Instruction generation method and device, vehicle-mounted terminal and vehicle

Abstract

The invention is suitable for the technical field of automobiles, and provides an instruction generation method and device, a vehicle-mounted terminal and a vehicle, and the method comprises the steps: responding to a motorcade management instruction, and determining a management mode corresponding to a motorcade; obtaining driving information of each vehicle in the motorcade; based on the driving information and the management mode of each vehicle, determining a management mode corresponding to each vehicle; and generating a management instruction corresponding to each vehicle based on the management mode of each vehicle, and sending each management instruction to the corresponding vehicle. Compared with the prior art, the method can accurately determine the management mode of each vehicle in combination with the driving information of each vehicle and the management mode of the motorcade, and further accurately generate the management instruction matched with each vehicle, thereby improving the generation accuracy of the instruction, enabling the management of each vehicle to be better matched with the management mode of the motorcade, and improving the user experience. And thus, the motorcade management accuracy is improved.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and in particular relates to a command generation method, device, vehicle-mounted terminal and vehicle. Background Art

[0002] In the field of modern transportation, fleet management is a key task. Effective fleet management can improve communication efficiency, reduce costs and ensure safety. Among them, real-time generation of relevant instructions for fleet management is one of the important means to improve the efficiency and accuracy of fleet management.

[0003] However, existing instruction generation methods usually only generate corresponding instructions based on vehicle information, such as wheel status and fuel level status, which is not comprehensive enough, reduces the accuracy of instruction generation, and leads to low accuracy of fleet management. Summary of the invention

[0004] The embodiments of the present application provide a command generation method, device, vehicle-mounted terminal and vehicle to solve the problem that the prior art reduces the accuracy of command generation, resulting in low accuracy of fleet management.

[0005] In a first aspect, an embodiment of the present application provides an instruction generation method, comprising:

[0006] In response to the fleet management instruction, determine a management mode corresponding to the fleet;

[0007] Acquire driving information of each vehicle in the fleet;

[0008] Determining a management mode corresponding to each vehicle based on the driving information of each vehicle and the management mode;

[0009] Based on the management method of each vehicle, a management instruction corresponding to each vehicle is generated, and each management instruction is sent to the corresponding vehicle respectively.

[0010] Optionally, the driving information includes a current position of the vehicle and a destination of the fleet; and determining a management mode corresponding to each vehicle based on the driving information of each vehicle and the management mode includes:

[0011] When the management mode is a formation mode, determining the formation information of the convoy and the number of each vehicle;

[0012] Determining a target driving order of each vehicle according to the fleet formation information and the numbers of each vehicle;

[0013] Determining a driving path of each vehicle according to the current position of each vehicle, the driving order and the destination;

[0014] A management method for each of the vehicles is generated based on the target driving order of each of the vehicles and the driving path of each of the vehicles.

[0015] Optionally, after sending each of the management instructions to the corresponding vehicle respectively, the method further includes:

[0016] Acquiring resource information of each vehicle during the driving of each vehicle based on the corresponding management instruction;

[0017] If the resource information of the target vehicle does not meet the preset conditions, the stopping place of the fleet is determined based on the resource information of the target vehicle; the target vehicle is any vehicle in the fleet; the stopping place refers to a place for replenishing the resources of the target vehicle;

[0018] The stop places are sent to the respective vehicles.

[0019] Optionally, after sending each of the management instructions to the corresponding vehicle respectively, the method further includes:

[0020] Acquiring a target position of each vehicle during the driving of each vehicle based on the corresponding management instruction;

[0021] Determining a current driving order of each of the vehicles according to the target positions of each of the vehicles;

[0022] If the current driving order of the target vehicle does not match the target driving order of the target vehicle, the driving mode of each vehicle is determined based on the current driving order of each vehicle and the target driving order of each vehicle; the target vehicle is any vehicle in the fleet;

[0023] The driving patterns of the respective vehicles are transmitted to the respective vehicles.

[0024] Optionally, determining the driving modes of the vehicles based on the current driving order of the vehicles and the target driving order of the vehicles includes:

[0025] Determining the expected driving speed and the expected vehicle state of each vehicle based on the current driving order of each vehicle and the target driving order of each vehicle;

[0026] Based on the expected driving speed and the expected vehicle state of each of the vehicles, the driving pattern of each of the vehicles is generated.

