A vehicle platooning method and apparatus

Abstract

Embodiments of the present specification disclose a vehicle platoon method and device. The scheme can comprise: obtaining vehicle position information of a plurality of vehicles on the same lane; obtaining distances between the vehicles according to the vehicle position information of the vehicles; selecting a target vehicle group with the smallest distance; obtaining a plurality of other vehicles adjacent to the target vehicle group based on position information of the target vehicle group, the other vehicles being vehicles other than the target vehicle group in the plurality of vehicles; and platooning the plurality of other vehicles with the target vehicle group.

Description

Technical Field

[0001] This application relates to the field of vehicle driving technology, and in particular to a vehicle platooning method and apparatus. Background Technology

[0002] Vehicle platooning refers to vehicles maintaining a certain distance from each other and dynamically forming a convoy. Vehicles in the platoon can quickly share driving strategies and driving status information, and perform synchronized acceleration, braking and other operations to maintain the stability of the expected platooning.

[0003] To address the vehicle platooning problem, clustering design is used to configure the vehicle platooning process. In existing technologies, vehicle platooning is implemented by referring to traditional clustering algorithms, such as K-Means and DBSCAN. Both of these algorithms randomly select initial points for clustering to achieve vehicle platooning. However, in practical applications, these clustering algorithms cannot effectively guarantee that the closest adjacent vehicles are clustered in the same cluster. They may assign the closest adjacent vehicles to different platoons. This method of achieving platooning does not conform to the actual platooning situation, has low platooning efficiency, and also causes energy waste.

[0004] Therefore, how to optimize traditional clustering algorithms to obtain a more realistic grouping method has become an urgent technical problem to be solved. Summary of the Invention

[0005] This specification provides a vehicle platooning method and apparatus to address the problem that existing platooning methods do not conform to actual conditions.

[0006] To solve the above-mentioned technical problems, the embodiments in this specification are implemented as follows:

[0007] Firstly, the vehicle platooning method provided in the embodiments of this specification includes:

[0008] Obtain the vehicle location information of multiple vehicles in the same lane;

[0009] Based on the vehicle location information of each vehicle, the distance between each vehicle is obtained;

[0010] Select the target vehicle group with the smallest distance;

[0011] Based on the location information of the target vehicle group, several other vehicles adjacent to the target vehicle group are obtained, and the other vehicles are vehicles other than the target vehicle group among the multiple vehicles;

[0012] The other vehicles are then grouped with the target vehicle group.

[0013] Secondly, the vehicle platooning device provided in the embodiments of this specification includes:

[0014] The location acquisition module is used to acquire the vehicle location information of multiple vehicles in the same lane;

[0015] The distance acquisition module is used to obtain the distance between each vehicle based on the vehicle location information of each vehicle;

[0016] The target vehicle group acquisition module is used to select the target vehicle group with the smallest distance;

[0017] The other vehicle acquisition module is used to acquire a number of other vehicles adjacent to the target vehicle group based on the location information of the target vehicle group. The other vehicles are vehicles other than the target vehicle group among the multiple vehicles.

[0018] The formation generation module is used to form a formation between the other vehicles and the target vehicle group.

[0019] One embodiment of this specification achieves the following beneficial effects: acquiring vehicle position information of multiple vehicles in the same lane; obtaining the distance between each vehicle based on its position information; selecting the target vehicle group with the smallest distance; acquiring several other vehicles adjacent to the target vehicle group based on the position information of the target vehicle group, wherein the other vehicles are vehicles other than the target vehicle group among the multiple vehicles; and queuing the several other vehicles with the target vehicle group. This application acquires the target vehicle group with the smallest distance, performs clustering using the minimum distance as the initial point, optimizes the traditional clustering algorithm, effectively ensures that the closest adjacent vehicles are grouped into the same queue, and queues the target vehicle group with the smallest distance and several other vehicles adjacent to the target vehicle group, thereby making the vehicle queuing method more consistent with actual queuing situations and improving queuing efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A flowchart illustrating a vehicle platooning method provided in an embodiment of this specification;

[0022] Figure 2 This is a schematic diagram illustrating an application scenario of a vehicle platooning method provided in the embodiments of this specification.

[0023] Figure 3This is a schematic diagram of a vehicle platooning device provided in an embodiment of this specification. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of one or more embodiments of this specification.

