Data processing method and device for autonomous driving platform

Abstract

The present invention provides a data processing method and device for an autonomous driving platform. A formation interface is generated according to a formation request and sent to each autonomous driving vehicle, wherein the formation interface includes an original navigation area and a formation navigation area; a formation sequence is generated based on formation information of the autonomous driving vehicles, wherein the formation sequence includes a leading vehicle and a plurality of subordinate vehicles, and a formation spacing diagram is generated according to driving information of the leading vehicle and the subordinate vehicles; route lane information is acquired to generate a corresponding formation display template, and a target display lane of each formation display template is determined according to the leading lane information of the leading vehicle; the target display lane is updated according to the formation spacing diagram to obtain a formation dynamic diagram, a lane difference model and a distance difference model are retrieved to perform difference judgment on real-time lane information and real-time distance information of each subordinate vehicle, and difference guidance information is generated to update the formation dynamic diagram to obtain a guided formation diagram, which is sent to the formation navigation area of ​​the corresponding autonomous driving vehicle for display.

Description

Technical Field

[0001] The present invention relates to data processing technology, and in particular to a data processing method and device for an autonomous driving platform. Background Art

[0002] Autonomous driving is a mainstream application in the field of artificial intelligence. Autonomous driving technology relies on the collaborative cooperation of computer vision, radar, monitoring devices and global positioning systems, allowing motor vehicles to achieve autonomous driving without the need for active human operation.

[0003] In the existing technology, autonomous driving vehicles focus more on the driving planning of individual vehicles, but less on the coordinated actions between vehicles in the fleet. For example, the positioning device of the autonomous driving vehicle is mainly used to determine the location for navigation planning, and the driving operation is performed according to the preset navigation plan. At present, it is impossible to generate a corresponding fleet guidance interface based on the actual driving situation of the vehicle, so that the adaptive lane change cannot be achieved.

[0004] Therefore, how to generate a corresponding fleet guidance interface based on the actual driving conditions of the vehicles, thereby achieving adaptive lane changes, so that the autonomous driving vehicles can automatically change lanes based on actual conditions and ensure that the fleet is driving in the appropriate lane, has become an urgent problem to be solved. Summary of the invention

[0005] The embodiments of the present invention provide a data processing method and device for an autonomous driving platform, which can generate a corresponding fleet guidance interface according to the actual driving conditions of the vehicles, thereby realizing adaptive lane changes, so that the autonomous driving vehicles can automatically change lanes according to the actual conditions, ensuring that the fleet is driving in the appropriate lane.

[0006] A first aspect of an embodiment of the present invention provides a data processing method for an autonomous driving platform, comprising:

[0007] Receiving a formation request from each autonomous driving vehicle, generating a formation interface according to the formation request and sending it to each autonomous driving vehicle, wherein the formation interface includes an original navigation area and a formation navigation area;

[0008] Generating a formation sequence based on the formation information of the autonomous driving vehicles, the formation sequence including a leading vehicle and a plurality of subordinate vehicles, and generating a formation spacing diagram according to the driving information of the leading vehicle and the subordinate vehicles;

[0009] Acquire route lane information of each of the autonomous driving vehicles to generate a corresponding formation display template, and determine a target display lane of each of the formation display templates according to the leading lane information of the leading vehicle;

[0010] The target display lane is updated according to the formation spacing map to obtain a formation dynamic map, and the lane difference model and the distance difference model are retrieved to perform difference judgment on the real-time lane information and real-time distance information of each subordinate vehicle, and difference guidance information is generated to update the formation dynamic map to obtain a guidance formation map, which is sent to the formation navigation area of ​​the corresponding autonomous driving vehicle for display.

[0011] Optionally, in a possible implementation manner of the first aspect, generating a formation sequence based on the formation information of the autonomous driving vehicles, the formation sequence including a leading vehicle and a plurality of subordinate vehicles, and generating a formation spacing diagram according to the driving information of the leading vehicle and the subordinate vehicles, comprises:

[0012] Based on the formation information of the autonomous driving vehicles, the corresponding autonomous driving vehicles are sorted in sequence to obtain a formation sequence corresponding to the autonomous driving vehicles;

[0013] Determine the first of the autonomous driving vehicles in the formation sequence as a leading vehicle and the remaining vehicles as subordinate vehicles, the formation sequence including the leading vehicle and the plurality of subordinate vehicles;

[0014] Acquire the driving speed of the leading vehicle as the leading vehicle speed, and the vehicle type of the subordinate vehicle as the subordinate type, wherein the driving information includes the driving speed and the vehicle type;

[0015] Extracting the corresponding interval distance in the preset interval comparison table according to the dominant vehicle speed and the subordinate type as the subordinate distance of the corresponding subordinate vehicle, wherein the preset interval comparison table includes a one-to-one correspondence between the vehicle speed interval and the vehicle type and the interval distance;

[0016] According to the ratio of the subordinate distance and the preset conversion distance, the formation distance of the corresponding subordinate vehicle is obtained;

[0017] The formation slots are set in sequence based on the order of the autonomous driving vehicles in the formation sequence, and the distances between the corresponding formation slots are set based on the formation distances, and the vehicle models are filled into the formation slots to obtain a formation spacing diagram.

[0018] Optionally, in a possible implementation manner of the first aspect, the acquiring the route lane information of each of the autonomous driving vehicles to generate a corresponding formation display template, and determining a target display lane of each of the formation display templates according to the leading lane information of the leading vehicle, includes:

[0019] Acquire route lane information of each of the autonomous driving vehicles to generate a corresponding formation display template, wherein the formation display template includes a plurality of route lanes;

[0020] The route lane passed by the leading vehicle is determined as the leading lane information, and the corresponding route lane in each formation display template is determined as the target display lane based on the leading lane information.

[0021] Optionally, in a possible implementation manner of the first aspect, calling a lane difference model and a distance difference model to perform difference judgment on the real-time lane information and the real-time distance information of each of the subordinate vehicles, generating difference guidance information, updating the formation dynamic map to obtain a guidance formation map, and sending it to the formation navigation area of ​​the corresponding autonomous driving vehicle for display, includes:

[0022] Determine an autonomous driving vehicle adjacent to the autonomous driving vehicle in front of the corresponding autonomous driving vehicle in the formation sequence as a reference vehicle;

[0023] Acquire real-time distance information between the autonomous driving vehicle and the corresponding reference vehicle, and obtain a positioning distance corresponding to the autonomous driving vehicle according to a ratio of the real-time distance information and a preset conversion distance;

[0024] Determine a corresponding route lane as a positioning lane based on the real-time lane information, determine a corresponding position point at the positioning lane as a real-time positioning point according to the positioning distance, and obtain a center point of a formation slot corresponding to the corresponding autonomous driving vehicle as a theoretical positioning point;

[0025] When it is determined that the real-time positioning point is inconsistent with the theoretical positioning point, a real-time slot is set at the real-time positioning point, and the vehicle model is filled into the real-time slot, the corresponding formation slot in the formation dynamic graph is determined as an update slot, and the missing slot is retrieved to replace the update slot to obtain a real-time formation graph;

[0026] Acquire the center point of the missing slot as the guidance positioning point, and generate a comprehensive pointing mark pointing to the guidance positioning point with the real-time positioning point as the starting point as the comprehensive difference guidance information;

[0027] Retrieving a lane difference model to perform lane difference judgment on the real-time lane information of each subordinate vehicle and the target display lane, and generating lane difference guidance information;

[0028] Retrieving a distance difference model to determine the distance difference between the real-time slot of the subordinate vehicle and the missing slot, and generating distance difference guidance information;

[0029] The real-time slots in the real-time formation map are updated according to the lane difference guidance information, the distance difference guidance information and / or the comprehensive difference guidance information, and the obtained guidance formation map is sent to the formation navigation area of ​​the corresponding autonomous driving vehicle for display.

[0030] Optionally, in a possible implementation manner of the first aspect, the calling of the lane difference model to perform lane difference judgment on the real-time lane information of each of the subordinate vehicles and the target display lane to generate lane difference guidance information includes:

[0031] When the lane difference model is retrieved to determine that the real-time lane information of each subordinate vehicle is inconsistent with the target display lane, a lane direction mark pointing to the target display lane is generated with the real-time positioning point as a starting point as the lane difference guidance information.

[0032] Optionally, in a possible implementation manner of the first aspect, calling the distance difference model to perform distance difference judgment on the real-time slot of the subordinate vehicle and the missing slot to generate distance difference guidance information includes:

[0033] When the distance difference model is retrieved to determine that the longitudinal positions of the real-time positioning point of the slave vehicle corresponding to the real-time slot and the guidance positioning point of the missing slot are inconsistent, the longitudinal direction of the guidance positioning point of the slave vehicle located at the corresponding real-time positioning point is obtained as the marking direction;

[0034] The guidance distance is calculated according to the positioning distance and the formation distance, and based on the guidance distance and taking the real-time positioning point as a starting point, a distance pointing mark pointing to the marked direction is generated as distance difference guidance information.

[0035] Optionally, in a possible implementation of the first aspect, the distance between the starting display line and the ending display line in the formation navigation area is obtained to obtain the display distance, and the convoy distance corresponding to the convoy in the formation dynamic graph;

[0036] When it is determined that the convoy distance is greater than the displayed distance, a reduction factor is obtained according to a ratio of the displayed distance to the convoy distance;

[0037] The formation dynamic image is reduced according to the reduction factor to obtain a reduced formation dynamic image.