[0027] Optionally, after obtaining the target position of each vehicle, the method further includes:

[0028] Acquiring a target position of each vehicle during the driving of each vehicle based on the corresponding management instruction;

[0029] If the target position of the target vehicle is not a path point on the driving path corresponding to the target vehicle, a gathering place is determined according to the target positions of the respective vehicles; the target vehicle is any vehicle in the fleet; and the gathering place refers to a place for reassembling the respective vehicles;

[0030] The assembly point is sent to each of the vehicles.

[0031] Optionally, the driving information includes a current position of the vehicle; and determining the management mode corresponding to each vehicle based on the driving information of each vehicle and the management mode includes:

[0032] When the management mode is a competition mode, determining the competition end point of the team and the number of each vehicle;

[0033] Determining a competition starting point according to the current positions of the respective vehicles and the competition end point;

[0034] Determining a competition area according to the competition end point and the competition starting point;

[0035] A management method for each of the vehicles is generated according to the number of each of the vehicles and the competition area.

[0036] In a second aspect, an embodiment of the present application provides a command generation device, which is applied to a vehicle-mounted terminal of a main control vehicle in a fleet, and the device includes:

[0037] A mode determination unit, configured to determine a management mode corresponding to the fleet in response to the fleet management instruction;

[0038] A first acquisition unit, used to acquire driving information of each vehicle in the fleet;

[0039] A mode determination unit, configured to determine a management mode corresponding to each vehicle based on the driving information of each vehicle and the management mode;

[0040] The instruction generating unit is used to generate management instructions corresponding to each vehicle based on the management mode of each vehicle, and send each management instruction to the corresponding vehicle respectively.

[0041] In a third aspect, an embodiment of the present application provides a vehicle-mounted terminal, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, an instruction generation method as described in any one of the first aspects above is implemented.

[0042] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the instruction generation method as described in any one of the above-mentioned first aspects is implemented.

[0043] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a vehicle-mounted terminal, enables the vehicle-mounted terminal to execute the instruction generation method described in any one of the above-mentioned first aspects.

[0044] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising an on-board terminal, wherein the on-board terminal is used to execute the instruction generation method as described in any one of the first aspects.

[0045] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0046] An instruction generation method provided in an embodiment of the present application determines the management mode corresponding to the fleet by responding to the fleet management instruction; obtains the driving information of each vehicle in the fleet; determines the management method corresponding to each vehicle based on the driving information and management mode of each vehicle; generates management instructions corresponding to each vehicle based on the management mode of each vehicle, and sends each management instruction to the corresponding vehicle. Compared with the prior art, this method can accurately determine the management method matching each vehicle by combining the driving information of each vehicle and the management mode of the fleet, and then accurately generate management instructions matching each vehicle, thereby improving the accuracy of instruction generation. Afterwards, each management instruction can be sent to the corresponding vehicle, so that each vehicle performs corresponding operations based on its own management instruction, so that the management of each vehicle is more matched with the management mode of the fleet, thereby improving the accuracy of fleet management. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 It is a structural diagram of a fleet management system provided by an embodiment of the present application;

[0049] Figure 2 is a flowchart of an implementation of an instruction generation method provided in an embodiment of the present application;

[0050] Figure 3 is a flowchart of an implementation of an instruction generation method provided by another embodiment of the present application;

[0051] Figure 4 This is a fleet formation diagram provided by an embodiment of the present application;

[0052] Figure 5 is a flowchart of an implementation of an instruction generation method provided in yet another embodiment of the present application;

[0053] Figure 6 is a flowchart of an implementation of an instruction generation method provided by another embodiment of the present application;

[0054] Figure 7 It is a structural diagram of an instruction generation device provided in an embodiment of the present application;

[0055] Figure 8 It is a structural diagram of a vehicle-mounted terminal provided in one embodiment of the present application. DETAILED DESCRIPTION

[0056] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0057] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0058] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0059] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0060] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0061] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0062] See also Figure 1 , Figure 1 Schematic diagram of the structure of a fleet management system provided by an embodiment of the present application. Figure 1 As shown, the fleet management system 1 includes: a main control vehicle 10 and other vehicles 20 (only three are shown in the figure). The main control vehicle 10 is wirelessly connected with each other vehicle 20 to send each control instruction to each other vehicle 20 to control each other vehicle. The control instructions include but are not limited to: acceleration instructions, deceleration instructions, stop driving instructions, and shooting instructions.

[0063] It should be noted that the main control vehicle 10 may be the first vehicle in the entire vehicle fleet, that is, the lead vehicle.