[0025] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0026] The K-Means clustering algorithm requires pre-calculating the number of clusters K, then randomly selecting K initial points, and clustering based on the shortest distance principle. The DBSCAN clustering algorithm, on the other hand, randomly selects a starting point and uses the density radius and the number of points within the circle to find density-reachable points for clustering.

[0027] In existing technologies, the method of grouping a certain number of vehicles by referring to traditional clustering algorithms cannot effectively guarantee that the nearest adjacent vehicles are grouped into the same group. This grouping method may not conform to the actual grouping situation and has low grouping efficiency.

[0028] To address the shortcomings of existing technologies, this solution provides the following embodiments:

[0029] The vehicle platooning method provided in the embodiments of the specification will be described in detail with reference to the accompanying drawings.

[0030] Figure 1 This is a flowchart illustrating a vehicle platooning method provided in an embodiment of this specification. From a programming perspective, the executor of the process can be a program mounted on an application server or an application client. From a hardware perspective, the executor can be a terminal device, a simulation testing platform, a cloud control platform, etc., and this embodiment does not impose any particular limitations on these aspects.

[0031] like Figure 1 As shown, the process may include the following steps:

[0032] Step 110: Obtain the vehicle location information of multiple vehicles in the same lane.

[0033] In the embodiments of this specification, vehicle location information can refer to the vehicle's latitude and longitude coordinates, or it can represent the position coordinates relative to a certain reference point calculated from a certain reference point. The vehicle can be an actual vehicle traveling on a real road or a simulated vehicle; there is no limitation here. Taking a simulated vehicle as an example, a test scenario can be built on a test platform, and the coordinate information of each simulated vehicle on the same simulated road can be obtained according to a preset coordinate system.

[0034] Step 120: Based on the vehicle location information of each vehicle, obtain the distance between each vehicle.

[0035] In the embodiments of this specification, a coordinate system and reference points can be set. The vehicle position information of each vehicle can be determined based on the reference point information, and thus the distances between each vehicle can be obtained. The distances between vehicles can refer to the distance between any two vehicles or the distance between any two adjacent vehicles; no limitation is made here. For example, if there are three vehicles in the same lane, namely vehicle 1, vehicle 2, and vehicle 3, the distances between vehicle 1 and vehicle 2, vehicle 1 and vehicle 3, and vehicle 2 and vehicle 3 can be obtained respectively.

[0036] Reference points can be set at the two ends of a lane. By setting a reference point, the relative distances of each vehicle to that reference point can be determined, thus providing the relative distances between vehicles. Vehicle identification can be determined based on the reference point, or the vehicle identification can be determined first and then the reference point is set; there is no limitation on this. For example, if the reference point is set at the beginning of the lane, vehicles can be numbered sequentially based on their distance from the reference point, either from farthest to nearth or from nearth to farthest, to determine a unique identifier for each vehicle. For example, they could be numbered C1, C2, and C3. Based on the distances of each vehicle to the starting point, the distances between any two adjacent vehicles can be obtained, i.e., the distances between C1 and C2, and between C2 and C3.

[0037] For example, first obtain the unique identifiers of the vehicles, vehicles D1, D2, and D3, set the reference point at the end of the lane, and obtain the distance between any two vehicles based on the distance between each vehicle and the end point, that is, the distance between D1 and D2, D2 and D3, and D1 and D3.

[0038] Step 130: Select the target vehicle group with the smallest distance.

[0039] In this embodiment, the minimum distance among the distances between vehicles is selected, and the vehicle identifier corresponding to the minimum distance is determined. Two adjacent vehicles corresponding to the minimum distance are then identified using these vehicle identifiers, and these two adjacent vehicles are designated as the target vehicle group. When there are multiple minimum distances, any vehicle corresponding to a minimum distance can be arbitrarily selected as the target vehicle group; if the distance between two vehicle groups with minimum distances is relatively large, both vehicle groups can also be designated as the target vehicle group.

[0040] Step 140: Based on the location information of the target vehicle group, obtain several other vehicles adjacent to the target vehicle group, wherein the other vehicles are vehicles other than the target vehicle group among the multiple vehicles.

