vehicles, and the distance determined based on the target time distance and target speed.

[0087] In this embodiment, the fourth calculation module is further configured to calculate according to the formula. Calculate the first vehicle position error e mentioned above. i-1 (t), The first estimated position mentioned above, Here, D represents the second estimated location, and h represents the target distance. i For the aforementioned target time interval, The first estimated speed is given above. The device can further calculate the precise first vehicle position error.

[0088] Specifically, the first vehicle position error is the error between the position of the first vehicle and the estimated position of the first vehicle. In addition, it also includes the aforementioned target distance, i.e., the distance between two adjacent vehicles, and the distance determined based on the target time distance and the first estimated speed.

[0089] In some embodiments, the second calculation unit includes a fifth calculation module, used to calculate the target vehicle information, including the target speed, according to formula a, when the target vehicle is the first vehicle in the vehicle queue. id (t)=(-k i ×e i (t)-v i (t)) / h i Calculate the target acceleration a. id (t), k i e is the first gain coefficient. i (t) represents the target vehicle position error mentioned above, v i (t) represents the target velocity mentioned above, h i The target time distance is given above. The device can further calculate the precise target acceleration when the target vehicle is the first vehicle in the vehicle queue.

[0090] Specifically, if the target vehicle is the first vehicle in the vehicle queue, it can be assumed that the target vehicle has no preceding vehicle, meaning the position error of the preceding vehicle is 0. The aforementioned first gain coefficient can be appropriately determined based on actual operating conditions such as vehicle queue speed, vehicle actuator output capability, and vehicle response speed.

[0091] In some embodiments, the second calculation unit includes a sixth calculation module, used to calculate the target vehicle information, including the target speed, according to the formula when the target vehicle is not the first vehicle in the vehicle queue. Calculate the target acceleration a mentioned above. id (t), k i e is the first gain coefficient. i (t) represents the target vehicle position error, β is the second gain coefficient, and e i-1 (t) represents the position error of the first vehicle mentioned above. For the first estimated speed, For the second estimated velocity, v i (t) represents the target velocity mentioned above. For the first estimated acceleration, h i The target time distance is given above. The device calculates the precise target acceleration even when the target vehicle is not the first vehicle in the vehicle queue.

[0092] Specifically, if the target vehicle is not the first vehicle in the vehicle queue, the error value of the preceding vehicle needs to be considered. The first gain coefficient can be appropriately determined based on actual operating conditions such as vehicle queue speed, vehicle actuator output capability, and vehicle response speed. The second gain coefficient, which is greater than 0 and less than 1, can be the norm of the error transfer function, which is the ratio of the Laplace transform of the target vehicle's position error to the Laplace transform of the first vehicle's position error.

[0093] The control device for the aforementioned vehicle queue includes a processor and a memory. The acquisition unit, the first calculation unit, the second calculation unit, and the repeating unit are all stored as program units in the memory. The processor executes the program units stored in the memory to achieve the corresponding functions. All of the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0094] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and the vehicle queue is controlled by adjusting kernel parameters.

[0095] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0096] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the vehicle queue control method.

[0097] Specifically, the methods for controlling vehicle queues include:

[0098] Step S201, the acquisition step, acquires target vehicle information, first vehicle information and second vehicle information, wherein the target vehicle information is the communication information of the target vehicle, the first vehicle information is the communication information of the first vehicle, the second vehicle information is the communication information of the second vehicle, the first vehicle is the vehicle in the vehicle queue that is in front of and adjacent to the target vehicle, the second vehicle is the vehicle in the vehicle queue that is in front of and adjacent to the first vehicle, the vehicle queue includes multiple vehicles, the target vehicle is any one of the multiple vehicles, and the communication information is the communication information between the vehicle and any other vehicle in the vehicle queue;