[0064] In some possible embodiments, when the remaining vehicles 20 want to form a team with the main control vehicle 10, the remaining vehicles 20 can send a team formation request to the main control vehicle 10. When the main control vehicle 10 receives the above team formation request, it can establish a connection with the remaining vehicles 20 that sent the team formation request, thereby completing the team formation with the remaining vehicles 20.

[0065] In some other possible embodiments, when the main control vehicle 10 needs to form a team, the main control vehicle 10 can broadcast a team formation request, and when the remaining vehicles 20 detect the team formation request, they establish a connection with the main control vehicle 10 to complete the team formation.

[0066] See also Figure 2 , Figure 2 This is a flowchart of an implementation of a command generation method provided by an embodiment of the present application. In the embodiment of the present application, the execution subject of the command generation method is the vehicle-mounted terminal of the main control vehicle in the fleet.

[0067] like Figure 2As shown, the instruction generation method provided in an embodiment of the present application may include S101 to S104, which are described in detail as follows:

[0068] In S101, in response to a fleet management instruction, a management mode corresponding to the fleet is determined.

[0069] In the embodiment of the present application, after the team is formed, that is, after the vehicle-mounted terminal establishes a connection with other vehicle-mounted terminals of other vehicles, the vehicle-mounted terminal can determine that a fleet management instruction is detected.

[0070] Based on this, the vehicle terminal can determine the management mode corresponding to the fleet, where the fleet includes the main control vehicle and the other vehicles mentioned above.

[0071] The management modes of the fleet include but are not limited to: formation mode and competition mode. Among them, the formation mode refers to the mode in which each vehicle in the fleet drives to the same destination in a certain driving order.

[0072] In some possible embodiments, the vehicle terminal may determine the management mode according to the vehicle type of each vehicle, wherein the vehicle type includes but is not limited to: a truck, an escort vehicle, and a private car.

[0073] In this embodiment, when the vehicle terminal detects that the vehicle types of all vehicles are trucks or escort vehicles, the vehicle terminal can directly determine that the management mode of the vehicle fleet is the formation mode.

[0074] In some other possible embodiments, when the vehicle types of all vehicles are private cars, the vehicle terminal can send a mode selection instruction to the remaining vehicles and receive mode selection information determined by the remaining vehicles based on the mode selection instruction. Afterwards, the vehicle terminal can count the number of occurrences of different management modes and determine the management mode corresponding to the largest number as the management mode of the fleet.

[0075] In S102, the driving information of each vehicle in the fleet is obtained.

[0076] In the embodiment of the present application, the driving information of each vehicle includes but is not limited to: current location and destination.

[0077] In one implementation of the embodiment of the present application, for any remaining vehicle except the main control vehicle, the remaining vehicle-mounted terminal of the remaining vehicle can determine the current position of the remaining vehicle through the vehicle-mounted navigation system connected to it by wireless communication, and then the vehicle-mounted terminal of the remaining vehicle can send the determined current position to the vehicle-mounted terminal of the main control vehicle.

[0078] In another implementation of the embodiment of the present application, for the main control vehicle, the vehicle terminal can directly determine the current position of the main control vehicle itself through the vehicle navigation system that is wirelessly connected to itself.

[0079] Based on this, the vehicle terminal can obtain the current location of each vehicle.

[0080] In another implementation of the embodiment of the present application, for any remaining vehicle except the main control vehicle, the remaining vehicle-mounted terminal of the remaining vehicle can receive the destination input by the user in the remaining vehicle in real time through the display screen connected to the remaining vehicle through wireless communication, and then the vehicle-mounted terminal of the remaining vehicle can send the above destination to the vehicle-mounted terminal of the main control vehicle.

[0081] Based on this, the vehicle terminal can obtain the destination of each vehicle.

[0082] It should be noted that when the management mode of the fleet is the platoon mode, the destination of each vehicle in the fleet is the same.

[0083] In S103, based on the driving information of each vehicle and the management mode, the management mode corresponding to each vehicle is determined.

[0084] In an embodiment of the present application, after obtaining the management mode of the fleet and the driving information of each vehicle, the on-board terminal can determine the management requirements for the fleet based on the management mode. Thereafter, the on-board terminal can determine the specific management method for each vehicle based on the driving information of each vehicle under the management requirements.

[0085] It should be noted that different management models correspond to different management requirements.

