Method, device and electronic device for vehicle platooning

Abstract

A method, device and electronic equipment for vehicle platoon, the method comprising: when identity verification between a first vehicle and a second vehicle is successful, obtaining traffic condition information collected by the first vehicle and traffic condition information collected by the second vehicle, extracting other vehicles between the first vehicle and the second vehicle, and extracting vehicle driving information of the other vehicles; in response to the vehicle driving information meeting a preset condition, sharing the respective traffic condition information of the first vehicle and the second vehicle; determining a traffic processing strategy corresponding to the traffic condition information based on a mapping relationship between a preset traffic condition type and a preset traffic processing strategy; and platooning the first vehicle and the second vehicle based on the traffic processing strategy. Through the above method, the traffic condition information of associated vehicles is shared to platoon the first vehicle and the second vehicle based on the traffic condition type, ensuring the driving safety of the first vehicle and the second vehicle during platooning.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicle technology, and more particularly to a method, apparatus and electronic device for vehicle platooning. Background Technology

[0002] With the increasing number of vehicles on the market equipped with Navigation on Highway Assist (NOA) functions, these functions enable autonomous lane changing, autonomous on / off ramp entry and exit, and other capabilities during vehicle operation. Specifically, lane changing is achieved when intelligent vehicles are platooned, as follows:

[0003] Currently, vehicle platooning technology only platoons vehicles on single lanes. When platooned vehicles need to change lanes, they only collect traffic information on their own lanes, leaving the traffic conditions of adjacent lanes unknown. During the lane change, if the platooned vehicles determine that there are no other vehicles within a preset range of the adjacent lane, they will proceed with the lane change. However, if a vehicle traveling at excessive speed appears in the adjacent lane during the lane change, there is a risk of collision, compromising the safety of the platooned vehicles. Summary of the Invention

[0004] This application provides a method, apparatus, and electronic device for vehicle platooning, which expands the detection range of vehicles by sharing vehicle data, enabling vehicle platooning for different traffic conditions, thereby ensuring safety during vehicle platooning.

[0005] In a first aspect, this application provides a method for vehicle platooning, the method comprising:

[0006] When the identities of the first vehicle and the second vehicle are successfully verified, the traffic condition information collected by the first vehicle and the traffic condition information collected by the second vehicle are obtained.

[0007] Extract other vehicles between the first vehicle and the second vehicle, and extract the vehicle driving information of the other vehicles. In response to the vehicle driving information meeting preset conditions, transmit the traffic condition information of the first vehicle and the second vehicle bidirectionally.

[0008] Based on the mapping relationship between preset traffic condition types and preset traffic processing strategies, the traffic processing strategy corresponding to the traffic condition information is determined.

[0009] The first vehicle and the second vehicle are grouped together based on the traffic processing strategy.

[0010] By sharing the traffic information of the first and second vehicles using the above method, different traffic management strategies can be adopted to platoon the vehicles based on their respective traffic information, thereby improving the safety and convenience of the vehicle platooning process.

[0011] In one possible design, when the identities of the first vehicle and the second vehicle are successfully verified, the following steps are taken:

[0012] Extract the first vehicle identifier of the first vehicle and the second vehicle identifier of the second vehicle, wherein the first vehicle identifier and the second vehicle identifier are unique;

[0013] In response to the first vehicle identifier and the second vehicle identifier being in a preset vehicle association list, it is determined that the identity verification of the first vehicle and the second vehicle is successful. The preset vehicle association list records the association relationships between vehicles that need to be platooned.

[0014] By using the above methods, the identities of the first and second vehicles are verified, ensuring their safety during operation and enabling them to be convoyed.

[0015] In one possible design, the vehicle driving information of the other vehicles is extracted, and in response to the vehicle driving information meeting preset conditions, the following is included:

[0016] Based on the vehicle's driving information, the vehicle driving parameters and vehicle number of the other vehicles are extracted, wherein the vehicle driving parameters include at least vehicle speed and vehicle position.