[0099] Specifically, a dual-leader follower communication structure can be used to establish a vehicle platoon. This means that following vehicles obtain information about the preceding and preceding vehicles through vehicle-to-vehicle communication and store the received neighbor vehicle information in a buffer. The phrase "the first vehicle in the platoon is in front of the target vehicle" means that the vehicle in front of the target vehicle in the direction of travel of the platoon is the first vehicle, and the vehicle in front of the first vehicle is the second vehicle. The vehicles in the platoon are numbered from 0 to N from front to back, where vehicle 0 is the lead vehicle and the remaining N are the following vehicles. Each following vehicle in the platoon is equipped with positioning, communication, and control devices. The positioning device acquires the current vehicle's position, speed, and acceleration information and sends it to the CAN bus. The communication device can acquire its own vehicle information from the CAN bus, send it to other vehicles, and receive information from other vehicles. A dynamic model is established, where the first derivative of the vehicle's position is the velocity, and the first derivative of the velocity is the acceleration.

[0100] Step S202, first calculation step, obtain the target distance and target time distance of the vehicle queue, and calculate the target vehicle position error and the first vehicle position error based at least on the first vehicle information, the second vehicle information, the target distance and the target time distance, wherein the target vehicle position error is the error between the first actual position and the first estimated position of the target vehicle, the first vehicle position error is the error between the second actual position and the second estimated position of the first vehicle, the target distance is the distance between any two vehicles in the vehicle queue that is preset, and the target time distance is the time difference between any two vehicles in the vehicle queue that is preset;

[0101] Specifically, the target distance and target time distance mentioned above can be set to appropriate values ​​based on the actual operating conditions such as the stable operating speed and time delay of the vehicle platoon, thereby determining the safe distance and ensuring the safety of the vehicle platoon.

[0102] Step S203, the second calculation step, calculates the target acceleration based at least on the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information, and the target time distance, and sets the target vehicle acceleration as the target acceleration.

[0103] Specifically, the above calculation of target acceleration considers several influencing factors, including the target vehicle's position, the position error of the preceding vehicle, the information of the preceding vehicle, the target vehicle's information, and the target time distance, thus avoiding the impact of communication latency and packet loss. It should be noted during the calculation process that it is important to distinguish whether the target vehicle is the first vehicle in the vehicle queue. If the target vehicle is the first vehicle in the queue, there is no preceding vehicle, and the preceding vehicle information is 0.

[0104] Step S204: Repeat the above acquisition step, the above first calculation step, and the above second calculation step at least once, until the acceleration of all the vehicles in the above vehicle queue is set.

[0105] Specifically, the target acceleration of different vehicles at different times is calculated, and the acceleration of each vehicle in the vehicle queue is set to the current target acceleration in turn.

[0106] This invention provides a processor for running a program, wherein the program executes the vehicle queue control method during runtime.

[0107] Specifically, the methods for controlling vehicle queues include:

[0108] Step S201, the acquisition step, acquires target vehicle information, first vehicle information and second vehicle information, wherein the target vehicle information is the communication information of the target vehicle, the first vehicle information is the communication information of the first vehicle, the second vehicle information is the communication information of the second vehicle, the first vehicle is the vehicle in the vehicle queue that is in front of and adjacent to the target vehicle, the second vehicle is the vehicle in the vehicle queue that is in front of and adjacent to the first vehicle, the vehicle queue includes multiple vehicles, the target vehicle is any one of the multiple vehicles, and the communication information is the communication information between the vehicle and any other vehicle in the vehicle queue;

[0109] Specifically, a dual-leader follower communication structure can be used to establish a vehicle platoon. This means that following vehicles obtain information about the preceding and preceding vehicles through vehicle-to-vehicle communication and store the received neighbor vehicle information in a buffer. The phrase "the first vehicle in the platoon is in front of the target vehicle" means that the vehicle in front of the target vehicle in the direction of travel of the platoon is the first vehicle, and the vehicle in front of the first vehicle is the second vehicle. The vehicles in the platoon are numbered from 0 to N from front to back, where vehicle 0 is the lead vehicle and the remaining N are the following vehicles. Each following vehicle in the platoon is equipped with positioning, communication, and control devices. The positioning device acquires the current vehicle's position, speed, and acceleration information and sends it to the CAN bus. The communication device can acquire its own vehicle information from the CAN bus, send it to other vehicles, and receive information from other vehicles. A dynamic model is established, where the first derivative of the vehicle's position is the velocity, and the first derivative of the velocity is the acceleration.