[0041] In the embodiments of this specification, a clustering algorithm can be referenced for grouping, optimizing the traditional clustering algorithm. The target vehicle group with the smallest distance is used as the initial point for clustering to obtain several vehicles adjacent to the target vehicle group. Here, "adjacent" can refer to direct or indirect adjacency. For example, if there are 5 vehicles in the same lane, namely vehicle 1, vehicle 2, vehicle 3, vehicle 4, and vehicle 5, and vehicle 1 and vehicle 2 are the target vehicle group, then vehicle 3 is directly adjacent to the target vehicle group, while vehicle 4 and vehicle 5 are indirectly adjacent to the target vehicle group.

[0042] Step 150: Form a platoon with the target vehicle group from the other vehicles.

[0043] In the embodiments described in this specification, other vehicles adjacent to the target vehicle group are grouped into the same formation as the target vehicle group.

[0044] It should be understood that the order of some steps in the methods described in one or more embodiments of this specification may be interchanged according to actual needs, or some steps may be omitted or deleted.

[0045] Figure 1 The method described in this paper optimizes the traditional clustering algorithm by using the minimum distance as the initial point. This effectively ensures that the nearest adjacent vehicles are grouped into the same formation. By forming the target vehicle group with the minimum distance and several other vehicles adjacent to the target vehicle group into a formation, the formation efficiency can be improved, making the vehicle formation method more in line with the actual formation situation.

[0046] based on Figure 1 In addition to the method described in the embodiments of this specification, some specific implementation schemes of the method are also provided, which will be described below.

[0047] To better identify other vehicles adjacent to the target vehicle group, the method described in the embodiments of this specification may optionally include:

[0048] Determine whether the distance between the other vehicles and the target vehicle group is less than or equal to a first preset distance threshold;

[0049] The step of platooning the other vehicles with the target vehicle group may specifically include:

[0050] If so, the other vehicles are grouped with the target vehicle group.

[0051] In the embodiments of this specification, the target vehicle group can be regarded as a point. For example, the average coordinate of two vehicles in the target vehicle group can be used as the coordinate of the vehicle group to determine the relative distance between other vehicles and the target vehicle group. The first preset distance threshold can be 0 to 200m. Clustering can be performed based on distance with the target vehicle group as the center, and vehicles that meet the first preset distance threshold range can be divided into the same formation as the target vehicle group, resulting in a formation method that is more in line with the actual situation. Selecting formation vehicles by distance can improve formation efficiency and reduce energy consumption.

[0052] In existing technologies, traditional clustering algorithms do not control the number of points in the resulting clusters. This results in a large number of vehicles in the platoon, reducing the flexibility of the platoon formation.

[0053] To address the shortcomings of the prior art, the method in the embodiments of this specification may optionally include:

[0054] Determine whether the total number of the other vehicles and the target vehicle is less than or equal to a preset quantity threshold;

[0055] The step of platooning the other vehicles with the target vehicle group may specifically include:

[0056] If so, the other vehicles are grouped with the target vehicle group.

[0057] In the embodiments of this specification, the preset quantity threshold can be set to 2 to 20. Based on the quantity, clustering can be performed to group vehicles that meet the preset quantity threshold with the target vehicle group. By limiting the total number of vehicles in the group, the flexibility of platooning can be improved. Alternatively, the target vehicle group can be grouped, or other vehicles adjacent to the target vehicle group can be reacquired until the total number reaches the preset quantity threshold.

[0058] In the embodiments of this specification, other vehicles adjacent to the target vehicle can be acquired one by one. After each other vehicle is acquired, it is determined whether the total number of other vehicles and the target vehicle is less than or equal to a preset number threshold. When the total number reaches the preset number threshold, the acquisition of other vehicles ends.

[0059] In practical applications, it can be set to acquire vehicles within a preset number threshold based on meeting a first preset distance threshold, or it can be set to acquire vehicles within a first preset distance threshold based on meeting a preset number threshold, so as to obtain a platooning method that is more in line with the actual situation.

[0060] To better identify other vehicles adjacent to the target vehicle group, optionally, in the embodiments of this specification, the target vehicle group includes a first vehicle and a second vehicle, and the step of obtaining several other vehicles adjacent to the target vehicle group may include:

[0061] Based on the location information of the first vehicle, a first distance is obtained between the third vehicle and the first vehicle; the third vehicle is a vehicle adjacent to the first vehicle.

[0062] Based on the location information of the second vehicle, a second distance is obtained between the fourth vehicle and the second vehicle; the fourth vehicle is a vehicle adjacent to the second vehicle.