[0017] In response to the fact that the vehicle number has not changed, the vehicle tolerance value will be determined based on the vehicle speed and vehicle position;

[0018] When it is determined that the vehicle tolerance value is less than a preset tolerance threshold, the vehicle driving information is determined to meet the preset conditions.

[0019] By using the above method, the vehicle driving information of the first vehicle and the other vehicles between the second vehicle is determined, which improves the determination that the first vehicle and the second vehicle are in normal working condition when the vehicle driving information meets the preset conditions, thereby ensuring the safety of the vehicle formation process.

[0020] In one possible design, based on the mapping relationship between preset traffic condition types and preset traffic processing strategies, the traffic processing strategy corresponding to the traffic condition information is determined, including:

[0021] If the traffic information for the first vehicle indicates traffic congestion, then the second vehicle is controlled to change lanes; or

[0022] When the traffic information of the second vehicle shows a speeding vehicle exceeding a preset speed, the driving lane of the first vehicle is determined.

[0023] Using the methods described above, different preset traffic handling strategies can be determined based on different preset traffic condition types, thereby enabling timely determination of corresponding traffic handling strategies based on traffic condition information and improving the flexibility of vehicle platooning.

[0024] In one possible design, determining the driving lane of the first vehicle includes:

[0025] Determine the interval time between the speeding vehicle reaching the position of the first vehicle, and detect whether the interval time exceeds the lane change time of the first vehicle;

[0026] If so, then the lane currently occupied by the first vehicle will be used as the driving lane;

[0027] If not, then the lane where the first vehicle changed lanes will be used as the driving lane.

[0028] By using the above method, based on the relationship between the interval time and the lane change time, it is determined whether the first vehicle has changed lanes, thus preventing traffic accidents from occurring during the lane change and improving the safety of the first vehicle during the lane change process.

[0029] Secondly, this application provides a vehicle platooning apparatus, the apparatus comprising:

[0030] The acquisition module is used to acquire traffic condition information collected by the first vehicle and traffic condition information collected by the second vehicle when the identity verification between the first vehicle and the second vehicle is successful.

[0031] The extraction module is used to extract other vehicles between the first vehicle and the second vehicle, and to extract the vehicle driving information of the other vehicles. In response to the vehicle driving information meeting preset conditions, the traffic condition information of the first vehicle and the second vehicle are transmitted bidirectionally.

[0032] The determination module is used to determine the traffic processing strategy corresponding to the traffic condition information based on the mapping relationship between the preset traffic condition type and the preset traffic processing strategy.

[0033] The platooning module is used to platoon the first vehicle and the second vehicle based on the traffic processing strategy.

[0034] In one possible design, the obtaining module is specifically used to extract the first vehicle identifier of the first vehicle and the second vehicle identifier of the second vehicle, and in response to the first vehicle identifier and the second vehicle identifier being in a preset vehicle association list, to determine that the identity verification of the first vehicle and the second vehicle is successful.

[0035] In one possible design, the extraction module is specifically used to extract the vehicle driving parameters and vehicle numbers of the other vehicles. In response to the fact that the vehicle number has not changed, a vehicle tolerance value is determined based on the vehicle speed and vehicle position. When the vehicle tolerance value is determined to be less than a preset tolerance threshold, the vehicle driving information is determined to meet the preset conditions.

[0036] In one possible design, the determining module is specifically used to control the second vehicle to change lanes when there is traffic congestion in the traffic information of the first vehicle, or to determine the driving lane of the first vehicle when there is a speeding vehicle with a speed exceeding a preset speed in the traffic information of the second vehicle.

[0037] In one possible design, the determining module is further configured to determine the interval time between the speeding vehicle reaching the position of the first vehicle, detect whether the interval time exceeds the lane-changing time of the first vehicle, and if so, use the lane currently occupied by the first vehicle as the driving lane; otherwise, use the lane where the first vehicle changed lanes as the driving lane.

[0038] Thirdly, this application provides an electronic device, comprising:

[0039] Memory, used to store computer programs;

[0040] When a processor executes a computer program stored in the memory, it implements the above-described method steps for vehicle platooning.

[0041] Fourthly, a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method steps for vehicle platooning.