[0110] Step S202, first calculation step, obtain the target distance and target time distance of the vehicle queue, and calculate the target vehicle position error and the first vehicle position error based at least on the first vehicle information, the second vehicle information, the target distance and the target time distance, wherein the target vehicle position error is the error between the first actual position and the first estimated position of the target vehicle, the first vehicle position error is the error between the second actual position and the second estimated position of the first vehicle, the target distance is the distance between any two vehicles in the vehicle queue that is preset, and the target time distance is the time difference between any two vehicles in the vehicle queue that is preset;

[0111] Specifically, the target distance and target time distance mentioned above can be set to appropriate values ​​based on the actual operating conditions such as the stable operating speed and time delay of the vehicle platoon, thereby determining the safe distance and ensuring the safety of the vehicle platoon.

[0112] Step S203, the second calculation step, calculates the target acceleration based at least on the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information, and the target time distance, and sets the target vehicle acceleration as the target acceleration.

[0113] Specifically, the above calculation of target acceleration considers several influencing factors, including the target vehicle's position, the position error of the preceding vehicle, the information of the preceding vehicle, the target vehicle's information, and the target time distance, thus avoiding the impact of communication latency and packet loss. It should be noted during the calculation process that it is important to distinguish whether the target vehicle is the first vehicle in the vehicle queue. If the target vehicle is the first vehicle in the queue, there is no preceding vehicle, and the preceding vehicle information is 0.

[0114] Step S204: Repeat the above acquisition step, the above first calculation step, and the above second calculation step at least once, until the acceleration of all the vehicles in the above vehicle queue is set.

[0115] Specifically, the target acceleration of different vehicles at different times is calculated, and the acceleration of each vehicle in the vehicle queue is set to the current target acceleration in turn.

[0116] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0117] Step S201, the acquisition step, acquires target vehicle information, first vehicle information and second vehicle information, wherein the target vehicle information is the communication information of the target vehicle, the first vehicle information is the communication information of the first vehicle, the second vehicle information is the communication information of the second vehicle, the first vehicle is the vehicle in the vehicle queue that is in front of and adjacent to the target vehicle, the second vehicle is the vehicle in the vehicle queue that is in front of and adjacent to the first vehicle, the vehicle queue includes multiple vehicles, the target vehicle is any one of the multiple vehicles, and the communication information is the communication information between the vehicle and any other vehicle in the vehicle queue;

[0118] Step S202, first calculation step, obtain the target distance and target time distance of the vehicle queue, and calculate the target vehicle position error and the first vehicle position error based at least on the first vehicle information, the second vehicle information, the target distance and the target time distance, wherein the target vehicle position error is the error between the first actual position and the first estimated position of the target vehicle, the first vehicle position error is the error between the second actual position and the second estimated position of the first vehicle, the target distance is the distance between any two vehicles in the vehicle queue that is preset, and the target time distance is the time difference between any two vehicles in the vehicle queue that is preset;

[0119] Step S203, the second calculation step, calculates the target acceleration based at least on the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information, and the target time distance, and sets the target vehicle acceleration as the target acceleration.

[0120] Step S204: Repeat the above acquisition step, the above first calculation step, and the above second calculation step at least once, until the acceleration of all the vehicles in the above vehicle queue is set.

[0121] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0122] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0123] Step S201, the acquisition step, acquires target vehicle information, first vehicle information and second vehicle information, wherein the target vehicle information is the communication information of the target vehicle, the first vehicle information is the communication information of the first vehicle, the second vehicle information is the communication information of the second vehicle, the first vehicle is the vehicle in the vehicle queue that is in front of and adjacent to the target vehicle, the second vehicle is the vehicle in the vehicle queue that is in front of and adjacent to the first vehicle, the vehicle queue includes multiple vehicles, the target vehicle is any one of the multiple vehicles, and the communication information is the communication information between the vehicle and any other vehicle in the vehicle queue;

[0124] Step S202, first calculation step, obtain the target distance and target time distance of the vehicle queue, and calculate the target vehicle position error and the first vehicle position error based at least on the first vehicle information, the second vehicle information, the target distance and the target time distance, wherein the target vehicle position error is the error between the first actual position and the first estimated position of the target vehicle, the first vehicle position error is the error between the second actual position and the second estimated position of the first vehicle, the target distance is the distance between any two vehicles in the vehicle queue that is preset, and the target time distance is the time difference between any two vehicles in the vehicle queue that is preset;

[0125] Step S203, the second calculation step, calculates the target acceleration based at least on the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information, and the target time distance, and sets the target vehicle acceleration as the target acceleration.