[0086] Exemplarily, when the management mode of the fleet is the formation mode, since the formation mode refers to a mode in which each vehicle in the fleet travels to the same destination in a certain driving order, the management requirements corresponding to the formation mode may include: each vehicle travels to the same destination strictly in accordance with its own driving order.

[0087] Based on this, in one embodiment of the present application, when the management mode is the formation mode, in order to improve the management accuracy of the fleet, the vehicle terminal can specifically Figure 3 Steps S201 to S204 shown determine the management mode of each vehicle, which are described in detail as follows:

[0088] In S201, when the management mode is the platoon mode, the platoon formation information and the numbers of the individual vehicles are determined.

[0089] In S202, a target driving order of each vehicle is determined according to the fleet formation information and the numbers of each vehicle.

[0090] In S203, the driving path of each vehicle is determined according to the current position of each vehicle, the driving order and the destination.

[0091] In S204, a management method for each vehicle is generated according to the target driving order of each vehicle and the driving path of each vehicle.

[0092] It should be noted that the driving information of each vehicle includes the current location and destination of the vehicle.

[0093] In this embodiment, after determining that the vehicle management mode is the platoon mode, the vehicle-mounted terminal can determine the platoon formation information according to the number of vehicles in the platoon, and randomly determine the number of each vehicle.

[0094] In some possible embodiments, the vehicle terminal pre-stores the correspondence between different numbers of vehicles and different motorcade formation diagrams. Therefore, in this embodiment, the vehicle terminal can find out the motorcade formation diagram corresponding to the number of vehicles in the motorcade at this time through the above correspondence, and determine the motorcade formation diagram as the motorcade formation information.

[0095] For example, see Figure 4 , Figure 4 This is a fleet formation diagram provided by an embodiment of the present application.

[0096] It should be noted that the motorcade formation information includes the preset number of each vehicle in the motorcade formation.

[0097] Based on this, the vehicle terminal can match the number of each vehicle with the preset numbers in the fleet formation information, so as to determine the driving position of each vehicle in the fleet formation. Afterwards, the vehicle terminal can determine the target driving order of each vehicle according to the driving position and the driving direction of the fleet. Among them, the target driving order of each vehicle is used to describe the position of each vehicle in the fleet during driving.

[0098] In this embodiment, after determining the target driving order of each vehicle, the vehicle-mounted terminal can plan the route of each vehicle from its current position to the destination based on the target driving order of each vehicle to obtain the driving path of each vehicle.

[0099] It should be noted that the driving paths of the various vehicles may be the same or different.

[0100] Afterwards, for any vehicle, the vehicle-mounted terminal can generate a corresponding management method for the vehicle based on the target driving sequence and driving path of the vehicle, so that the vehicle can travel based on the management method.

[0101] In an embodiment of the present application, when the management mode of the fleet is a competition mode, in order to enrich the fun of the competition, the management requirements corresponding to the competition mode may include: each vehicle must shoot a video of itself during the competition stage and send its own position to the on-board terminal in real time.

[0102] Based on this, in another embodiment of the present application, when the management mode is the formation mode, in order to improve the management accuracy of the fleet, the vehicle terminal can specifically Figure 5 Steps S301 to S304 shown determine the management mode of each vehicle, which are described in detail as follows:

[0103] In S301, when the management mode is a competition mode, the competition finish point of the team and the number of each vehicle are determined.

[0104] In S302, a competition starting point is determined according to the current positions of the vehicles and the competition end point.

[0105] In S303, a competition area is determined according to the competition end point and the competition starting point.

[0106] In S304, a management method for each of the vehicles is generated according to the number of each of the vehicles and the competition area.

[0107] It should be noted that the driving information of each vehicle includes the current position of the vehicle.

[0108] In this embodiment, after determining that the management mode of the vehicle is the competition mode, the vehicle-mounted terminal can determine the competition finish point of the team and the number of each vehicle.

[0109] In some possible embodiments, the vehicle-mounted terminal may randomly determine the number of each vehicle based on a random function, wherein the random function is rand().

[0110] In some other possible embodiments, the driving information of each vehicle may also include the destination of the vehicle.

[0111] It should be noted that when the management mode of the team is the competition mode, the final destinations of each vehicle in the team are not exactly the same.

[0112] Therefore, in this embodiment, the vehicle-mounted terminal can determine the destination with the shortest distance among the destinations of each vehicle as the race finish line of the team.

[0113] Afterwards, the vehicle terminal can determine the starting area where the competition starting point is located according to the competition end point and the preset distance threshold. The preset distance threshold is used to represent the shortest competition driving distance when each vehicle competes.