[0042] For details on each of the above-mentioned aspects one through four, and the technical effects that each aspect may achieve, please refer to the above description of the technical effects that can be achieved for the first aspect or the various possible solutions in the first aspect. These details will not be repeated here. Attached Figure Description

[0043] Figure 1 A flowchart of the steps of a vehicle platooning method provided in this application;

[0044] Figure 2A schematic diagram of the first vehicle and other vehicles between the second vehicle provided for this application;

[0045] Figure 3 A schematic diagram of the structure of a vehicle platooning device provided in this application;

[0046] Figure 4 This is a schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The specific operational methods in the method embodiments can also be applied to the device embodiments or system embodiments. It should be noted that in the description of this application, "multiple" is understood as "at least two". "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. A connected to B can represent: A and B directly connected, and A and B connected through C. Furthermore, in the description of this application, terms such as "first" and "second" are used only for distinguishing the purpose of description and should not be construed as indicating or implying relative importance or order.

[0048] In previous technologies, vehicle platooning was achieved by grouping vehicles within a single lane. When platooned vehicles needed to change lanes, the traffic conditions of adjacent lanes were unknown because the platooned vehicles only collected traffic information from their own lane. During the lane change, the platooned vehicles would only change lanes if they determined that there were no other vehicles within a preset range of the adjacent lane. However, if a vehicle traveling at excessive speed appeared in the adjacent lane during the lane change, there was a risk of collision, compromising the safety of the platooned vehicles.

[0049] To address the problems described above, this application provides a vehicle platooning method to ensure vehicle safety during platooning in NOA mode. The methods and apparatus described in the embodiments of this application are based on the same technical concept. Since the principles by which the methods and apparatus solve the problems are similar, embodiments of the apparatus and methods can be referred to interchangeably, and repeated details will not be repeated.

[0050] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0051] Reference Figure 1This application provides a thread binding method that ensures the safety of vehicle movement during platooning in NOA mode. The implementation process of this method is as follows:

[0052] Step S1: When the identity verification of the first vehicle and the second vehicle is successful, obtain the traffic condition information collected by the first vehicle and the traffic condition information collected by the second vehicle.

[0053] The purpose of this application embodiment is to improve driving safety during vehicle platooning. When platooning vehicles, it is necessary to determine the first vehicle and the second vehicle. The first vehicle can be the leader vehicle and the second vehicle can be the follower vehicle. The method of this application embodiment can also be used to platoon multiple vehicles. Since the method of platooning vehicles is the same, this application embodiment will be described with the platooning situation of the first vehicle and the second vehicle.

[0054] In order to enable vehicle platooning, the identities of the first and second vehicles must first be verified. The specific verification process is as follows:

[0055] The first vehicle identifier of the first vehicle and the second vehicle identifier of the second vehicle are extracted. These vehicle identifiers are unique. Then, based on a preset vehicle association list, it is determined whether the first vehicle and the second vehicle are associated vehicles. The preset vehicle association list is shown in Table 1.

[0056]

[0057] Table 1

[0058] Based on Table 1 above, it is known that the first vehicle identifier is associated with the second vehicle identifier, and the third vehicle identifier is associated with the fourth and fifth vehicle identifiers respectively. The fourth vehicle identifier can also be associated with the fifth vehicle identifier. The number of associated vehicles can be adjusted based on the actual vehicle platooning situation. This is just an example and will not be elaborated on further.

[0059] If the first vehicle and the second vehicle can be identified as associated vehicles based on the preset vehicle association list, then the identity verification of the first vehicle and the second vehicle is successful. The identity verification method can also be based on vehicle type, user identity information associated with the vehicle, etc. When the vehicle type and user identity information of the first vehicle and the second vehicle are the same as their respective preset vehicle type and preset user identity information, then the identity verification of the first vehicle and the second vehicle is successful. Other identity verification methods will not be elaborated on here.