[0063] If the first distance is less than the second distance, then the third vehicle is considered to be in the same formation as the target vehicle;

[0064] If the second distance is less than the first distance, then the fourth vehicle is considered to be in the same formation as the target vehicle.

[0065] In the embodiments described in this specification, several other vehicles adjacent to the target vehicle group may all be adjacent only to the first vehicle; or they may all be adjacent only to the second vehicle; or some may be adjacent to the first vehicle and others to the second vehicle.

[0066] In practical applications, all vehicles can be traversed, and the vehicle closest to the first or second vehicle can be grouped with the first and second vehicles. This improves grouping efficiency and yields a more practical grouping method. For clarity, consider this example: when the fourth vehicle is closest to the first or second vehicle, it is grouped with the first and second vehicles. Assume the order of vehicles in the group is first, second, and fourth. The next time all vehicles are traversed, the fifth vehicle, closest to the first or fourth vehicle, is found. This fifth vehicle is then grouped with the first, second, and fourth vehicles. Subsequent traversals continue this process, identifying the vehicle closest to the first or last vehicle in the group formed after the previous traversal.

[0067] If the distance between the third vehicle and the first vehicle is the same as the distance between the fourth vehicle and the second vehicle, you can choose to platoon the third vehicle and the fourth vehicle with the first vehicle and the second vehicle simultaneously, or you can choose to platoon the third vehicle or the fourth vehicle with the first vehicle and the second vehicle.

[0068] Optionally, the method described in the embodiments of this specification may further include:

[0069] Determine whether the distance is less than or equal to a second preset distance threshold;

[0070] Selecting the target vehicle group with the smallest distance may specifically include:

[0071] If so, then select the target vehicle group with the smallest distance.

[0072] In this embodiment, the smallest distance among all vehicle distances can be determined first, and then compared with a second preset distance threshold. Alternatively, the distances between each vehicle can be compared with the second preset distance threshold individually. If the conditions are met, the target vehicle group corresponding to the smallest distance is selected. The second preset distance threshold can be the same as or different from the first preset distance threshold; no specific limitation is made here. If the minimum distance between two adjacent vehicles is greater than the second preset distance threshold, the two vehicles with the smallest distance are grouped together. By selecting the target vehicle group with the smallest distance and performing clustering with the minimum distance as the initial point, the traditional clustering algorithm is optimized, effectively ensuring that the closest adjacent vehicles are grouped into the same group, thus making the vehicle grouping method more consistent with actual grouping situations.

[0073] To ensure that the vehicles within the platoon can travel stably at the desired intervals, optionally, the platooning of the other vehicles with the target vehicle group as described in the embodiments of this specification may specifically include:

[0074] Based on the position difference, speed difference, and preset vehicle distance between any two adjacent vehicles in the formation, a first acceleration is obtained, and the first acceleration is used as the first target acceleration of the rear vehicle among the two adjacent vehicles.

[0075] In the embodiments described in this specification, during the process of several other vehicles forming a platoon with the target vehicle group to meet a preset vehicle distance, the speed of the lead vehicle in the platoon can remain constant. By adjusting the speed of the following vehicles, the vehicles in the platoon can maintain the same preset vehicle distance while traveling. The lead vehicle can be the first vehicle in the direction of travel in the platoon, and the following vehicles can be any other vehicles in the platoon besides the lead vehicle. To prevent collisions between vehicles in the platoon, the preset vehicle distance can be 30m to 60m.

[0076] Optional, the first acceleration of the following vehicle in the formation. Where m can represent the first vehicle among two adjacent vehicles in the same formation, n can represent the second vehicle among two adjacent vehicles in the same formation, and a n (t) can represent the acceleration value of vehicle n at time t, c1 and c2 can represent weighting parameters, x n (t) can represent the position of vehicle n at time t, x m (t) can represent the position of vehicle m at time t, v n (t) can represent the velocity of vehicle n at time t, v m(t) can represent the speed of vehicle m at time t, e can represent the preset distance between two adjacent vehicles in the same formation, and t can represent the current time. The values ​​of c1 and c2 can be determined empirically. The value of c1 can be 0 to 1, and the value of c2 can be 0 to 1. If c1 is too small or c2 is too large, it is easy to cause vehicle collision accidents. When a vehicle collision occurs, the values ​​of c1 and c2 can be adjusted.