[0114] Since the current positions of the various vehicles are not exactly the same, the vehicle-mounted terminal may determine a starting point in the starting area that is close to the distances of the various current positions, and determine the starting point as the starting point of the competition.

[0115] Based on this, the vehicle terminal can determine the competition area of ​​the team according to the competition end point and competition starting point determined above.

[0116] Afterwards, for any vehicle, the vehicle-mounted terminal can generate a corresponding management method for the vehicle based on the vehicle number and competition area, so that the vehicle can travel based on the management method.

[0117] In S104, management instructions corresponding to the vehicles are generated based on the management methods of the vehicles, and the management instructions are sent to the corresponding vehicles respectively.

[0118] In an embodiment of the present application, after obtaining the management method of each vehicle, the on-board terminal can generate management instructions corresponding to each vehicle based on the management method of each vehicle, and send each management instruction to the corresponding vehicle respectively, so that each vehicle performs corresponding operations based on its own management instruction.

[0119] Exemplarily, for any vehicle, when the management method of the vehicle includes a target driving sequence and a driving path, the management instruction corresponding to the vehicle may be: controlling the vehicle to travel to the destination along the driving path based on the target driving sequence.

[0120] For any vehicle, when the management method of the vehicle includes the vehicle number and the competition area, the management instruction corresponding to the vehicle may be: controlling the vehicle to compete in the competition area, and associating the video of the competition stage captured with its own number.

[0121] In some possible embodiments, each management instruction carries its own instruction number, and the instruction number corresponds one-to-one to the vehicle number. Therefore, the vehicle-mounted terminal can send each management instruction to the vehicle corresponding to the instruction number in sequence based on each instruction number.

[0122] In other possible embodiments, in order to ensure that each vehicle can receive its own management instruction, the vehicle terminal can send its corresponding management instruction to each vehicle based on a preset time interval. The preset time interval can be determined according to actual needs and is not limited here.

[0123] From the above, it can be seen that an instruction generation method provided by an embodiment of the present application determines the management mode corresponding to the fleet by responding to the fleet management instruction; obtains the driving information of each vehicle in the fleet; determines the management method corresponding to each vehicle based on the driving information and management mode of each vehicle; generates management instructions corresponding to each vehicle based on the management mode of each vehicle, and sends each management instruction to the corresponding vehicle. Compared with the prior art, this method can combine the driving information of each vehicle and the management mode of the fleet to accurately determine the management mode that matches each vehicle, and then accurately generate management instructions that match each vehicle, thereby improving the accuracy of instruction generation. Afterwards, each management instruction can be sent to the corresponding vehicle, so that each vehicle performs corresponding operations based on its own management instruction, so that the management of each vehicle is more consistent with the management mode of the fleet, thereby improving the accuracy of fleet management.

[0124] See also Figure 6 , Figure 6 is a flowchart of an implementation of an instruction generation method provided by another embodiment of the present application. Figure 3 Corresponding embodiment, this embodiment may further include S401 to S403 after S104, which are described in detail as follows:

[0125] In S401, during the process of each vehicle traveling based on the corresponding management instruction, the target position of each vehicle is obtained.

[0126] In S402, the current driving order of the vehicles is determined according to the target positions of the vehicles.

[0127] In S403, if the current driving order of the target vehicle does not match the target driving order of the target vehicle, the driving mode of each vehicle is determined based on the current driving order of each vehicle and the target driving order of each vehicle; the target vehicle is any vehicle in the fleet.

[0128] In S404, the driving modes of the respective vehicles are sent to the respective vehicles.

[0129] It should be noted that the current driving order of each vehicle is used to describe the position of each vehicle in the fleet during the driving process based on the corresponding management instructions.

[0130] In this embodiment, after obtaining the target position of each vehicle, the vehicle terminal can generate a vehicle position map according to each target position and the number of each vehicle, and then the vehicle terminal can determine the current driving order of each vehicle according to the vehicle position map.

[0131] Afterwards, the vehicle-mounted terminal may compare the current driving order of each vehicle with the respective target driving order to detect whether the current driving order of each vehicle is consistent with the respective target driving order.

[0132] For example, taking the convoy as a column, when the current driving order of a vehicle is the third in the convoy, and the target driving order of the vehicle is the second in the convoy, the on-board terminal can determine whether the current driving order of the vehicles is inconsistent with their respective target driving order.