[0060] After the identities of the first and second vehicles are successfully verified, in order to achieve data sharing between the first and second vehicles, the server needs to obtain the traffic condition information corresponding to each vehicle. This traffic condition information includes at least vehicle detection information, vehicle map information, vehicle functional status information, and basic vehicle operating data. The vehicle detection information may include: vehicle type and speed of other vehicles, road sign information, speed limit information, etc. The vehicle map information may include vehicle location information and vehicle travel path information. The vehicle functional status information may include: vehicle lane change information, vehicle on / off ramp information, and vehicle speed limit fusion information, etc. The basic vehicle operating data includes: accelerator pedal status data, brake pedal status data, turn signal request data, etc.

[0061] By using the methods described above, the first and second vehicles are authenticated, ensuring their safety during operation and enabling them to be convoyed.

[0062] Step S2: Extract other vehicles between the first vehicle and the second vehicle, and extract the vehicle driving information of the other vehicles. In response to the vehicle driving information meeting preset conditions, share the traffic condition information of the first vehicle and the second vehicle respectively.

[0063] After determining the traffic condition information detected by the first vehicle and the second vehicle, in real-world scenarios, there are often other vehicles between the first vehicle and the second vehicle. In order to prevent other vehicles from interfering with the formation process of the first vehicle and the second vehicle, all other vehicles between the first vehicle and the second vehicle will be extracted. Since the processing method for all other vehicles is the same, this embodiment of the application will describe the processing process for one other vehicle.

[0064] Furthermore, it is necessary to extract the vehicle driving information of other vehicles. This driving information includes vehicle driving parameters and vehicle numbers. The driving parameters include at least vehicle speed and vehicle position. A schematic diagram of other vehicles between the first and second vehicles is shown below. Figure 2 As shown, in Figure 2In this scenario, there are two other vehicles, namely a first other vehicle and a second other vehicle, between the first vehicle and the second vehicle. The first vehicle detects vehicle number 1 of the first other vehicle and vehicle number 2 of the second other vehicle. Similarly, the second vehicle detects vehicle number 2 of the first other vehicle and vehicle number 1 of the second other vehicle. When the vehicle numbers detected by the first and second vehicles for the same other vehicle remain unchanged, a vehicle tolerance value is determined based on vehicle driving parameters. This vehicle tolerance value represents the allowable error in the detection of other vehicles' driving parameters by the first and second vehicles. The specific process for determining the tolerance value is as follows:

[0065] By detecting the driving information of other vehicles through the first and second vehicles, the driving trajectories of other vehicles will be fitted based on the vehicle speed, and the positions of other vehicles will be recorded according to a preset period. The overlap between the actual driving trajectory corresponding to multiple vehicle positions and the driving trajectory will be calculated, and the overlap will be used as the vehicle tolerance value. For example, if the driving trajectory determines 10 points of the vehicle position of other vehicles and 10 points of the actual trajectory corresponding to other vehicles, and 8 points overlap, then 2 / 10*100%=20%, and the vehicle tolerance value is 20%.

[0066] After determining the tolerance values ​​of other vehicles using the above method, it is checked whether the vehicle tolerance value is less than the preset tolerance threshold. If the vehicle tolerance value is less than the preset tolerance threshold, it is determined that the vehicle driving information of other vehicles meets the preset conditions. If the vehicle tolerance value is greater than the preset tolerance threshold, it is determined that the vehicle driving conditions of other vehicles do not meet the preset conditions.

[0067] Based on the fact that the vehicle driving information determined above meets the preset conditions, in order to platoon the first vehicle and the second vehicle, the traffic condition information corresponding to the first vehicle and the second vehicle will be transmitted bidirectionally, so that the first vehicle receives the traffic condition information of the second vehicle, and the second vehicle receives the traffic condition information of the first vehicle.

[0068] For example, if the first vehicle detects traffic congestion ahead, the second vehicle will be informed of the congestion before reaching the congested section.

[0069] Based on the above method, when it is determined that the first vehicle and the second vehicle detect the same vehicle driving information of other vehicles, the traffic condition information of the first vehicle and the second vehicle is shared, so that the first vehicle can know the traffic conditions around the second vehicle, and the second vehicle can know the traffic conditions around the first vehicle.