[0077] In practical applications, by calculating the acceleration of vehicles, the distance between any two adjacent vehicles in a platoon can be made to conform to the preset vehicle distance, allowing the platoon to travel in the desired formation and at a safe distance. This reduces the distance between vehicles, decreases vehicle speed fluctuations, and improves vehicle traffic efficiency while ensuring safety.

[0078] Optionally, the method described in the embodiments of this specification may further include:

[0079] Determine whether the first acceleration is within the range of the first preset acceleration threshold;

[0080] If not, the first preset acceleration threshold shall be used as the first target acceleration of the rear vehicle in any two adjacent vehicles;

[0081] The step of using the first acceleration as the first target acceleration of the rear vehicle in any two adjacent vehicles specifically includes:

[0082] If so, the first acceleration is taken as the first target acceleration of the rear vehicle in any two adjacent vehicles.

[0083] In the embodiments of this specification, the first preset acceleration threshold can be set to -4 to 2.5. For example, when the first acceleration is 2, the target acceleration of the vehicle is 2; when the first acceleration is 3, the target acceleration of the vehicle is 2.5.

[0084] In the prior art, the distance between each formation is not considered. To address the shortcomings of the prior art, optionally, in the embodiments of this specification, the same lane may also include a second formation adjacent to the first formation containing the plurality of other vehicles and the target vehicle group. The method may further include:

[0085] Based on the vehicle position and speed information of the tail vehicle in the first formation and the lead vehicle in the second formation, a second acceleration is obtained, and the second acceleration is used as the second target acceleration of the lead vehicle in the second formation.

[0086] In the embodiments of this specification, multiple vehicle platoons may be included in the same lane, with the first platoon positioned in front of the second platoon. The first vehicle in the forward direction within each platoon is the lead vehicle, and the rest are following vehicles. This transforms the platoon control problem into a problem of following vehicles tracking the lead vehicle. By designing the behavior or trajectory of the lead vehicle, the following vehicles can maintain the desired position and posture of the lead vehicle, thereby controlling the entire platoon to operate according to the desired trajectory and formation. To ensure safe driving between platoons at a preset platoon distance, the speed of the lead vehicle within the platoon can be controlled.

[0087] Optionally, the second acceleration of the lead vehicle in the second formation.

[0088] a j (t)=-[r1(x i (t)-x j (t)+max(v i (t)*T,e)+r2(v i (t)-v j (t))]

[0089] Where i can represent the last car in the first formation, j can represent the lead car in the second formation, and a j (t) can represent the acceleration value of vehicle j at time t, γ1 and γ2 can represent weighting parameters, x i (t) can represent the position of vehicle i at time t, x j (t) can represent the position of vehicle j at time t, v i (t) can represent the velocity of vehicle i at time t, v j (t) can represent the speed of vehicle j at time t, e can represent the preset vehicle distance between two adjacent vehicles in the same formation, t can represent the current time, T can represent the preset headway between the last vehicle in the first formation and the lead vehicle in the second formation, max(v i (t)*T, e) can represent taking v i The maximum value between (t)*T and e. The values ​​of r1 and r2 can be determined empirically, the value of γ1 can be 0 to 1, the value of γ2 can be 0 to 1, and the value of T can be 4 seconds to 6 seconds.

[0090] In the embodiments described in this specification, by calculating the acceleration of the lead vehicle in each formation, the preset formation distance between each formation can be controlled. Since the safe time distance between formations is taken into account, the safe distance between vehicles in the formation can also be controlled when abnormal events such as abnormal stopping occur, so as to prevent vehicle collisions and improve the safety of formation driving.

[0091] Optionally, the method described in the embodiments of this specification may further include:

[0092] Determine whether the second acceleration is within the range of the second preset acceleration threshold;

[0093] If not, the second preset acceleration threshold will be used as the second target acceleration for the lead vehicle in the second formation;

[0094] The phrase "using the second acceleration as the second target acceleration for the lead vehicle in the second formation" specifically includes:

[0095] If so, the second acceleration shall be taken as the second target acceleration of the lead vehicle in the second formation.

[0096] In the embodiments described in this specification, the second preset acceleration threshold may be the same as or different from the first preset acceleration threshold; no specific limitation is made here.