[0126] Step S204: Repeat the above acquisition step, the above first calculation step, and the above second calculation step at least once, until the acceleration of all the vehicles in the above vehicle queue is set.

[0127] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0128] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0129] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0130] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0131] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0132] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0133] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0134] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0135] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0136] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0137] 1) The vehicle platooning control method of this application first acquires target vehicle information, first vehicle information, and second vehicle information; then, it acquires the target distance and target time interval of the vehicle platoon, and calculates the target vehicle position error and the first vehicle position error based at least on the first vehicle information, the second vehicle information, the target distance, and the target time interval; then, it calculates the target acceleration based at least on the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information, and the target time interval, and sets the target vehicle's acceleration as the target acceleration; finally, it repeats the acquisition step, the first calculation step, and the second calculation step at least once until the acceleration of all vehicles in the vehicle platoon is set. This vehicle platooning control method addresses vehicle platooning systems under unstable communication conditions. Based on received neighboring vehicle information, it estimates and predicts the position errors of neighboring vehicles, calculates the desired acceleration based on the position errors, and sequentially sets the vehicles to the calculated desired acceleration, thereby solving the problem of poor stability and security of vehicle platooning systems under unstable communication conditions.

[0138] 2) The vehicle platoon control device of this application comprises: an acquisition unit acquiring target vehicle information, first vehicle information, and second vehicle information; a first calculation unit acquiring the target distance and target time interval of the vehicle platoon, and calculating the target vehicle position error and the first vehicle position error based at least on the first vehicle information, the second vehicle information, the target distance, and the target time interval; a second calculation unit calculating the target acceleration based at least on the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information, and the target time interval, and setting the target vehicle's acceleration as the target acceleration; and a repeating unit repeating the acquisition step, the first calculation step, and the second calculation step at least once until the acceleration of all vehicles in the vehicle platoon is set. This vehicle platoon control device addresses vehicle platooning systems under unstable communication conditions by estimating and predicting the position errors of neighboring vehicles based on received neighbor vehicle information, calculating the desired acceleration based on the position errors, and sequentially setting the vehicles to the calculated desired acceleration, thereby solving the problem of poor stability and security of vehicle platooning systems under unstable communication conditions.

[0139] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method of a vehicle platoon, characterized by, The method comprises: an acquisition step of acquiring target vehicle information, first vehicle information and second vehicle information, wherein the target vehicle information is communication information of a target vehicle, the first vehicle information is communication information of a first vehicle, and the second vehicle information is communication information of a second vehicle, the first vehicle is a vehicle located in front of and adjacent to the target vehicle in a vehicle queue, the second vehicle is a vehicle located in front of and adjacent to the first vehicle in the vehicle queue, the vehicle queue comprises a plurality of vehicles, the target vehicle is any one of the plurality of vehicles, and the communication information is information of communication between the vehicle and any other vehicle in the vehicle queue; a first calculation step of acquiring a target distance and a target time interval of the vehicle queue, and calculating a target vehicle position error and a first vehicle position error according to at least the first vehicle information, the second vehicle information, the target distance and the target time interval, wherein the target vehicle position error is an error between a first actual position and a first estimated position of the target vehicle, the first vehicle position error is an error between a second actual position and a second estimated position of the first vehicle, the target distance is a distance between any two vehicles in the vehicle queue set in advance, and the target time interval is a time difference between any two vehicles in the vehicle queue set in advance; a second calculation step of calculating a target acceleration according to at least the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information and the target time interval, and setting an acceleration of the target vehicle as the target acceleration; repeating the acquisition step, the first calculation step and the second calculation step at least once until the acceleration of all vehicles in the vehicle queue is set.