[0070] Step S3: Based on the mapping relationship between preset traffic condition types and preset traffic processing strategies, determine the traffic processing strategy corresponding to the traffic condition information.

[0071] Based on the sharing of traffic information between the first and second vehicles, in order to improve the safety of both vehicles during operation, traffic processing strategies corresponding to different traffic conditions will be determined based on the mapping relationship between preset traffic condition types and preset traffic processing strategies. The specific mapping relationship is shown in Table 2 below:

[0072] Traffic congestion Lane change processing On and off ramps Collaborative sensing processing lane change Risk monitoring and handling …… ……

[0073] Table 2

[0074] Based on Table 2 above, different preset traffic condition types correspond to different preset traffic handling strategies, thereby improving the convenience of the vehicle's NOA (Noise, Arrival, and Assist) function. For example, when the preset traffic condition is congested, lane changing will be implemented to prevent the first and second vehicles from entering the congested section, thus enabling vehicles to avoid congestion. When the first and second vehicles enter on-ramp or off-ramp, collaborative perception processing will be used to obtain real-time traffic condition information of related vehicles, thereby expanding the vehicle's perception range. When a vehicle needs to change lanes, the presence of high-speed vehicles in the lane changing lane will be detected to prevent these high-speed vehicles from affecting the vehicle that needs to change lanes, thus improving the safety of the vehicle during the lane changing process.

[0075] It should be noted that the contents of Table 2 above are only for illustration. The preset traffic handling strategies corresponding to other preset traffic condition types will refer to Table 2 above, and will not be explained in detail here.

[0076] Specifically, when the traffic information of the first vehicle indicates traffic congestion, the second vehicle is informed of the congestion in advance by sharing traffic information, thus enabling the second vehicle to change lanes. When the traffic information of the second vehicle indicates a speeding vehicle exceeding a preset speed, since the speeding vehicle is not within the detection range of the first vehicle, the first vehicle's direct lane change will risk a collision with the speeding vehicle. By detecting the speeding vehicle through the second vehicle, the time interval between the speeding vehicle and the first vehicle's position is obtained. To determine whether a safe lane change is possible, this time interval will be checked to see if it exceeds the first vehicle's lane change time.

[0077] Based on the above description, when the interval time exceeds the lane-changing time of the first vehicle, it means that the probability of a collision between the speeding vehicle and the first vehicle is relatively high, and the first vehicle needs to use its current lane as its driving lane; when the interval time is less than the lane-changing time of the first vehicle, when the speeding vehicle arrives at the position of the first vehicle, the first vehicle has already completed the lane change, and the first vehicle will use the lane it changed lanes as its driving lane.

[0078] By using the above method, the traffic condition information of the first vehicle and the second vehicle are transmitted bidirectionally, which expands the detection range of the first vehicle and the second vehicle. This enables the determination of traffic handling strategies based on the traffic condition information, optimizes the vehicle's NOA function, and improves the convenience and safety of the vehicle during driving when the NOA function is enabled.

[0079] Step S4: Form a platoon of the first vehicle and the second vehicle based on the traffic processing strategy.

[0080] Since the traffic processing strategy corresponding to the traffic condition information has been determined above, the first vehicle and the second vehicle can be platooned based on the traffic processing strategy, which improves the flexibility of vehicle platooning.

[0081] Based on the above description, by bidirectionally transmitting the traffic condition information corresponding to the first and second vehicles, the detection range of the first and second vehicles is expanded, enabling the first and second vehicles to establish a connection. This allows for timely implementation of different traffic processing strategies based on different traffic condition types to platoon the vehicles, thereby optimizing the vehicle's NOA function. Furthermore, with the NOA function enabled, it improves the convenience and safety of the vehicles during operation.

[0082] Based on the same inventive concept, this application also provides a vehicle platooning apparatus, which implements the function of a vehicle platooning method, see reference. Figure 3 The device includes:

[0083] The module 301 is used to obtain traffic condition information collected by the first vehicle and traffic condition information collected by the second vehicle when the identity verification between the first vehicle and the second vehicle is successful.