[0097] By setting a preset acceleration threshold, the vehicle speed can be effectively controlled to prevent the vehicle from exceeding the lane speed limit due to excessive or insufficient speed, thus ensuring safe driving.

[0098] In this embodiment of the specification, the target speed can be obtained based on the target acceleration. The target speed of the vehicle at the next moment can be obtained by using the vehicle's current acceleration and current speed. The formula for calculating the target speed can be v1 = v0 + at, where v0 can represent the vehicle's current speed, a can represent the vehicle's current acceleration, t can represent the current moment, and v1 can represent the vehicle's speed at the next moment. The target speeds of each vehicle are sent to the corresponding vehicles so that each vehicle can travel at its respective target speed.

[0099] Using vehicles as a simulated vehicle as an example, the target speed of each vehicle can be input into the test platform, and the simulated vehicle can be controlled to travel at the target speed. The test platform can verify whether the simulated vehicles in the formation can travel at the preset vehicle distance, and it can also verify whether the simulated vehicles in the formation can travel at the preset formation distance.

[0100] Figure 2 This is a schematic diagram illustrating an application scenario of a vehicle platooning method provided in the embodiments of this specification.

[0101] like Figure 2 As shown, the following steps can be performed:

[0102] Step 201: Obtain the vehicle location information of multiple vehicles. The distance between any two vehicles can be obtained through the vehicle location.

[0103] Step 202: Determine the minimum distance among the obtained distances;

[0104] Step 203: Determine whether the minimum distance is less than or equal to the second preset distance threshold. If yes, proceed to step 204; otherwise, proceed to step 207.

[0105] Step 204: Determine the target vehicle corresponding to the minimum distance;

[0106] Step 205: Determine whether the total number of target vehicles is less than the preset quantity threshold. If yes, proceed to step 206; otherwise, proceed to step 207.

[0107] Step 206: Traverse all vehicles, determine the vehicle closest to the target vehicle, use the distance between that vehicle and the target vehicle as the next minimum distance, and execute step 203;

[0108] Step 207: Form a platoon with the identified vehicles.

[0109] In the embodiments of this specification, using the minimum distance as the initial point can effectively ensure that the nearest adjacent vehicles are divided into the same formation. By controlling the number of vehicles in the same formation, the flexibility of formation driving can be improved. By setting a preset distance threshold, vehicles that are close to each other can be formed into formations, which can improve formation efficiency and make the vehicle formation method more in line with the actual formation situation.

[0110] Figure 3 This is a schematic diagram of the structure of a vehicle platooning device proposed in an embodiment of this specification.

[0111] The vehicle platooning devices described in the embodiments of this specification may include:

[0112] The location acquisition module 302 is used to acquire the vehicle location information of multiple vehicles in the same lane;

[0113] The distance acquisition module 304 is used to obtain the distance between each vehicle based on the vehicle position information of each vehicle;

[0114] The target vehicle group acquisition module 306 is used to select the target vehicle group with the smallest distance.

[0115] Other vehicle acquisition module 308 is used to acquire a number of other vehicles adjacent to the target vehicle group based on the location information of the target vehicle group, wherein the other vehicles are vehicles other than the target vehicle group among the multiple vehicles.

[0116] The formation generation module 310 is used to form a formation between the plurality of other vehicles and the target vehicle group.

[0117] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. The apparatuses and methods provided in this application are one-to-one corresponding; therefore, the apparatuses also have similar beneficial technical effects to their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the corresponding apparatuses will not be repeated here.

[0118] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0119] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, ASICs, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0120] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0121] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0122] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention 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.

[0123] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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 illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0124] 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.

[0125] 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.

[0126] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0127] Memory may include non-persistent storage 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.

[0128] 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 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.

[0129] 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 a process, method, article, or apparatus. Without further limitation, 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 said element.

[0130] 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.

[0131] This application can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0132] The above description is merely an embodiment of this application and is not intended to limit the scope of 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 scope of the claims of this application.