[0133] In one embodiment of the present application, when the vehicle terminal detects that the current driving order of the target vehicle does not match the target driving order of the target vehicle, in order to improve the management accuracy of each vehicle, the vehicle terminal can determine the driving mode of each vehicle based on the current driving order of each vehicle and the target driving order of each vehicle. The target vehicle is any vehicle in the fleet.

[0134] It should be noted that the target vehicle may be one or more than one target vehicle.

[0135] In this embodiment, the vehicle-mounted terminal can specifically determine the driving mode of each vehicle according to the following steps, which are described in detail as follows:

[0136] Determining the expected driving speed and the expected vehicle state of each vehicle based on the current driving order of each vehicle and the target driving order of each vehicle;

[0137] Based on the expected driving speed and the expected vehicle state of each of the vehicles, the driving pattern of each of the vehicles is generated.

[0138] In this embodiment, the vehicle-mounted terminal can determine the first vehicle that is lagging behind and the second vehicle that is ahead in the vehicle team according to the current driving order of each vehicle and the target driving order of each vehicle.

[0139] Among them, lagging specifically means that the current driving order of a certain vehicle is behind the corresponding target driving order. For example, when the current driving order of a certain vehicle is the third in the fleet and its corresponding target driving order is the second in the fleet, the vehicle terminal can determine that the vehicle is lagging behind.

[0140] Ahead specifically means that the current driving order of a vehicle is ahead of the corresponding target driving order. For example, when the current driving order of a vehicle is the third in the fleet and its corresponding target driving order is the fourth in the fleet, the vehicle terminal can determine that the vehicle is overdue.

[0141] Afterwards, the vehicle-mounted terminal may determine the expected driving speed and expected vehicle state of the first vehicle, and determine the expected driving speed and expected vehicle state of the second vehicle, wherein the expected vehicle state includes but is not limited to: driving state and stationary state.

[0142] In this embodiment, since the first vehicle is lagging behind, in order to ensure that the first vehicle travels to its corresponding target driving order as soon as possible, the expected driving speed of the first vehicle is greater than its current driving speed, so that the first vehicle accelerates to its corresponding target driving order.

[0143] Based on this, the vehicle-mounted terminal can determine that the expected vehicle state of the first vehicle is the driving state.

[0144] Afterwards, the vehicle-mounted terminal may generate a driving mode of the first vehicle according to the expected driving speed and the expected vehicle state of the first vehicle, so that the first vehicle travels based on the driving mode.

[0145] In some possible embodiments, in order to avoid the first vehicle traveling before its corresponding target driving sequence, the on-board terminal can obtain the first driving sequence of the first vehicle in real time when detecting that the first vehicle is traveling based on the above-mentioned driving method, and when detecting that the first driving sequence is consistent with its corresponding target driving sequence, determine that the speed of the first vehicle is reduced from the expected driving speed to the initial driving speed, and send the initial driving speed to the first vehicle, so that the first vehicle continues to travel at the initial driving speed.

[0146] In this embodiment, since the second vehicle is ahead, in order to ensure that the second vehicle returns to its corresponding target driving sequence as soon as possible, the expected driving speed of the second vehicle may be zero.

[0147] Based on this, the vehicle-mounted terminal can determine that the expected vehicle state of the second vehicle is a stationary state.

[0148] Afterwards, the vehicle-mounted terminal can generate a driving mode for the second vehicle according to the expected driving speed and expected vehicle state of the first vehicle, so that the second vehicle performs corresponding operations based on the driving mode.

[0149] In some possible embodiments, in order to prevent the second vehicle from falling behind its corresponding target driving order, the on-board terminal can obtain the second driving order of the second vehicle in real time when detecting that the second vehicle performs corresponding operations based on the above-mentioned driving method, and when detecting that the second driving order is consistent with its corresponding target driving order, determine that the speed of the second vehicle is restored from the expected driving speed to the initial driving speed, and send the initial driving speed to the second vehicle, so that the second vehicle continues to travel at the initial driving speed.

[0150] From the above, it can be seen that the instruction generation method provided in this embodiment obtains the target position of each vehicle in the process of each vehicle driving based on the corresponding management instruction in the formation mode; determines the current driving order of each vehicle according to the target position of each vehicle; if the current driving order of the target vehicle does not match the target driving order of the target vehicle, determines the driving mode of each vehicle based on the current driving order of each vehicle and the target driving order of each vehicle; the target vehicle is any vehicle in the fleet; the driving mode of each vehicle is sent to each vehicle, so that each vehicle continues to drive based on its own driving mode, so as to achieve that the current driving order of the target vehicle is the same as the target driving order of the target vehicle, thereby ensuring that each vehicle strictly drives according to its own target driving order, thereby ensuring that each vehicle obeys the fleet management in real time during driving.