[0038] Optionally, in a possible implementation of the first aspect, a vehicle end corresponding to the slave vehicle is determined as a slave end, a vehicle end corresponding to the master vehicle is determined as a master end, and a vehicle model in a formation slot is determined as a formation model;

[0039] Receiving a position change operation of the formation sequence by the subordinate end, changing the position of the autonomous driving vehicles in the formation sequence based on the position change operation, and obtaining a change sequence to send to the dominant end;

[0040] Receive confirmation information of the change sequence from the leading end, set formation slots in sequence based on the order of each autonomous driving vehicle in the change sequence, and set distances between formation slots in sequence based on the formation distances of the corresponding subordinate vehicles, fill vehicle models into the formation slots, and obtain a changed formation spacing diagram;

[0041] The guiding formation map is updated according to the modified formation spacing map to obtain an updated guiding formation map.

[0042] Optionally, in a possible implementation of the first aspect, the navigation information of the leading vehicle is obtained, and based on the predicted duration, it is determined that the navigation information of the leading vehicle has a deceleration ramp, and a ramp speed limit value of the deceleration ramp is determined;

[0043] According to the ratio of the preset speed limit value and the ramp speed limit value, an adjusted distance value is obtained, and based on the adjusted distance value and the subordinate distance sum value, an adjusted subordinate distance corresponding to each subordinate vehicle is obtained.

[0044] A second aspect of an embodiment of the present invention provides a data processing device for an autonomous driving platform, including:

[0045] A receiving module, used to receive a formation request from each autonomous driving vehicle, generate a formation interface according to the formation request and send it to each autonomous driving vehicle, wherein the formation interface includes an original navigation area and a formation navigation area;

[0046] A generating module, configured to generate a formation sequence based on the formation information of the autonomous driving vehicles, wherein the formation sequence includes a leading vehicle and a plurality of subordinate vehicles, and to generate a formation spacing diagram according to the driving information of the leading vehicle and the subordinate vehicles;

[0047] A determination module, used to obtain the route lane information of each of the autonomous driving vehicles to generate a corresponding formation display template, and determine the target display lane of each of the formation display templates according to the leading lane information of the leading vehicle;

[0048] An updating module is used to update the target display lane according to the formation spacing diagram to obtain a formation dynamic diagram, call a lane difference model and a distance difference model to perform difference judgment on the real-time lane information and real-time distance information of each subordinate vehicle, generate difference guidance information, update the formation dynamic diagram to obtain a guidance formation diagram, and send it to the formation navigation area of ​​the corresponding autonomous driving vehicle for display.

[0049] According to a third aspect of an embodiment of the present invention, there is provided an electronic device, comprising: a memory, a processor and a computer program, wherein the computer program is stored in the memory, and the processor runs the computer program to execute the first aspect of the present invention and various methods that may be involved in the first aspect.

[0050] According to a fourth aspect of an embodiment of the present invention, a storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, it is used to implement the first aspect of the present invention and various methods that may be involved in the first aspect.

[0051] The beneficial effects of the present invention are as follows:

[0052] 1. The present invention can automatically calculate the interval between each subordinate vehicle according to the actual model of the subordinate vehicle in the convoy and the driving speed of the leading vehicle, so as to ensure the safe driving and stability of the convoy. At the same time, it can also generate a guidance formation map according to information such as the actual driving position of the vehicle, so that each autonomous driving vehicle in the convoy can adaptively change lanes through the convoy in the guidance formation map, avoiding frequent and irregular lane changes, and helping the convoy to coordinate actions more efficiently. First, the present invention generates a formation interface according to the received formation request and sends it to each autonomous driving vehicle, wherein the formation interface includes an original navigation area and a formation navigation area, and provides a display area for a subsequently generated guided formation map. Secondly, a formation spacing map of the fleet is generated according to the driving information of the leading vehicle and the subordinate vehicles, and a safe distance adapted to its characteristics is set for each vehicle to ensure that there is enough time and space to react in an emergency, thereby improving the driving safety of the entire fleet, and obtaining route lane information to generate a formation display template, and the lane through which the leading vehicle travels determines the target display lane in the formation display template, and the target display lane is updated according to the formation spacing map to obtain a formation dynamic map, so that the autonomous driving vehicle can automatically change the driving speed and route according to the actual situation during actual driving through the formation dynamic map. Finally, a guided formation map is generated according to the real-time lane information and real-time distance information of each subordinate vehicle, so that the autonomous driving vehicle can automatically change lanes according to the guided formation map, maintain the driving consistency of the fleet, and facilitate the unified management of the fleet. At the same time, the auxiliary control personnel of the vehicle can also clearly view the driving position information of each vehicle in the fleet.

[0053] 2. The present invention can generate a formation spacing diagram corresponding to each subordinate vehicle according to the actual driving information of each autonomous driving vehicle in the fleet, so that the autonomous driving vehicle can ensure that each subordinate vehicle in the fleet has a sufficient safety distance in an emergency through the formation spacing diagram. First, the present invention sorts each autonomous driving vehicle to obtain a formation sequence, takes the first vehicle in the fleet as the leading vehicle, which is used to manage the overall driving safety of the fleet, and the remaining vehicles as subordinate vehicles, and obtains the vehicle type of the corresponding autonomous driving vehicle, and at the same time obtains the driving speed of the leading vehicle as the driving speed of the fleet, and then extracts the interval distance of the corresponding subordinate vehicle in the preset interval table, and converts the interval distance to obtain the formation distance in the corresponding formation spacing diagram by calculating and converting it, so as to provide a distance reference standard for the autonomous driving vehicle. Secondly, the corresponding vehicle model is filled into the formation slot of the corresponding position to obtain the formation spacing diagram. Setting a safety distance for each vehicle that adapts to its characteristics can ensure that there is enough time and space to react in an emergency, thereby improving the driving safety of the entire fleet.

[0054] 3. The present invention can obtain the actual driving conditions of each autonomous driving vehicle, make a difference judgment, and customize the corresponding fleet guidance interface for the corresponding autonomous driving vehicle, so that the autonomous driving vehicle can automatically change lanes according to the actual situation, ensuring that each autonomous driving vehicle in the fleet can travel on the appropriate lane. First, the present invention generates a corresponding formation display template with multiple route lanes through the route lane information of each autonomous driving vehicle, and at the same time determines the corresponding route lane in the formation display template according to the route lane passed by the leading vehicle, and uses it as the target display lane, and then the formation spacing map can be updated in the target display lane to obtain a formation dynamic map, so that the autonomous driving vehicle can automatically judge and change the driving route lane through the formation dynamic map. Secondly, the present invention will obtain the corresponding real-time positioning point according to the real-time distance information and real-time lane information of the vehicle, and update the corresponding slot in the formation dynamic map according to the real-time positioning point to obtain a real-time formation map. The real-time formation map is used to facilitate the difference judgment of each autonomous driving vehicle. Among them, the present invention will update the real-time formation The center point of the missing slot in the figure is used as the theoretical positioning point, and a comprehensive pointing mark pointing to the theoretical positioning point is generated with the real-time positioning point as the starting point, so as to guide the autonomous driving vehicle to change its driving position. When the real-time lane information is inconsistent with the target displayed lane, a lane pointing mark arrow is generated with the real-time positioning point as the starting point and pointing to the target displayed lane as the lane difference guidance information, so as to guide the autonomous driving vehicle to change lanes automatically. When the longitudinal position of the real-time positioning point of the subordinate vehicle is inconsistent with the theoretical positioning point, the longitudinal direction of its real-time positioning point at the theoretical positioning point is used as the marking direction, and distance difference guidance information is generated to obtain a guidance formation diagram, realize adaptive lane changes, ensure that the fleet is driving on the appropriate lane, and help the fleet to coordinate actions more efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a flow chart of a data processing method for an autonomous driving platform provided by the present invention;

[0056] Figure 2 This is a schematic diagram of the structure of a data processing device for an autonomous driving platform provided by the present invention;

[0057] Figure 3 A schematic diagram of the hardware structure of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in sequences other than those illustrated or described herein.

[0060] It should be understood that in various embodiments of the present invention, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0061] It should be understood that in the present invention, "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0062] It should be understood that in the present invention, "plurality" refers to two or more than two. "And / or" is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "Contains A, B and C", "Contains A, B, C" means that A, B, and C are all included, "Contains A, B or C" means that one of A, B, and C is included, and "Contains A, B and / or C" means that any one, any two, or any three of A, B, and C are included.

[0063] It should be understood that in the present invention, "B corresponding to A", "B corresponding to A", "A corresponds to B" or "B corresponds to A" means that B is associated with A and B can be determined based on A. Determining B based on A does not mean determining B based only on A, but B can also be determined based on A and / or other information. A and B match when the similarity between A and B is greater than or equal to a preset threshold.

[0064] Depending on the context, "if" as used herein may be interpreted as "when" or "when" or "in response to determining" or "in response to detecting."

[0065] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0066] The present invention provides a data processing method for an autonomous driving platform, such as Figure 1 As shown, steps S1-S4 are included:

[0067] S1, receiving formation requests from each autonomous driving vehicle, generating a formation interface according to the formation request and sending it to each of the autonomous driving vehicles, wherein the formation interface includes an original navigation area and a formation navigation area.