Claims

1. A vehicle platooning method, characterized in that, include: Obtain the vehicle location information of multiple vehicles in the same lane; Based on the vehicle location information of each vehicle, the distance between each vehicle is obtained; Select the target vehicle group with the smallest distance; Based on the location information of the target vehicle group, several other vehicles adjacent to the target vehicle group are obtained, and the other vehicles are vehicles other than the target vehicle group among the multiple vehicles; The other vehicles are then grouped with the target vehicle group. Determine whether the total number of the other vehicles and the target vehicle is less than or equal to a preset quantity threshold; The step of platooning the other vehicles with the target vehicle group specifically includes: If so, the other vehicles are grouped with the target vehicle group; The target vehicle group includes a first vehicle and a second vehicle, and the acquisition of several other vehicles adjacent to the target vehicle group includes: Based on the location information of the first vehicle, a first distance is obtained between the third vehicle and the first vehicle; the third vehicle is a vehicle adjacent to the first vehicle. Based on the location information of the second vehicle, a second distance is obtained between the fourth vehicle and the second vehicle; the fourth vehicle is a vehicle adjacent to the second vehicle. If the first distance is less than the second distance, then the third vehicle is considered to be in the same formation as the target vehicle; If the second distance is less than the first distance, then the fourth vehicle is considered to be in the same formation as the target vehicle.

2. The method according to claim 1, characterized in that, The method includes: Determine whether the distance between the other vehicles and the target vehicle group is less than or equal to a first preset distance threshold; The step of platooning the other vehicles with the target vehicle group specifically includes: If so, the other vehicles are grouped with the target vehicle group.

3. The method according to claim 1, characterized in that, The method further includes: Determine whether the distance is less than or equal to a second preset distance threshold; The selection of the target vehicle group with the smallest distance specifically includes: If so, then select the target vehicle group with the smallest distance.

4. The method according to claim 1, characterized in that, The step of platooning the other vehicles with the target vehicle group specifically includes: Based on the position difference, speed difference, and preset vehicle distance between any two adjacent vehicles in the formation, a first acceleration is obtained, and the first acceleration is used as the first target acceleration of the rear vehicle among the two adjacent vehicles.

5. The method according to claim 4, characterized in that, The same lane also includes a second formation adjacent to the first formation containing the other vehicles and the target vehicle group, and the method further includes: Based on the vehicle position and speed information of the tail vehicle in the first formation and the lead vehicle in the second formation, a second acceleration is obtained, and the second acceleration is used as the second target acceleration of the lead vehicle in the second formation.

6. The method according to claim 5, characterized in that, The method further includes: Determine whether the first acceleration is within the range of the first preset acceleration threshold; If not, the first preset acceleration threshold shall be used as the first target acceleration of the rear vehicle in any two adjacent vehicles; The step of using the first acceleration as the first target acceleration of the rear vehicle in any two adjacent vehicles specifically includes: If so, the first acceleration shall be taken as the first target acceleration of the rear vehicle in any two adjacent vehicles; And / or, Determine whether the second acceleration is within the range of the second preset acceleration threshold; If not, the second preset acceleration threshold will be used as the second target acceleration for the lead vehicle in the second formation; The phrase "using the second acceleration as the second target acceleration for the lead vehicle in the second formation" specifically includes: If so, the second acceleration shall be taken as the second target acceleration of the lead vehicle in the second formation.

7. The method according to claim 5, characterized in that, Second acceleration Where i represents the last car in the first formation, j represents the lead car in the second formation, and a j (t) represents the acceleration value of vehicle j, γ1 and γ2 represent weighting parameters, and x i (t) represents the position of vehicle i at time t, x j (t) represents the position of vehicle j at time t, v i (t) represents the velocity of vehicle i at time t, v j (t) represents the speed of vehicle j at time t, e represents the preset vehicle distance between two adjacent vehicles in the same formation, t represents the current time, and T represents the preset headway between the last vehicle in the first formation and the lead vehicle in the second formation. max(v i (t)*T, e) represents taking v i The maximum value between (t)*T and e.

8. A vehicle platooning device for implementing the method according to any one of claims 1-7, characterized in that, include: The location acquisition module is used to acquire the vehicle location information of multiple vehicles in the same lane; The distance acquisition module is used to obtain the distance between each vehicle based on the vehicle location information of each vehicle; The target vehicle group acquisition module is used to select the target vehicle group with the smallest distance; The other vehicle acquisition module is used to acquire a number of other vehicles adjacent to the target vehicle group based on the location information of the target vehicle group. The other vehicles are vehicles other than the target vehicle group among the multiple vehicles. The formation generation module is used to form a formation between the other vehicles and the target vehicle group.

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