[0151] In one embodiment of the present application, when the management mode of the fleet is the formation mode, in order to achieve timely management of each vehicle and improve the management accuracy of the fleet, after step S104, the vehicle terminal can specifically perform the following steps, which are detailed as follows:

[0152] When the management mode is a platoon mode, in the process of each vehicle driving based on the corresponding management instruction, obtaining resource information of each vehicle;

[0153] If the resource information of the target vehicle does not meet the preset conditions, the stopping place of the fleet is determined based on the resource information of the target vehicle; the target vehicle is any vehicle in the fleet; the stopping place refers to a place for replenishing the resources of the target vehicle;

[0154] The stop places are sent to the respective vehicles.

[0155] In this embodiment, the resource information of each vehicle includes but is not limited to: materials and energy.

[0156] It should be noted that when the vehicle is a gasoline-powered vehicle, the energy of the vehicle is the amount of oil; when the vehicle is a battery-powered vehicle, the energy of the vehicle is the amount of electricity.

[0157] In this embodiment, after acquiring the resource information of each vehicle, the vehicle-mounted terminal can respectively detect whether the resource information of each vehicle meets its corresponding preset conditions. The preset conditions corresponding to each vehicle can be the same or different.

[0158] When the resource information is materials, the preset condition corresponding to the materials is: the quantity of materials is greater than or equal to the quantity threshold, wherein the quantity threshold is used to describe the minimum quantity of materials that the vehicle can receive.

[0159] When the resource information is energy, the preset condition corresponding to the energy is: the current energy is greater than or equal to the energy threshold, wherein the quantity threshold is used to describe the minimum energy at which the vehicle can continue to travel.

[0160] Based on this, when the vehicle terminal detects that the resource information of the target vehicle does not meet the preset conditions, it means that the resources of the target vehicle need to be supplemented. Therefore, the vehicle terminal can determine the parking place of the fleet based on the resource information of the target vehicle. Among them, the target vehicle is any vehicle in the fleet.

[0161] The stopping place refers to a place used to replenish the resources of the target vehicle.

[0162] Specifically, when the resource information is energy, the vehicle terminal can determine the energy replenishment station (such as a gas station or a charging station) closest to the target vehicle based on the current position of the target vehicle, and determine the energy replenishment station as the stopover place for the fleet.

[0163] When the resource information is materials, the vehicle-mounted terminal can determine the material supply station required by the target vehicle based on the lack of materials of the target vehicle, and determine the material supply station as the stopover place of the convoy.

[0164] Afterwards, the vehicle-mounted terminal may send the determined stopping place to each vehicle, so that each vehicle drives to the stopping place, so that the target vehicle can replenish corresponding resources.

[0165] As can be seen from the above, the instruction generation method provided in this embodiment can timely determine the resource status of each vehicle, and when it is detected that the resources of a certain vehicle need to be replenished, it can determine the resource replenishment place corresponding to the resource, so that the vehicle can carry out the corresponding resource replenishment. At the same time, since the management mode of the fleet is a formation mode, that is, no vehicle in the fleet can fall behind, the vehicle-mounted terminal sends the parking place to each vehicle in the fleet to ensure that each vehicle drives to the parking place, thereby improving the management accuracy of the fleet.

[0166] In another embodiment of the present application, when the management mode of the fleet is the formation mode, in order to achieve timely and accurate management of each vehicle, after step S104, the vehicle terminal may further perform the following steps, which are described in detail as follows:

[0167] When the management mode is a platoon mode, during the driving of each vehicle based on the corresponding management instruction, obtaining the target position of each vehicle;

[0168] If the target position of the target vehicle is not a path point on the driving path corresponding to the target vehicle, then determining the assembly point according to the target positions of each vehicle; the target vehicle is any vehicle in the fleet;

[0169] The assembly point is sent to each of the vehicles.

[0170] In this embodiment, while each vehicle is driving based on the corresponding management instruction, the vehicle-mounted terminal can obtain the target position of each vehicle in real time.