[0068] It should be noted that, at present, autonomous driving vehicles focus more on the driving planning of individual vehicles, and less on the coordinated actions between vehicles in the fleet. For example, the positioning device of the autonomous driving vehicle is mainly used to determine the location for navigation planning, and the driving operation is performed according to the preset navigation plan. It is impossible to generate a corresponding guidance interface in combination with the actual driving conditions of the vehicle and the fleet to realize the automatic guidance change of the lane. After receiving the formation request, the present invention will subsequently generate a formation interface and send it to the corresponding autonomous driving vehicle, so as to facilitate the subsequent display of the partitioned navigation and the corresponding guidance formation map. .

[0069] It is understandable that after the server receives the formation requests from each autonomous driving vehicle, it will generate a formation interface based on the formation request and send it to each autonomous driving vehicle, and the formation interface includes an original navigation area and a formation navigation area.

[0070] The formation request is information sent by the vehicle requesting a formation, and the formation interface is the display interface of the autonomous vehicle. The formation interface includes two areas, namely the original navigation area and the formation navigation area. The formation interface can be evenly divided into two left and right areas, or two upper and lower areas, and the corresponding area is set as the original navigation area or the formation navigation area. There is no limitation here. The original navigation area is the display area for the navigation of the autonomous vehicle, and the formation navigation area is the display area for displaying the guidance formation map. The positions of the fleet and the actual vehicles will be displayed in this area later.

[0071] Through the above implementation, the vehicle can obtain the formation interface so that the position relationship between each vehicle and the fleet can be displayed in real time later.

[0072] S2, generating a formation sequence based on the formation information of the autonomous driving vehicles, wherein the formation sequence includes a leading vehicle and a plurality of subordinate vehicles, and generating a formation spacing diagram according to the driving information of the leading vehicle and the subordinate vehicles.

[0073] It should be noted that different types of vehicles have different braking performances. For example, due to its large mass, a truck may have a relatively long braking distance, while a small vehicle may be more likely to achieve an emergency stop in a short time. In addition, the head vehicle in a convoy is used to lead the entire convoy. The faster the head vehicle, the longer the braking distance between the vehicles in the entire convoy, and the slower the head vehicle, the shorter the braking distance between the vehicles in the entire convoy. The present invention sets different driving distances according to vehicle type and speed, which can better adapt to the braking characteristics of different vehicles and reduce the risk of collision.

[0074] It is understandable that the server will generate a formation sequence based on the formation information of the autonomous driving vehicles, the formation sequence includes a leading vehicle and multiple subordinate vehicles, and generate a formation spacing diagram based on the driving information of the leading vehicle and the subordinate vehicles. The driving information includes driving speed and vehicle type, and the vehicle type can be a large vehicle, a small vehicle, etc., which is not limited here.

[0075] Among them, the formation information is the numbering information of the vehicles in the fleet, for example, the formation information of vehicle A is No. 1, the formation information of vehicle B is No. 2, and the formation information of vehicle C is No. 3. The formation sequence is the order of travel of the vehicles in the fleet. The leading vehicle is the first autonomous driving vehicle in the fleet, and the subordinate vehicle is the following vehicle traveling behind the leading vehicle. The formation spacing diagram is an image showing the spacing between vehicles in the fleet.

[0076] Through the above-mentioned implementation mode, the present invention will determine the corresponding driving distance according to the actual driving speed and vehicle type of the vehicle, thereby generating a formation spacing diagram, so that subsequent autonomous driving vehicles will automatically drive according to the formation spacing diagram, thereby improving the overall safety, efficiency and smoothness of the fleet.

[0077] In some embodiments, step S2 (generating a formation sequence based on the formation information of the autonomous driving vehicles, the formation sequence including a leading vehicle and a plurality of subordinate vehicles, and generating a formation spacing diagram according to the driving information of the leading vehicle and the subordinate vehicles) includes steps S21-S26:

[0078] S21, sorting the corresponding autonomous driving vehicles in sequence based on the formation information of the autonomous driving vehicles to obtain a formation sequence corresponding to the autonomous driving vehicles.

[0079] It can be understood that the corresponding autonomous driving vehicles are sorted in sequence according to their formation information to obtain a formation sequence corresponding to the autonomous driving vehicles.

[0080] For example, the vehicles are automatically sorted by their formation information. The formation information of vehicle A is No. 1, the formation information of vehicle B is No. 2, and the formation information of vehicle C is No. 3. The sorting is vehicle A-vehicle B-vehicle C, thus obtaining the formation sequence vehicle A-vehicle B-vehicle C.

[0081] S22, determining the first autonomous driving vehicle in the formation sequence as a leading vehicle, and determining the remaining vehicles as subordinate vehicles, wherein the formation sequence includes a leading vehicle and a plurality of subordinate vehicles.

[0082] It should be noted that in a convoy with a large number of vehicles, there is usually a vehicle that travels at the front of the convoy, responsible for guiding the entire convoy along a specific route and providing a reference standard for the remaining vehicles.

[0083] It is understandable that the present invention will determine the first autonomous driving vehicle in the formation sequence as the leading vehicle and the remaining vehicles as subordinate vehicles.

[0084] For example: in the formation sequence vehicle A-vehicle B-vehicle C, vehicle A is regarded as the leading vehicle, and the remaining vehicles are regarded as subordinate vehicles.

[0085] S23, acquiring the driving speed of the dominant vehicle as the dominant vehicle speed, and the vehicle type of the subordinate vehicle as the subordinate type, wherein the driving information includes the driving speed and the vehicle type.

[0086] It should be noted that due to the different types of vehicles, the subsequent planned vehicle spacing will also be different. For example, a large car and a small car are traveling at the same speed. When an emergency brake occurs, the large car has a larger weight and its inertia will also increase, resulting in a too long braking distance. Therefore, the type of the corresponding following vehicle will be obtained to generate the following distance corresponding to each vehicle.

[0087] It can be understood that the obtained driving speed of the dominant vehicle is used as the dominant vehicle speed, and at the same time, the vehicle type of the subordinate vehicle is obtained and used as the subordinate type, wherein the driving information includes the driving speed and the vehicle type.

[0088] For example, when it is obtained that the subordinate vehicle BB is a small car and the subordinate vehicle C is a large car, the small car is used as the subordinate type of the subordinate vehicle B, and the large car is used as the subordinate type of the subordinate vehicle C.

[0089] Through the above implementation, the driving information is obtained to facilitate the subsequent generation of a formation spacing diagram based on the driving information, thereby ensuring that there is sufficient braking distance between vehicles and ensuring the safety of the fleet.

[0090] S24, extracting the corresponding interval distance in the preset interval comparison table according to the dominant vehicle speed and the subordinate type as the subordinate distance of the corresponding subordinate vehicle, wherein the preset interval comparison table includes a one-to-one correspondence between the vehicle speed range and the vehicle type and the interval distance.

[0091] It should be noted that vehicles in a convoy often need to act in coordination, and the leading vehicle is responsible for guiding the entire convoy to travel along a specific route, so the speed of the leading vehicle is usually the reference speed in the convoy. In addition, the present invention pre-sets a preset spacing comparison table, which contains the appropriate following distances, i.e., spacing distances, for various types of vehicles in various speed ranges.

[0092] Furthermore, the interval distances corresponding to the subordinate vehicles can be extracted from the preset interval comparison table according to the dominant vehicle speed and the subordinate type, providing an interval basis for the vehicle intervals in the formation interval diagram.

[0093] It can be understood that the corresponding interval distance in the preset interval comparison table is extracted according to the dominant vehicle speed and the subordinate type as the subordinate distance of the corresponding subordinate vehicle. The preset interval comparison table has vehicle speed ranges and vehicle types and is in one-to-one correspondence with the interval distance.

[0094] For example: in the preset spacing comparison table, the speed of small and medium-sized cars is [70-80] and the corresponding interval distance is 80, and the speed of large cars is [70-80] and the corresponding interval distance is 100. When the speed is 80 kilometers per hour, small cars need to maintain a safe distance of 80 meters, and large cars need to maintain a safe distance of 100 meters. When the speed is 100 kilometers per hour, small cars need to maintain a safe distance of 100 meters, and large cars need to maintain a safe distance of 150 meters.

[0095] Through the above implementation, the present invention can dynamically generate a suitable following distance according to different vehicle types and the driving speed of the leading vehicle, thereby ensuring sufficient braking distance between vehicles and ensuring the safety of the convoy.

[0096] S25, obtaining the formation distance of the corresponding subordinate vehicles according to the ratio of the subordinate distance and the preset conversion distance.

[0097] It should be noted that the subordinate distance is the actual vehicle spacing. In order to enable the subsequently generated formation spacing diagram to be displayed on the vehicle's display screen, the subordinate distance needs to be scaled proportionally. Therefore, the subordinate distance is converted into the formation distance through the preset conversion distance preset by the personnel.

[0098] It can be understood that the formation distance of the corresponding subordinate vehicles is obtained according to the ratio of the subordinate distance and the preset conversion distance.

[0099] Among them, the preset conversion distance is a conversion distance set manually in advance, for example, 100m corresponds to 1mm, and the formation distance is the distance between vehicles in the formation spacing diagram.