2. The method of claim 1, wherein, The first calculation step comprises: calculating a first estimated value according to the first vehicle information and an acceleration threshold, wherein the first estimated value is an estimated value of a motion parameter of the first vehicle, and the motion parameter comprises position, speed and acceleration; calculating a second estimated value according to the second vehicle information and the acceleration threshold, wherein the second estimated value is an estimated value of the motion parameter of the second vehicle; calculating the target vehicle position error according to the first estimated value, the target vehicle information, the target distance and the target time interval; calculating the first vehicle position error according to the first estimated value, the second estimated value, the target distance and the target time interval.

3. The method of claim 2, wherein, According to the first vehicle information and an acceleration threshold, a first estimated value is calculated, wherein the first vehicle information comprises a first timestamp, a first position, a first speed and a first acceleration, and the first estimated value comprises a first estimated position, a first estimated speed and a first estimated acceleration, comprising: calculating a difference between a current time and the first timestamp to obtain a first time delay period, wherein the first timestamp is a time when the first vehicle receives the first vehicle information; determining whether an absolute value of the first acceleration is greater than the acceleration threshold, wherein the first acceleration is an actual acceleration of the first vehicle; in a case where the absolute value of the first acceleration is greater than the acceleration threshold, determining that the first estimated acceleration is the first acceleration, determining that the first estimated speed is a sum of a product of the first delay time period and the first estimated acceleration and the first speed, and determining that the first estimated position is a sum of a product of the first delay time period and the first estimated speed and the first position, wherein the first estimated acceleration is an acceleration estimation value of the first vehicle, the first estimated speed is a speed estimation value of the first vehicle, the first speed is an actual speed of the first vehicle, the first estimated position is an estimation value of a position of the first vehicle, and the first position is an actual position of the first vehicle; in a case where the absolute value of the first acceleration is less than or equal to the acceleration threshold, determining that the first estimated acceleration is 0, determining that the first estimated speed is the first speed, and determining that a horizontal coordinate value of the first estimated position is a sum of a product of the first delay time period and the first estimated speed and a horizontal coordinate value of the first position, wherein the first estimated position and the first position are located in a same coordinate system, a horizontal axis of the coordinate system is a straight line in a forward direction of the vehicle queue, and a vertical axis of the coordinate system is an arbitrary straight line perpendicular to the horizontal axis.

4. The method of claim 2, wherein, calculating second estimation values according to the second vehicle information and the acceleration threshold, wherein the second vehicle information comprises a second time stamp, a second position, a second speed and a second acceleration, and the second estimation values comprise a second estimated position, a second estimated speed and a second estimated acceleration, and the calculation comprises: calculating a difference between a current time and the second time stamp to obtain a second delay time period, wherein the second time stamp is a time at which the second vehicle receives the second vehicle information; determining whether an absolute value of the second acceleration is greater than the acceleration threshold, wherein the second acceleration is an actual acceleration of the second vehicle; in a case where the absolute value of the second acceleration is greater than the acceleration threshold, determining that the second estimated acceleration is the second acceleration, determining that the second estimated speed is a sum of a product of the second delay time period and the second estimated acceleration and the second speed, and determining that the second estimated position is a sum of a product of the second delay time period and the second estimated speed and the second position, wherein the second estimated acceleration is an acceleration estimation value of the second vehicle, the second estimated speed is a speed estimation value of the second vehicle, the second speed is an actual speed of the second vehicle, the second estimated position is an estimation value of a position of the second vehicle, and the second position is an actual position of the second vehicle; in a case where the absolute value of the second acceleration is less than or equal to the acceleration threshold, determining that the second estimated acceleration is 0, determining that the second estimated speed is the second speed, and determining that a horizontal coordinate value of the second estimated position is a sum of a product of the second delay time period and the second estimated speed and a horizontal coordinate value of the second position, wherein the second estimated position and the second position are located in a same coordinate system, a horizontal axis of the coordinate system is a straight line in a forward direction of the vehicle queue, and a vertical axis of the coordinate system is an arbitrary straight line perpendicular to the horizontal axis. In the case that the absolute value of the second acceleration is less than or equal to the acceleration threshold, the second estimated acceleration is determined as 0, the second estimated speed is determined as the second speed, and a horizontal coordinate value of the second estimated position is determined as a sum of a product of the second delay time period and the second estimated speed and a horizontal coordinate value of the second position, wherein the second estimated position and the second position are located in a same coordinate system, a horizontal axis of the coordinate system is a straight line in which a forward direction of the vehicle queue is located, and a vertical axis of the coordinate system is an arbitrary straight line perpendicular to the horizontal axis.