[0084] The extraction module 302 is used to extract other vehicles between the first vehicle and the second vehicle, and to extract the vehicle driving information of the other vehicles. In response to the vehicle driving information meeting preset conditions, the traffic condition information of the first vehicle and the second vehicle are transmitted bidirectionally.

[0085] The determining module 303 is used to determine the traffic processing strategy corresponding to the traffic condition information based on the mapping relationship between the preset traffic condition type and the preset traffic processing strategy.

[0086] The platooning module 304 is used to platoon the first vehicle and the second vehicle based on the traffic processing strategy.

[0087] In one possible design, the obtaining module 301 is specifically used to extract the first vehicle identifier of the first vehicle and the second vehicle identifier of the second vehicle, and in response to the first vehicle identifier and the second vehicle identifier being in a preset vehicle association list, to determine that the identity verification of the first vehicle and the second vehicle is successful.

[0088] In one possible design, the extraction module 302 is specifically used to extract the vehicle driving parameters and vehicle numbers of the other vehicles. In response to the fact that the vehicle number has not changed, a vehicle tolerance value is determined based on the vehicle speed and vehicle position. When the vehicle tolerance value is determined to be less than a preset tolerance threshold, the vehicle driving information is determined to meet the preset conditions.

[0089] In one possible design, the determining module 303 is specifically used to control the second vehicle to change lanes when there is traffic congestion in the traffic information of the first vehicle, or to determine the driving lane of the first vehicle when there is a speeding vehicle with a speed exceeding a preset speed in the traffic information of the second vehicle.

[0090] In one possible design, the determining module 303 is further configured to determine the interval time between the speeding vehicle reaching the position of the first vehicle, detect whether the interval time exceeds the lane-changing time of the first vehicle, and if so, use the lane currently occupied by the first vehicle as the driving lane; otherwise, use the lane where the first vehicle changed lanes as the driving lane.

[0091] Based on the same inventive concept, this application also provides an electronic device that can realize the function of the aforementioned vehicle platooning device. (Refer to...) Figure 4 The electronic device includes:

[0092] At least one processor 401 and a memory 402 connected to at least one processor 401. In this embodiment, the specific connection medium between the processor 401 and the memory 402 is not limited. Figure 4 The example shown is the connection between processor 401 and memory 402 via bus 400. Bus 400 is... Figure 4The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. The 400 bus can be divided into address bus, data bus, control bus, etc., for ease of representation. Figure 4 The term is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, processor 401 can also be called a controller; there is no restriction on the name.

[0093] In this embodiment, memory 402 stores instructions executable by at least one processor 401. By executing the instructions stored in memory 402, at least one processor 401 can execute a vehicle platooning method as described above. Processor 401 can implement... Figure 3 The functions of each module in the device shown.

[0094] The processor 401 is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory 402 and calling data stored in memory 402, the processor can perform various functions and process data, thereby monitoring the device as a whole.

[0095] In one possible design, processor 401 may include one or more processing units. Processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into processor 401. In some embodiments, processor 401 and memory 402 may be implemented on the same chip; in some embodiments, they may also be implemented separately on separate chips.

[0096] Processor 401 can be a general-purpose processor, such as a central processing unit (CPU), digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the vehicle platooning method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0097] Memory 402, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 402 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. Memory 402 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. In the embodiments of this application, memory 402 can also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0098] By designing and programming the processor 401, the code corresponding to the vehicle platooning method described in the foregoing embodiments can be embedded into the chip, enabling the chip to execute the code during runtime. Figure 1 The illustrated embodiment describes a step in vehicle platooning. How to design and program the processor 401 is a technique well-known to those skilled in the art and will not be described further here.

[0099] Based on the same inventive concept, embodiments of this application also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform a vehicle platooning method described above.

[0100] In some possible implementations, various aspects of the vehicle platooning method provided by this application can also be implemented in the form of a program product comprising program code that, when the program product is run on a device, causes the control device to perform the steps of a vehicle platooning method according to various exemplary embodiments of this application as described above.

[0101] 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.

[0102] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should 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. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0103] 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.

[0104] 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.