[0100] For example: when the subordinate distance of vehicles in a convoy is 1000m, the preset conversion distance is that the actual distance between vehicles is 100m, and the vehicle distance in the formation spacing diagram corresponds to 1mm. Therefore, the formation distance is (1000 / 100)×1mm=1cm, and the subsequent spacing between the vehicle and the preceding vehicle is 1cm.

[0101] S26, setting the formation slots in sequence based on the order of each autonomous driving vehicle in the formation sequence, setting the distances between the corresponding formation slots based on the formation distance, filling the vehicle models into the formation slots, and obtaining a formation spacing diagram.

[0102] It can be understood that the formation slots are set in sequence according to the order of each autonomous driving vehicle in the formation sequence, and the distance between the formation slots is set in sequence according to the formation distance, and the vehicle models are filled into the formation slots to obtain the formation spacing diagram.

[0103] It is not difficult to understand that the server will set the formation slots in sequence according to the order of each autonomous driving vehicle in the formation sequence, so that each autonomous driving vehicle has a corresponding formation slot. For example, vehicle A-vehicle B-vehicle C has corresponding vertically displayed formation slot A, formation slot B and formation slot C. The distance between formation slot A and formation slot B is set according to the calculated formation distance of vehicle B, and the distance between formation slot B and formation slot C is set according to the calculated formation distance of vehicle C, and the corresponding vehicle models are filled in the slots to obtain a formation spacing diagram.

[0104] It is worth mentioning that the server will also display the subordinate distance of each subordinate vehicle between the corresponding slots. For example, 1000m is displayed between formation slot A and formation slot B.

[0105] Among them, the formation slot is a slot frame for storing the autonomous driving vehicle model, which can be a rectangular frame with a solid line as the border.

[0106] Through the above implementation, a formation spacing diagram is obtained, which is convenient for the autonomous driving vehicle to automatically adjust the speed according to the vehicle spacing in the formation spacing diagram, maintain a suitable distance, and facilitate subsequent display on the corresponding dominant lane information.

[0107] S3, obtaining the route lane information of each of the autonomous driving vehicles to generate a corresponding formation display template, and determining the target display lane of each of the formation display templates according to the leading lane information of the leading vehicle.

[0108] It should be noted that since there are generally a large number of vehicles in a convoy and a following distance needs to be reserved between vehicles to ensure the safety of the convoy, different vehicles in the convoy may travel on different lanes. For example, after vehicle A enters the highway ramp and then enters a new road again, there may be 4 lanes at this time, while vehicle C has not yet entered the new lane and there are only 3 lanes at this time.

[0109] Therefore, the server will obtain the route lane information of each autonomous driving vehicle to generate a corresponding formation display template, and determine the target display lane of each formation display template based on the leading lane information of the leading vehicle.

[0110] Among them, the route lane information is the lane information in the driving route, the formation display template is the display template corresponding to the route lane information, for example, displaying 4 lanes, 3 lanes, etc., and the dominant lane information is the lane information through which the dominant vehicle passes.

[0111] Through the above implementation mode, the present invention will generate a corresponding formation display template according to the actual driving conditions of each vehicle. It is not difficult to understand that different vehicles may have different formation display templates. Subsequently, the target display lane corresponding to the leading vehicle can be obtained in the formation display template, so as to subsequently update the fleet to the target display lane.

[0112] In some embodiments, step S3 (obtaining the route lane information of each of the autonomous driving vehicles to generate a corresponding formation display template, and determining the target display lane of each of the formation display templates according to the leading lane information of the leading vehicle) includes steps S31-S32:

[0113] S31, obtaining the route lane information of each of the autonomous driving vehicles to generate a corresponding formation display template, wherein the formation display template includes multiple route lanes.

[0114] It can be understood that the route lane information of each of the autonomous driving vehicles is obtained to generate a corresponding formation display template, and the formation display template includes multiple route lanes.

[0115] For example: when the route lane information of vehicle A currently traveling has 4 lanes, the corresponding formation display template generated has 4 route lanes; when the route lane information of vehicle C is obtained, there are 3 lanes, the corresponding formation display template generated has 3 route lanes.

[0116] S32, determining the route lane that the leading vehicle passes through as the leading lane information, and determining the corresponding route lane in each formation display template as the target display lane based on the leading lane information.

[0117] It should be noted that the lead vehicle is responsible for guiding the entire convoy to travel along a specific route. Therefore, the present invention will determine the route lane through which the lead vehicle travels in the formation display template of each vehicle as the lead lane information. For example, vehicle C corresponds to a formation display template of three line lanes. The lead vehicle travels through the third lane on the far right. In the formation display template of vehicle C, the third lane is the lead lane information.

[0118] It can be understood that the route lane through which the leading vehicle passes is used as the leading lane information, and the corresponding route lane in each formation display template is determined as the target display lane according to the leading lane information.

[0119] S4, updating the target display lane according to the formation spacing map to obtain a formation dynamic map, calling up a lane difference model and a distance difference model to perform difference judgment on the real-time lane information and real-time distance information of each subordinate vehicle, generating difference guidance information, updating the formation dynamic map to obtain a guidance formation map, and sending it to the formation navigation area of ​​the corresponding autonomous driving vehicle for display.

[0120] It should be noted that during the actual driving process of the convoy, due to unexpected road conditions, such as traffic accidents, the following subordinate vehicles may encounter different driving conditions, resulting in separation from the convoy.

[0121] Therefore, the server will update the target display lane according to the formation spacing diagram to obtain a formation dynamic diagram. For example, the slots of vehicles A, B, and C are updated to the longitudinal road line, and when the formation slots are subsequently set, the center point of the formation slot will coincide with the road line of the target display lane.

[0122] Furthermore, the server will call up the lane difference model and the distance difference model to make difference judgments on the real-time lane information and real-time distance information of each subordinate vehicle. When deviations occur, difference guidance information is generated to update the formation dynamic map to obtain a guidance formation map that is sent to the formation navigation area of ​​the corresponding autonomous driving vehicle for display.

[0123] Among them, the formation dynamic map is a dynamic display map of the formation spacing map updated to the target display lane, the real-time lane information is the information of the vehicle driving on the lane in real time, for example, vehicle B is located in the second lane on the right, the real-time distance information is the real-time distance between the vehicle and the vehicle in front, for example, the distance between the vehicles is 2000m, the difference guidance information is the information for guiding the vehicle when the vehicle deviates, which can be a guidance indicator arrow, and the guidance formation map is an image with guidance information.

[0124] Through the above-mentioned implementation mode, the present invention obtains a guidance formation map according to the difference guidance information, so that the autonomous driving vehicle can perform automatic lane changing and other processing during the autonomous driving process according to the difference guidance information in the guidance formation map, thereby ensuring that the team members can better follow the leading vehicle and travel in coordination, thereby improving the coordination of the entire team.

[0125] In some embodiments, step S4 (the step of retrieving the lane difference model and the distance difference model to make a difference judgment on the real-time lane information and the real-time distance information of each subordinate vehicle, generating difference guidance information to update the formation dynamic map to obtain a guidance formation map and sending it to the formation navigation area of ​​the corresponding autonomous driving vehicle for display) includes steps S41-S48:

[0126] S41, determining the autonomous driving vehicle adjacent to the front of the corresponding autonomous driving vehicle in the formation sequence as a reference vehicle.

[0127] It is understandable that the server will determine the autonomous driving vehicle adjacent to the corresponding autonomous driving vehicle in the formation sequence as a reference vehicle, and subsequently obtain the distance between the vehicle and the reference vehicle. For example, the reference vehicle of vehicle B is vehicle A, and the reference vehicle of vehicle C is vehicle B. Subsequently, the real-time distance information between the vehicles can be directly obtained through the positioning device.

[0128] S42, obtaining real-time distance information between the autonomous driving vehicle and the corresponding reference vehicle, and obtaining a positioning distance corresponding to the autonomous driving vehicle based on a ratio of the real-time distance information and a preset conversion distance.

[0129] It is understandable that the server will obtain the real-time distance information and position between the autonomous driving vehicle and the corresponding reference vehicle, such as whether it is in front or behind, and obtain the corresponding positioning distance of the autonomous driving vehicle based on the ratio of the real-time distance information and the preset conversion distance.

[0130] Among them, the positioning distance is the display distance between the corresponding autonomous driving vehicle and the corresponding reference vehicle in the formation dynamic map.

[0131] For example: when the real-time distance information of vehicle B from vehicle A is 1000m, and it is behind vehicle A, the ratio of the real-time distance information and the preset conversion distance is (1000 / 100)×1mm=1cm, then the corresponding real-time positioning point will be determined 1cm behind the position of the corresponding slot of vehicle A.

[0132] S43, based on the real-time lane information, determine the corresponding route lane as the positioning lane, determine the corresponding position point at the positioning lane as the real-time positioning point according to the positioning distance, and obtain the center point of the corresponding formation slot of the corresponding autonomous driving vehicle as the theoretical positioning point.

[0133] It can be understood that the corresponding route lane in the formation display template is used as the positioning lane through the real-time lane information. For example, the formation display template of vehicle B has four lanes, and vehicle B is located in the second lane on the right, then the second lane on the right side of the formation display template is used as the positioning lane.

[0134] Specifically, the server will determine the corresponding position point of the vehicle in the positioning lane based on the positioning distance and orientation with the reference vehicle, use the determined position point as the real-time positioning point, and determine the center point of the formation slot corresponding to the corresponding autonomous driving vehicle as the theoretical positioning point.