5. The method of claim 2, wherein, the target vehicle position error is calculated according to the first estimated value, the target vehicle information, the target distance, and the target time interval, the first estimated value including a first estimated speed and a first estimated position, and the target vehicle information including a target position and a target speed, including: According to the formula The target vehicle position error e is calculated i (t), wherein p i (t) is the target position, is the first estimated position, D is the target distance, h i is the target time distance, v i (t) is the target speed; the first vehicle position error is calculated according to the first estimated value, the second estimated value, the target distance, and the target time interval, the first estimated value including a first estimated position and a first estimated speed, and the second estimated value including a second estimated position, including: According to the formula The first vehicle position error e i-1 (t) is calculated as The first estimated position x The second estimated position x i The target distance D The first estimated velocity v 6. The method of claim 1, wherein, in the case that the target vehicle is the first vehicle in the vehicle queue, the target vehicle information includes a target speed, and the second calculation step includes: According to the formula a id (t) = (-k i × e i (t) - v i (t)) / h i , the target acceleration a id (t) is calculated, k i is a first gain factor, e i (t) is the target vehicle position error, v i (t) is the target speed, and h i is the target time interval.

7. The method of claim 1, wherein, in the case that the target vehicle is not the first vehicle in the vehicle queue, the target vehicle information includes a target speed, and the second calculation step includes: According to the formula The target acceleration a id (t), k i is a first gain factor, e i (t) is the target vehicle position error, β is a second gain factor, e i-1 (t) is the first vehicle position error, is a first estimated speed, is a second estimated speed, v i (t) is the target speed, is a first estimated acceleration, h i is the target time distance.

8. A control device for a vehicle platoon, characterized by including: an acquisition unit configured to acquire target vehicle information, first vehicle information, and second vehicle information, wherein the target vehicle information is communication information of a target vehicle, the first vehicle information is communication information of a first vehicle, and the second vehicle information is communication information of a second vehicle, the first vehicle is a vehicle located in front of and adjacent to the target vehicle in a vehicle queue, the second vehicle is a vehicle located in front of and adjacent to the first vehicle in the vehicle queue, the vehicle queue includes a plurality of vehicles, the target vehicle is any one of the plurality of vehicles, and the communication information is information of communication between the vehicle and any other vehicle in the vehicle queue; a first calculation unit configured to acquire a target distance and a target time interval of the vehicle queue, and calculate a target vehicle position error and a first vehicle position error according to at least the first vehicle information, the second vehicle information, the target distance, and the target time interval, wherein the target vehicle position error is an error between a first actual position of the target vehicle and a first estimated position, and the first vehicle position error is an error between a second actual position of the first vehicle and a second estimated position. a second calculating unit, configured to calculate a target acceleration according to at least the target vehicle position error, the first vehicle information, the first vehicle position error, the target vehicle information and the target time interval, and set the acceleration of the target vehicle as the target acceleration in a second calculating step; a repeating unit, configured to repeat the obtaining step, the first calculating step and the second calculating step at least once until the acceleration of all the vehicles in the vehicle platoon is set.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored program, wherein the program controls the device where the computer readable storage medium is located to execute the method in any one of claims 1 to 7 when the program is running. 10.An electronic device comprising a memory and a processor, the electronic device characterized by, The memory stores a computer program, and the processor is configured to execute the method in any one of claims 1 to 7 by using the computer program. The memory stores a computer program, and the processor is configured to execute the method in any one of claims 1 to 7 by using the computer program.

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