[0105] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for vehicle platooning, characterized in that, include: When the identities of the first vehicle and the second vehicle are successfully verified, the traffic condition information collected by the first vehicle and the traffic condition information collected by the second vehicle are obtained. Extract other vehicles between the first vehicle and the second vehicle, and extract the vehicle driving information of the other vehicles. In response to the vehicle driving information meeting preset conditions, transmit the traffic condition information of the first vehicle and the second vehicle bidirectionally. Based on the mapping relationship between preset traffic condition types and preset traffic processing strategies, the traffic processing strategy corresponding to the traffic condition information is determined. The first vehicle and the second vehicle are grouped together based on the traffic processing strategy.

2. The method as described in claim 1, characterized in that, When the identities of the first and second vehicles are successfully verified, the following applies: Extract the first vehicle identifier of the first vehicle and the second vehicle identifier of the second vehicle, wherein the first vehicle identifier and the second vehicle identifier are unique; In response to the first vehicle identifier and the second vehicle identifier being in a preset vehicle association list, it is determined that the identity verification of the first vehicle and the second vehicle is successful. The preset vehicle association list records the association relationships between vehicles that need to be platooned.

3. The method as described in claim 1, characterized in that, Extract the vehicle driving information of the other vehicles, and in response to the vehicle driving information meeting preset conditions, including: Based on the vehicle driving information, the vehicle driving parameters and vehicle numbers of the other vehicles are extracted, wherein the vehicle driving parameters include at least vehicle speed and vehicle position. In response to the fact that the vehicle number has not changed, the vehicle tolerance value will be determined based on the vehicle speed and vehicle position; When it is determined that the vehicle tolerance value is less than a preset tolerance threshold, the vehicle driving information is determined to meet the preset conditions.

4. The method as described in claim 1, characterized in that, Based on the mapping relationship between preset traffic condition types and preset traffic processing strategies, the traffic processing strategy corresponding to the traffic condition information is determined, including: If the traffic information for the first vehicle indicates traffic congestion, then the second vehicle is controlled to change lanes; or When the traffic information of the second vehicle shows a speeding vehicle exceeding a preset speed, the driving lane of the first vehicle is determined.

5. The method as described in claim 4, characterized in that, Determining the driving lane of the first vehicle includes: Determine the interval time between the speeding vehicle reaching the position of the first vehicle, and detect whether the interval time exceeds the lane change time of the first vehicle; If so, then the lane currently occupied by the first vehicle will be used as the driving lane; If not, then the lane where the first vehicle changed lanes will be used as the driving lane.

6. A vehicle platooning device, characterized in that, include: The acquisition module is used to acquire traffic condition information collected by the first vehicle and traffic condition information collected by the second vehicle when the identity verification between the first vehicle and the second vehicle is successful. The extraction module is used to extract other vehicles between the first vehicle and the second vehicle, and to extract the vehicle driving information of the other vehicles. In response to the vehicle driving information meeting preset conditions, the traffic condition information of the first vehicle and the second vehicle are transmitted bidirectionally. The determination module is used to determine the traffic processing strategy corresponding to the traffic condition information based on the mapping relationship between the preset traffic condition type and the preset traffic processing strategy. The platooning module is used to platoon the first vehicle and the second vehicle based on the traffic processing strategy.

7. The apparatus as claimed in claim 6, characterized in that, The obtaining module is specifically used to extract the first vehicle identifier of the first vehicle and the second vehicle identifier of the second vehicle, and in response to the first vehicle identifier and the second vehicle identifier being in a preset vehicle association list, to determine that the identity verification of the first vehicle and the second vehicle is successful.

8. The apparatus as claimed in claim 6, characterized in that, The extraction module is specifically used to extract the vehicle driving parameters and vehicle numbers of the other vehicles. In response to the fact that the vehicle number has not changed, the vehicle tolerance value is determined based on the vehicle speed and vehicle position. When the vehicle tolerance value is less than a preset tolerance threshold, the vehicle driving information is determined to meet the preset conditions.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a computer program stored in the memory, implements the steps of the method according to any one of claims 1-5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described in any one of claims 1-5.

Images