[0135] For example: the formation display template of vehicle B has four lanes, and vehicle B is located in the second lane on the right. The second lane on the right side of the formation display template is used as the positioning lane. Vehicle B is located behind vehicle A, and the positioning distance is 1 cm. The second lane on the right side of the formation display template is located 1 cm behind the corresponding formation slot of vehicle A. The corresponding position point is determined as the real-time positioning point. It is worth mentioning that determining 1 cm behind the corresponding formation slot of vehicle A can be obtained 1 cm behind the center point of the corresponding formation slot of vehicle A, which is not limited here.

[0136] Through the above implementation mode, the real-time positioning point of the corresponding autonomous driving vehicle is obtained, which is convenient for the subsequent setting of the actual driving vehicle, and the subsequent difference judgment of the theoretical driving vehicle position in each fleet based on the actual driving vehicle position. When a difference occurs, the autonomous driving vehicle is guided to realize automatic lane change of the vehicle, etc., to ensure the stability of the fleet.

[0137] S44, when it is determined that the real-time positioning point is inconsistent with the theoretical positioning point, a real-time slot is set at the real-time positioning point, and the vehicle model is filled into the real-time slot, the corresponding formation slot in the formation dynamic graph is determined as the update slot, the missing slot is retrieved to replace the update slot, and the real-time formation graph is obtained.

[0138] It should be noted that when the formation spacing diagram is updated to the target display lane, the center point of the formation slot corresponding to each autonomous driving vehicle in the formation spacing diagram is set at the longitudinal target display lane. The lane can be used as a longitudinal line in the interface. Therefore, if the real-time positioning point and the theoretical positioning point of the autonomous driving vehicle are inconsistent subsequently, it means that the autonomous driving vehicle has a position offset, which may be a distance offset, a lane offset, or both a distance and a lane offset.

[0139] It can be understood that when it is determined that the real-time positioning point is inconsistent with the theoretical positioning point, it means that the actual position of the autonomous driving vehicle at this time and the theoretical position in the fleet are offset. Therefore, a real-time slot is set at the real-time positioning point, and the vehicle model is filled into the real-time slot. The formation slot corresponding to the corresponding autonomous driving vehicle in the formation dynamic map is determined as the update slot, and the missing slot is called to replace the update slot to obtain the real-time formation map. If the real-time positioning point is consistent with the theoretical positioning point, it means that the actual position of the autonomous driving vehicle at this time is consistent with the theoretical position, and no subsequent processing is required.

[0140] It is not difficult to understand that since the actual position is inconsistent with the theoretical position, the formation slot corresponding to the theoretical position is replaced by the missing slot shown in the dotted box to facilitate subsequent observation and know that the position of the corresponding vehicle in the fleet is offset.

[0141] Among them, the real-time slot is the slot at the real-time positioning point, which can be a slot frame, such as a rectangular frame, and the border is a solid line. The missing slot is a slot frame with a dashed frame, such as a rectangular frame, and the border is a dashed line.

[0142] It is not difficult to understand that when setting the real-time slot, the center point of its slot frame and the real-time positioning point coincide with each other. When the real-time slot is inconsistent with the formation slot position of the corresponding autonomous driving vehicle in the formation dynamic graph, for example, the real-time slot and formation slot of vehicle B.

[0143] Through the above implementation, the present invention obtains a real-time formation map, which is convenient for subsequent difference judgment of the corresponding automatic driving vehicles on the real-time formation map and generation of corresponding difference guidance information.

[0144] S45, obtaining the center point of the missing slot as a guidance positioning point, and generating a comprehensive pointing mark pointing to the guidance positioning point with the real-time positioning point as a starting point as comprehensive difference guidance information.

[0145] It should be noted that there are situations where the autonomous driving vehicles are in the same lane but have a distance deviation, there are situations where there is no distance deviation but they are in different lanes, and there are situations where there is both a distance deviation and a lane deviation.

[0146] It can be understood that the center point of the missing slot is obtained as the guidance positioning point, and a comprehensive pointing mark pointing to the guidance positioning point is generated with the real-time positioning point as the starting point as the comprehensive difference guidance information.

[0147] It is not difficult to understand that the comprehensive difference guidance information is used to comprehensively reflect the comprehensive gap between the actual position and the theoretical position of the autonomous driving vehicle.

[0148] Among them, the comprehensive pointing mark is an indicating guide arrow pointing from the real-time positioning point to the guidance positioning point.

[0149] S46, calling a lane difference model to perform lane difference judgment on the real-time lane information of each subordinate vehicle and the target display lane, and generating lane difference guidance information.

[0150] It can be understood that the lane difference model is retrieved to perform lane difference judgment on the real-time lane information of each subordinate vehicle and the target display lane, and generate lane difference guidance information.

[0151] The lane difference guidance information is an indication guidance arrow pointing from the real-time positioning point to the target display lane.

[0152] In some embodiments, step S46 (the step of retrieving the lane difference model to perform lane difference judgment on the real-time lane information of each of the subordinate vehicles and the target displayed lane to generate lane difference guidance information) includes step S461:

[0153] S461, when the lane difference model is retrieved to determine that the real-time lane information of each subordinate vehicle is inconsistent with the target display lane, a lane direction mark pointing to the target display lane is generated with the real-time positioning point as the starting point as the lane difference guidance information.

[0154] It can be understood that when it is determined through the lane difference model that the real-time lane information of each subordinate vehicle is inconsistent with the target display lane, a lane pointing mark pointing to the target display lane is generated with the real-time positioning point as the starting point as the lane difference guidance information.

[0155] The lane difference model is a judgment model for judging lanes, and the lane pointing mark is an indicating arrow that displays lane differences. It should be noted that the lane difference guidance information may be a pointing arrow, and the length of the pointing arrow may be a preset length, which is specifically determined by the number of lanes separated. For example, if the real-time positioning point is in the third lane on the right, and the target display lane is the second lane on the right, which is separated by one lane, the lane difference guidance information pointing to the target display lane is generated with a preset length. If there are two lanes separated, the corresponding lane difference guidance information is generated with twice the preset length.

[0156] For example: if the current driving lane of the slave vehicle B's autonomous driving vehicle is route lane 4, which is inconsistent with the target display lane route lane 2, a directional arrow is generated from the real-time positioning point of lane 4 to lane 2.

[0157] Through the above-mentioned implementation manner, the present invention obtains lane difference guidance information, so that the automatic driving vehicle automatically changes the driving lane according to the lane difference guidance information, and regulates the driving of the vehicle.

[0158] S47, calling a distance difference model to determine the distance difference between the real-time slot of the subordinate vehicle and the missing slot, and generating distance difference guidance information.

[0159] It can be understood that the distance difference model is called to judge the distance difference between the real-time slot and the missing slot of the subordinate vehicle, and generate the distance difference guidance information.

[0160] The distance difference guidance information is an indicator arrow showing the distance difference.

[0161] In some embodiments, step S47 (the step of calling the distance difference model to determine the distance difference between the real-time slot of the subordinate vehicle and the missing slot, and generating distance difference guidance information) includes steps S471-S472:

[0162] S471, when the distance difference model is called up to determine that the longitudinal positions of the real-time positioning point of the subordinate vehicle corresponding to the real-time slot and the guidance positioning point of the missing slot are inconsistent, the longitudinal direction of the guidance positioning point of the subordinate vehicle located at the corresponding real-time positioning point is obtained as the marking direction.

[0163] It should be noted that when the longitudinal position of the autonomous driving vehicle is inconsistent, a longitudinal distance guidance mark will be generated as distance difference guidance information. For example, the positioning distance of vehicle B is 1 cm, but the calculated formation distance is 0.5 cm, that is, the missing slot of vehicle B is in front of the real-time slot. If the longitudinal position is inconsistent, the mark direction and positioning distance will be determined later, and a distance pointing mark pointing to the mark direction will be generated.

[0164] It can be understood that when the distance difference model is called up to determine that the longitudinal positions of the real-time positioning point of the subordinate vehicle corresponding to the real-time slot and the guidance positioning point of the missing slot are inconsistent, the longitudinal direction of the guidance positioning point of the subordinate vehicle located at the corresponding real-time positioning point is obtained as the marking direction.

[0165] Among them, the distance difference model is a judgment model for judging the distance.

[0166] For example: the positioning distance of vehicle B is 1 cm, but the calculated formation distance is 0.5 cm, that is, the missing slot of vehicle B is located in front of the real-time slot, the longitudinal position is inconsistent, and the marked direction is forward.

[0167] S472, calculating a guidance distance according to the positioning distance and the formation distance, and generating a distance pointing mark pointing to the marked direction as distance difference guidance information based on the guidance distance and taking the real-time positioning point as a starting point.

[0168] It should be noted that when the vehicle is behind the reference vehicle, the absolute value of the difference between the positioning distance and the formation distance is calculated to obtain the corresponding guidance distance. For example, if vehicle B is behind vehicle A, and the positioning distance is 1 cm and the formation distance is 0.5 cm, the guidance distance is 0.5 cm. When the vehicle is in front of the reference vehicle, for example, the actual position of vehicle C is in front of vehicle B, the guidance distance is generated by the sum of the positioning distance and the formation distance.

[0169] It is understandable that the server will generate a distance pointing mark pointing to the marking direction as the distance difference guidance information with the real-time positioning point as the starting point and the guidance distance as the length. The distance pointing mark is a pointing arrow showing the distance difference, which can be a pointing arrow.

[0170] For example, when it is determined that there is a distance difference and the theoretical positioning point is below the real-time positioning point, a vertical downward indicating arrow will be generated at the corresponding real-time center point.

[0171] Through the above implementation, the present invention can display the distance difference between the actual position and the theoretical position of the vehicle in real time.

[0172] S48, updating the real-time slots in the real-time formation map according to the lane difference guidance information, the distance difference guidance information and / or the comprehensive difference guidance information, and obtaining a guidance formation map that is sent to the formation navigation area of ​​the corresponding autonomous driving vehicle for display.

[0173] It should be noted that when there is only a lane difference, the real-time positioning point corresponding to the real-time slot in the real-time formation map is updated through the lane difference guidance information; when there is only a distance difference, the real-time positioning point corresponding to the real-time slot in the real-time formation map is updated through the distance difference guidance information; when there are both lane and distance differences, the real-time formation map is updated through the lane difference guidance information, the distance difference guidance information and the comprehensive difference guidance information.

[0174] It can be understood that the real-time slots in the real-time formation map are updated according to the lane difference guidance information, the distance difference guidance information and / or the comprehensive difference guidance information, and the obtained guidance formation map is sent to the formation navigation area of ​​the corresponding autonomous driving vehicle for display.

[0175] It is not difficult to understand that the present invention will update the pointing arrows showing the distance difference, the pointing arrows showing the lane difference, and the pointing arrows showing the position difference between the real-time positioning point and the guidance positioning point for the real-time positioning point of the real-time slot in the real-time formation map.

[0176] Through the above implementation, the present invention obtains a guiding formation map, so that subsequent autonomous driving vehicles can automatically adjust the vehicle's driving lane and distance according to the guiding formation map to ensure that the vehicle maintains standardized driving in the fleet.

[0177] It should be noted that in order to ultimately be able to reasonably display the guidance formation map in the formation navigation area, it is necessary to obtain the size of the display surface of the formation navigation area, and then determine a reasonable scaling ratio of the formation dynamic map based on the size of the display surface of the formation navigation area, thereby obtaining a formation dynamic map with a reasonably reduced scale. The specific implementation steps are as follows.

[0178] Therefore, in step S4, the target display lane is updated according to the formation spacing diagram to obtain a formation dynamic diagram, which also includes steps A1-A3:

[0179] A1, obtaining the distance between the starting display line and the ending display line in the formation navigation area to obtain the display distance, and the convoy distance corresponding to the convoy in the formation dynamic graph.

[0180] It can be understood that the display distance is obtained by obtaining the distance between the starting display line and the ending display line in the formation navigation area, as well as the fleet distance corresponding to the fleet in the formation dynamic diagram.

[0181] Among them, the display distance is the distance between the upper boundary and the lower boundary of the formation navigation area where the image can be displayed, and the convoy distance is the distance between the first vehicle and the last vehicle in the convoy in the formation spacing diagram.

[0182] Through the above implementation, the present invention obtains the display distance and the convoy distance, so that a reasonable scaling ratio can be obtained later to display the image.

[0183] A2, when it is determined that the convoy distance is greater than the displayed distance, a reduction factor is obtained according to a ratio of the displayed distance to the convoy distance.

[0184] It is understandable that when it is determined that the convoy distance is greater than the displayed distance, the reduction factor is obtained according to the ratio of the displayed distance to the convoy distance.

[0185] For example, when the display distance is 25 cm and the convoy distance is 30 cm, since the convoy distance of 30 cm is greater than the display distance of 25 cm, the reduction factor is 5 / 6.

[0186] A3, reducing the formation dynamic image according to the reduction factor to obtain a reduced formation dynamic image.

[0187] It can be understood that the formation dynamic image is reduced in size according to the reduction factor to obtain the reduced formation dynamic image.

[0188] Through the above implementation, the present invention can subsequently update the dynamic formation image after the reduction processing to obtain a guiding formation image, and can also reasonably display it in the formation navigation area.

[0189] It should be noted that during the actual driving process, the positions of vehicles in the convoy may change. For example, subordinate vehicle No. 3 and subordinate vehicle No. 4 want to change positions, and thus send the position change information to the leading vehicle. When the leading vehicle agrees to change positions, the formation sequence will be updated. In order to facilitate the leading vehicle to understand the driving status of each vehicle in the convoy, the position of the corresponding vehicle will be updated on the guidance formation map.

[0190] Therefore, steps B1-B4 are also included:

[0191] B1, determine the vehicle end corresponding to the slave vehicle as the slave end, the vehicle end corresponding to the master vehicle as the master end, and use the vehicle model in the formation slot as the formation model.

[0192] It should be noted that in order to facilitate the subsequent sending of requests for position change, the sending terminal of the corresponding vehicle needs to be determined first.

[0193] It can be understood that the vehicle end corresponding to the slave vehicle is determined as the slave end, the vehicle end corresponding to the master vehicle is determined as the master end, and the vehicle model in the formation slot is determined as the formation model.

[0194] Among them, the vehicle end is a terminal that can send data between vehicles, and can be the vehicle's car gateway.

[0195] B2, receiving the position change operation of the formation sequence by the slave end, changing the position of the autonomous driving vehicles in the formation sequence based on the position change operation, and obtaining a changed sequence to send to the dominant end.

[0196] It is understandable that when the subordinate end receives the position change operation of the formation sequence, the position of the autonomous driving vehicle in the formation sequence is changed according to the position change operation, and the changed sequence is sent to the dominant end. It is not difficult to understand that the operation can be performed by the auxiliary driver in the autonomous driving vehicle.

[0197] The changed sequence is a sequence after the formation sequence has undergone position change.

[0198] For example: since the large autonomous driving vehicle at No. 3 in the formation sequence needs to stop temporarily, the small autonomous driving vehicle at No. 4 in the formation sequence can overtake, so that the small autonomous driving vehicle corresponding to No. 4 and the large autonomous driving vehicle corresponding to No. 3 are swapped, and a new change sequence (1, 2, 4, 3, 5...) is obtained accordingly and sent to the dominant end.

[0199] B3, receiving confirmation information of the change sequence from the dominant end, setting the formation slots in sequence based on the order of each autonomous driving vehicle in the change sequence, and setting the distance between the formation slots in sequence based on the formation distance of the corresponding subordinate vehicles, filling the vehicle model into the formation slot, and obtaining the changed formation spacing diagram.

[0200] It should be noted that when the formation sequence changes, the positioning distance in the corresponding formation spacing diagram and the filling model in the formation slot need to be updated accordingly.

[0201] It can be understood that the confirmation information of the changed sequence is received from the dominant end, the formation slots are set in sequence according to the order of each autonomous driving vehicle in the changed sequence, and the distance between the formation slots is set in sequence based on the formation distance of the corresponding subordinate vehicles, and the vehicle model is filled into the formation slot to obtain the changed formation spacing diagram.

[0202] B4, updating the guiding formation map according to the modified formation spacing map to obtain an updated guiding formation map.

[0203] It should be noted that the guiding formation map is obtained based on the formation spacing map. Therefore, when the formation spacing map is updated, the corresponding guiding formation map is also updated accordingly.

[0204] It can be understood that the guiding formation map is updated according to the changed formation spacing map to obtain an updated guiding formation map.

[0205] Through the above implementation, the present invention can directly grasp the driving conditions of subordinate vehicles in the fleet through the position change request sent by the subordinate vehicle, and timely update the guidance formation map to intuitively view the current vehicle position of the fleet.

[0206] It should be added that the subordinate vehicle can send a position change request message to the leading vehicle to obtain the consent of the leading vehicle so as to subsequently update the formation spacing diagram. At the same time, the present invention can also directly drag the corresponding vehicle model position in the guiding formation diagram on the subordinate end corresponding to the subordinate vehicle, so that the leading vehicle can approve the position change by checking the guiding formation diagram obtained after the movement.

[0207] Therefore, the specific implementation steps also include C1-C3:

[0208] C1, determine the vehicle end corresponding to the slave vehicle as the slave end, the vehicle end corresponding to the master vehicle as the master end, and use the vehicle model in the formation slot as the formation model.

[0209] It should be noted that in order to facilitate the subsequent sending of requests for position change, the sending terminal of the corresponding vehicle needs to be determined first.

[0210] It can be understood that the vehicle end corresponding to the slave vehicle is determined as the slave end, the vehicle end corresponding to the master vehicle is determined as the master end, and the vehicle model in the formation slot is determined as the formation model.

[0211] Among them, the vehicle end is a terminal that can send data between vehicles, and can be the vehicle's car gateway.

[0212] C2, in response to the subordinate end's operation of moving the position of the corresponding formation model in the guiding formation diagram, the position of the corresponding formation model is moved, and the obtained guided formation diagram after the movement is sent to the dominant end as the application exchange diagram.

[0213] It can be understood that in response to the subordinate end's operation of moving the position of the corresponding formation model in the guiding formation map, the position of the corresponding formation model is moved, and the moved guiding formation map is obtained and sent to the dominant end as the application exchange map.

[0214] For example: when the on-board personnel drag the corresponding formation model on the slave end corresponding to the slave vehicle to move, the corresponding guiding formation map will be directly generated after the position of the formation model moves, and the guiding map after the position movement will be sent to the dominant end as an application exchange map.

[0215] C3, receiving confirmation information of the leading end on the application for switching the map, and using the application for switching the map as the current guiding formation map.

[0216] It can be understood that, after receiving the confirmation information of the dominant end agreeing to the application for map exchange, the application for map exchange is used as the current guiding formation map.

[0217] Through the above implementation, the present invention can send the corresponding application exchange diagram to the leading end, so that the leading vehicle personnel can intuitively view the replacement position of the corresponding vehicle on the leading end, and conveniently obtain the guidance formation diagram with the position changed.

[0218] It should be noted that when the convoy is about to travel on a deceleration ramp and is waiting to exit the next intersection, since the deceleration ramp has a corresponding driving speed, it will judge whether there is a deceleration ramp within the predicted time based on the navigation information. For example, whether there is a deceleration ramp within the next 10 minutes, the vehicles in the convoy will be controlled in advance to adjust the vehicle distance to ensure that the vehicles decelerate in time and maintain a safe driving distance. The specific implementation steps are as follows.

[0219] Therefore, it also includes steps D1-D2:

[0220] D1, obtaining navigation information of the leading vehicle, determining that the navigation information of the leading vehicle has a deceleration ramp based on the predicted duration, and determining a ramp speed limit value of the deceleration ramp.

[0221] It can be understood that the navigation information of the leading vehicle is obtained, and based on the predicted duration, it is determined that the navigation information of the leading vehicle has a deceleration ramp, and the ramp speed limit value of the deceleration ramp is determined.

[0222] The prediction duration is a time period preset manually, which may be 10 minutes.

[0223] For example, based on the navigation information of the leading vehicle in the fleet, it is determined that the vehicle will be heading towards a deceleration ramp within the next 10 minutes. Therefore, it is necessary to decelerate in advance and determine that the corresponding ramp speed limit is 60 km / h.

[0224] D2, according to the ratio of the preset speed limit value and the ramp speed limit value, obtain the adjustment coefficient, according to the product of the adjustment coefficient and the preset distance, obtain the adjusted distance value, based on the adjustment distance value and the subordinate distance sum value, obtain the adjusted subordinate distance corresponding to each subordinate vehicle.

[0225] It should be noted that when a deceleration ramp is about to appear ahead during driving, the smaller the ramp speed limit, for example, the speed limit is 40, the distance between the two autonomous driving vehicles that need to decelerate should also be increased to avoid accidents due to insufficient reserved distance during the deceleration process. The larger the ramp speed limit, the smaller the corresponding increase in distance.

[0226] It can be understood that the adjustment coefficient is obtained according to the ratio of the preset speed limit value and the ramp speed limit value, the adjusted distance value is obtained according to the product of the adjustment coefficient and the preset distance, and the adjusted subordinate distance corresponding to each subordinate vehicle is obtained based on the adjusted distance value and the subordinate distance sum value.

[0227] Among them, the preset speed limit value is a speed value preset by humans, and the preset distance is a distance value preset by humans based on actual conditions, which will not be elaborated here.

[0228] For example: the corresponding subordinate distance of the vehicle is 100 meters, the preset speed limit is 100 kilometers per hour, and the preset distance is 30 meters. When the ramp speed limit is 60 kilometers per hour, the adjustment coefficient is 100 / 60=5 / 3, so the adjusted distance is 5 / 3×30=50 meters. Therefore, the adjusted subordinate distance is 50+100=150 meters. When the ramp speed limit is 40 kilometers per hour, the adjustment coefficient is 100 / 40=2.5, so the adjusted distance is 2.5×30=75 meters. Therefore, the adjusted subordinate distance is 75+100=175 meters. For ease of understanding, only examples are given here.

[0229] Through the above-mentioned implementation mode, the present invention warns vehicles to adjust the distance by predicting the magnitude of the speed change, thereby ensuring that the following subordinate vehicles in the convoy can reserve a safe distance and drive safely.

[0230] like Figure 2 FIG. 1 is a schematic diagram of a data processing device for an autonomous driving platform provided by an embodiment of the present invention, the device comprising:

[0231] A receiving module, used to receive a formation request from each autonomous driving vehicle, generate a formation interface according to the formation request and send it to each autonomous driving vehicle, wherein the formation interface includes an original navigation area and a formation navigation area;

[0232] A generating module, configured to generate a formation sequence based on the formation information of the autonomous driving vehicles, wherein the formation sequence includes a leading vehicle and a plurality of subordinate vehicles, and to generate a formation spacing diagram according to the driving information of the leading vehicle and the subordinate vehicles;

[0233] A determination module, used to obtain the route lane information of each of the autonomous driving vehicles to generate a corresponding formation display template, and determine the target display lane of each of the formation display templates according to the leading lane information of the leading vehicle;

[0234] An updating module is used to update the target display lane according to the formation spacing diagram to obtain a formation dynamic diagram, call a lane difference model and a distance difference model to perform difference judgment on the real-time lane information and real-time distance information of each subordinate vehicle, generate difference guidance information, update the formation dynamic diagram to obtain a guidance formation diagram, and send it to the formation navigation area of ​​the corresponding autonomous driving vehicle for display.

[0235] like Figure 3 FIG. 1 is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention. The electronic device 30 includes: a processor 31, a memory 32 and a computer program; wherein

[0236] The memory 32 is used to store the computer program, and the memory may also be a flash memory. The computer program is, for example, an application program, a functional module, etc. for implementing the above method.

[0237] The processor 31 is used to execute the computer program stored in the memory to implement each step performed by the device in the above method. For details, please refer to the relevant description in the above method embodiment.

[0238] Optionally, the memory 32 may be independent or integrated with the processor 31 .

[0239] When the memory 32 is a device independent of the processor 31, the device may further include:

[0240] The bus 33 is used to connect the memory 32 and the processor 31 .

[0241] The present invention also provides a readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, it is used to implement the methods provided by the various embodiments described above.

[0242] Among them, the readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application-specific integrated circuit (Application Specific Integrated Circuits, abbreviated as: ASIC). In addition, the ASIC can be located in a user device. Of course, the processor and the readable storage medium can also exist in a communication device as discrete components. The readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0243] The present invention also provides a program product, which includes an execution instruction, which is stored in a readable storage medium. At least one processor of a device can read the execution instruction from the readable storage medium, and at least one processor executes the execution instruction so that the device implements the methods provided in the above various embodiments.

[0244] In the embodiments of the above-mentioned devices, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0245] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A data processing method for an autonomous driving platform, characterized in that: include: Receiving a formation request from each autonomous driving vehicle, generating a formation interface according to the formation request and sending it to each autonomous driving vehicle, wherein the formation interface includes an original navigation area and a formation navigation area; Generating a formation sequence based on the formation information of the autonomous driving vehicles, the formation sequence including a leading vehicle and a plurality of subordinate vehicles, and generating a formation spacing diagram according to the driving information of the leading vehicle and the subordinate vehicles; Acquire route lane information of each of the autonomous driving vehicles to generate a corresponding formation display template, and determine a target display lane of each of the formation display templates according to the leading lane information of the leading vehicle; The target display lane is updated according to the formation spacing map to obtain a formation dynamic map, a lane difference model and a distance difference model are retrieved to perform difference judgment on the real-time lane information and real-time distance information of each subordinate vehicle, and difference guidance information is generated to update the formation dynamic map to obtain a guidance formation map, which is sent to the formation navigation area of ​​the corresponding autonomous driving vehicle for display; The step of generating a formation sequence based on the formation information of the autonomous driving vehicle, wherein the formation sequence includes a leading vehicle and a plurality of subordinate vehicles, and generating a formation spacing diagram according to the driving information of the leading vehicle and the subordinate vehicles, comprises: Based on the formation information of the autonomous driving vehicles, the corresponding autonomous driving vehicles are sorted in sequence to obtain a formation sequence corresponding to the autonomous driving vehicles; Determine the first of the autonomous driving vehicles in the formation sequence as a leading vehicle and the remaining vehicles as subordinate vehicles, the formation sequence including the leading vehicle and the plurality of subordinate vehicles; Acquire the driving speed of the leading vehicle as the leading vehicle speed, and the vehicle type of the subordinate vehicle as the subordinate type, wherein the driving information includes the driving speed and the vehicle type; Extracting the corresponding interval distance in the preset interval comparison table according to the dominant vehicle speed and the subordinate type as the subordinate distance of the corresponding subordinate vehicle, wherein the preset interval comparison table includes a one-to-one correspondence between the vehicle speed interval and the vehicle type and the interval distance; According to the ratio of the subordinate distance and the preset conversion distance, the formation distance of the corresponding subordinate vehicle is obtained; The formation slots are sequentially set based on the order of each autonomous driving vehicle in the formation sequence, and the distances between the corresponding formation slots are set based on the formation distance, and the vehicle models are filled into the formation slots to obtain a formation spacing diagram; The calling of the lane difference model and the distance difference model to perform difference judgment on the real-time lane information and the real-time distance information of each subordinate vehicle, generating difference guidance information to update the formation dynamic map to obtain a guidance formation map, and sending it to the formation navigation area of ​​the corresponding autonomous driving vehicle for display, includes: Determine an autonomous driving vehicle adjacent to the autonomous driving vehicle in front of the corresponding autonomous driving vehicle in the formation sequence as a reference vehicle; Acquire real-time distance information between the autonomous driving vehicle and the corresponding reference vehicle, and obtain a positioning distance corresponding to the autonomous driving vehicle according to a ratio of the real-time distance information and a preset conversion distance; Determine a corresponding route lane as a positioning lane based on the real-time lane information, determine a corresponding position point at the positioning lane as a real-time positioning point according to the positioning distance, and obtain a center point of a formation slot corresponding to the corresponding autonomous driving vehicle as a theoretical positioning point; When it is determined that the real-time positioning point is inconsistent with the theoretical positioning point, a real-time slot is set at the real-time positioning point, and the vehicle model is filled into the real-time slot, the corresponding formation slot in the formation dynamic graph is determined as an update slot, and the missing slot is retrieved to replace the update slot to obtain a real-time formation graph; Acquire the center point of the missing slot as the guidance positioning point, and generate a comprehensive pointing mark pointing to the guidance positioning point with the real-time positioning point as the starting point as the comprehensive difference guidance information; Retrieving a lane difference model to perform lane difference judgment on the real-time lane information of each subordinate vehicle and the target display lane, and generating lane difference guidance information; Retrieving a distance difference model to determine the distance difference between the real-time slot of the subordinate vehicle and the missing slot, and generating distance difference guidance information; The real-time slots in the real-time formation map are updated according to the lane difference guidance information, the distance difference guidance information and / or the comprehensive difference guidance information, and the obtained guidance formation map is sent to the formation navigation area of ​​the corresponding autonomous driving vehicle for display.

2. The method according to claim 1, characterized in that The acquiring of the route lane information of each of the autonomous driving vehicles to generate a corresponding formation display template, and determining the target display lane of each of the formation display templates according to the leading lane information of the leading vehicle, comprises: Acquire route lane information of each of the autonomous driving vehicles to generate a corresponding formation display template, wherein the formation display template includes a plurality of route lanes; The route lane passed by the leading vehicle is determined as the leading lane information, and the corresponding route lane in each formation display template is determined as the target display lane based on the leading lane information.

3. The method according to claim 1, characterized in that The calling of the lane difference model performs lane difference judgment on the real-time lane information of each subordinate vehicle and the target display lane to generate lane difference guidance information, including: When the lane difference model is retrieved to determine that the real-time lane information of each subordinate vehicle is inconsistent with the target display lane, a lane direction mark pointing to the target display lane is generated with the real-time positioning point as a starting point as the lane difference guidance information.

4. The method according to claim 1, characterized in that The calling of the distance difference model to judge the distance difference between the real-time slot of the subordinate vehicle and the missing slot, and generating distance difference guidance information, includes: When the distance difference model is retrieved to determine that the longitudinal positions of the real-time positioning point of the slave vehicle corresponding to the real-time slot and the guidance positioning point of the missing slot are inconsistent, the longitudinal direction of the guidance positioning point of the slave vehicle located at the corresponding real-time positioning point is obtained as the marking direction; The guidance distance is calculated according to the positioning distance and the formation distance, and based on the guidance distance and taking the real-time positioning point as a starting point, a distance pointing mark pointing to the marked direction is generated as distance difference guidance information.

5. The method according to claim 1, characterized in that Also includes: Obtaining the distance between the starting display line and the ending display line in the formation navigation area to obtain the display distance, and the fleet distance corresponding to the fleet in the formation dynamic graph; When it is determined that the convoy distance is greater than the displayed distance, a reduction factor is obtained according to a ratio of the displayed distance to the convoy distance; The formation dynamic image is reduced according to the reduction factor to obtain a reduced formation dynamic image.

6. The method according to claim 3, characterized in that Also includes: Determine the vehicle end corresponding to the slave vehicle as the slave end, the vehicle end corresponding to the master vehicle as the master end, and use the vehicle model in the formation slot as the formation model; Receiving a position change operation of the formation sequence by the subordinate end, changing the position of the autonomous driving vehicles in the formation sequence based on the position change operation, and obtaining a change sequence to send to the dominant end; Receive confirmation information of the change sequence from the leading end, set formation slots in sequence based on the order of each autonomous driving vehicle in the change sequence, and set distances between formation slots in sequence based on the formation distances of the corresponding subordinate vehicles, fill vehicle models into the formation slots, and obtain a changed formation spacing diagram; The guiding formation map is updated according to the modified formation spacing map to obtain an updated guiding formation map.

7. The method according to claim 1, characterized in that Also includes: Obtaining navigation information of the leading vehicle, determining that the navigation information of the leading vehicle has a deceleration ramp based on the predicted duration, and determining a ramp speed limit value of the deceleration ramp; An adjustment coefficient is obtained according to the ratio of a preset speed limit value and the ramp speed limit value, an adjustment distance value is obtained according to the product of the adjustment coefficient and a preset distance, and based on the adjustment distance value and the subordinate distance sum value, an adjusted subordinate distance corresponding to each subordinate vehicle is obtained.

8. A data processing device for an autonomous driving platform, characterized in that: include: A receiving module, used to receive a formation request from each autonomous driving vehicle, generate a formation interface according to the formation request and send it to each autonomous driving vehicle, wherein the formation interface includes an original navigation area and a formation navigation area; A generating module, configured to generate a formation sequence based on the formation information of the autonomous driving vehicles, wherein the formation sequence includes a leading vehicle and a plurality of subordinate vehicles, and to generate a formation spacing diagram according to the driving information of the leading vehicle and the subordinate vehicles; A determination module, used to obtain the route lane information of each of the autonomous driving vehicles to generate a corresponding formation display template, and determine the target display lane of each of the formation display templates according to the leading lane information of the leading vehicle; An updating module is used to update the target display lane according to the formation spacing diagram to obtain a formation dynamic diagram, call a lane difference model and a distance difference model to perform difference judgment on the real-time lane information and real-time distance information of each subordinate vehicle, generate difference guidance information, update the formation dynamic diagram to obtain a guidance formation diagram, and send it to the formation navigation area of ​​the corresponding autonomous driving vehicle for display; The step of generating a formation sequence based on the formation information of the autonomous driving vehicle, wherein the formation sequence includes a leading vehicle and a plurality of subordinate vehicles, and generating a formation spacing diagram according to the driving information of the leading vehicle and the subordinate vehicles, comprises: Based on the formation information of the autonomous driving vehicles, the corresponding autonomous driving vehicles are sorted in sequence to obtain a formation sequence corresponding to the autonomous driving vehicles; Determine the first of the autonomous driving vehicles in the formation sequence as a leading vehicle and the remaining vehicles as subordinate vehicles, the formation sequence including the leading vehicle and the plurality of subordinate vehicles; Acquire the driving speed of the leading vehicle as the leading vehicle speed, and the vehicle type of the subordinate vehicle as the subordinate type, wherein the driving information includes the driving speed and the vehicle type; Extracting the corresponding interval distance in the preset interval comparison table according to the dominant vehicle speed and the subordinate type as the subordinate distance of the corresponding subordinate vehicle, wherein the preset interval comparison table includes a one-to-one correspondence between the vehicle speed interval and the vehicle type and the interval distance; According to the ratio of the subordinate distance and the preset conversion distance, the formation distance of the corresponding subordinate vehicle is obtained; The formation slots are sequentially set based on the order of each autonomous driving vehicle in the formation sequence, and the distances between the corresponding formation slots are set based on the formation distance, and the vehicle models are filled into the formation slots to obtain a formation spacing diagram; The calling of the lane difference model and the distance difference model to perform difference judgment on the real-time lane information and the real-time distance information of each subordinate vehicle, generating difference guidance information to update the formation dynamic map to obtain a guidance formation map, and sending it to the formation navigation area of ​​the corresponding autonomous driving vehicle for display, includes: Determine an autonomous driving vehicle adjacent to the autonomous driving vehicle in front of the corresponding autonomous driving vehicle in the formation sequence as a reference vehicle; Acquire real-time distance information between the autonomous driving vehicle and the corresponding reference vehicle, and obtain a positioning distance corresponding to the autonomous driving vehicle according to a ratio of the real-time distance information and a preset conversion distance; Determine a corresponding route lane as a positioning lane based on the real-time lane information, determine a corresponding position point at the positioning lane as a real-time positioning point according to the positioning distance, and obtain a center point of a formation slot corresponding to the corresponding autonomous driving vehicle as a theoretical positioning point; When it is determined that the real-time positioning point is inconsistent with the theoretical positioning point, a real-time slot is set at the real-time positioning point, and the vehicle model is filled into the real-time slot, the corresponding formation slot in the formation dynamic graph is determined as an update slot, and the missing slot is retrieved to replace the update slot to obtain a real-time formation graph; Acquire the center point of the missing slot as the guidance positioning point, and generate a comprehensive pointing mark pointing to the guidance positioning point with the real-time positioning point as the starting point as the comprehensive difference guidance information; Retrieving a lane difference model to perform lane difference judgment on the real-time lane information of each subordinate vehicle and the target display lane, and generating lane difference guidance information; Retrieving a distance difference model to determine the distance difference between the real-time slot of the subordinate vehicle and the missing slot, and generating distance difference guidance information; The real-time slots in the real-time formation map are updated according to the lane difference guidance information, the distance difference guidance information and / or the comprehensive difference guidance information, and the obtained guidance formation map is sent to the formation navigation area of ​​the corresponding autonomous driving vehicle for display.

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