[0171] Afterwards, for any vehicle, the vehicle-mounted terminal can detect whether the target position of the vehicle is a path point on the driving path corresponding to the vehicle.

[0172] In this embodiment, when the vehicle terminal detects that the target position of the target vehicle is not a path point on the driving path corresponding to the target vehicle, it means that the target vehicle has deviated from its corresponding driving path, that is, the target vehicle has deviated. Therefore, in order to achieve accurate management of the team, ensure that the target vehicle does not fall behind, and ensure that each vehicle maintains the team formation, the vehicle terminal can determine the assembly point according to the target position of each vehicle. The target vehicle is any vehicle in the team.

[0173] It should be noted that the assembly area is used to represent the place where the convoy temporarily assembles.

[0174] Afterwards, the vehicle-mounted terminal can send the determined assembly point to each vehicle, so that each vehicle can drive to the assembly point for assembly.

[0175] In one embodiment of the present application, after the vehicle-mounted terminal detects that each vehicle has arrived at the assembly point, in order to achieve accurate management of each vehicle, the vehicle-mounted terminal can re-plan the driving route of each vehicle and send the planned driving route to each vehicle, so that each vehicle can travel based on the planned driving route.

[0176] From the above, it can be seen that the instruction generation method provided in this embodiment can determine the assembly point of the fleet and send the assembly point to each vehicle when it detects that the target position of the target vehicle is not a path point on the driving path corresponding to the target vehicle, that is, when the target vehicle deviates, so that each vehicle can drive to the assembly point, thereby ensuring that the target vehicle can keep up with the main force in time in the event of deviation and avoid falling behind, thereby improving the timeliness and accuracy of the management of each vehicle.

[0177] It should be understood that the size of the serial numbers of the steps in the above embodiments 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 application.

[0178] Corresponding to the instruction generation method described in the above embodiment, Figure 7The structure diagram of an instruction generation device provided by an embodiment of the present application is shown. For the convenience of explanation, only the part related to the embodiment of the present application is shown. Figure 7 The instruction generating device 500 includes: a mode determining unit 51, a first acquiring unit 52, a method determining unit 53 and an instruction generating unit 54. Among them:

[0179] The mode determination unit 51 is used to determine the management mode corresponding to the fleet in response to the fleet management instruction.

[0180] The first acquisition unit 52 is used to acquire the driving information of each vehicle in the fleet.

[0181] The mode determination unit 53 is used to determine the management mode corresponding to each vehicle based on the driving information of each vehicle and the management mode.

[0182] The instruction generating unit 54 is used to generate management instructions corresponding to each vehicle based on the management mode of each vehicle, and send each management instruction to the corresponding vehicle respectively.

[0183] In one embodiment of the present application, the driving information includes the current position of the vehicle and the destination of the fleet; the mode determination unit 53 specifically includes: an information determination unit, a first sequence determination unit, a route determination unit and a first mode generation unit. Among them:

[0184] The information determination unit is used to determine the fleet formation information and the number of each vehicle when the management mode is the formation mode.

[0185] The first sequence determination unit is used to determine the target driving sequence of each vehicle according to the fleet formation information and the number of each vehicle.

[0186] The route determination unit is used to determine the travel path of each vehicle according to the current position of each vehicle, the travel order and the destination.

[0187] The first mode generating unit is used to generate a management mode for each of the vehicles according to a target driving order of each of the vehicles and a driving path of each of the vehicles.

[0188] In one embodiment of the present application, the instruction generating device 500 further includes: a second acquiring unit, a location determining unit and a first sending unit.

[0189] The second acquisition unit is used for acquiring resource information of each vehicle when each vehicle is traveling based on the corresponding management instruction.

[0190] The location determination unit is used to determine the stopping location of the fleet based on the resource information of the target vehicle if the resource information of the target vehicle does not meet the preset conditions; the target vehicle is any vehicle in the fleet; the stopping location refers to a location used to replenish the resources of the target vehicle.

[0191] The first sending unit is used to send the parking place to each of the vehicles.

[0192] In one embodiment of the present application, the instruction generating device 500 further includes: a third acquiring unit, a second sequence determining unit, a driving mode determining unit and a second sending unit.

[0193] The third acquisition unit is used to acquire the target position of each vehicle during the process of each vehicle driving based on the corresponding management instruction.

[0194] The second sequence determining unit is used to determine the current driving sequence of each vehicle according to the target position of each vehicle.

[0195] The driving mode determination unit is used to determine the driving mode of each vehicle based on the current driving order of each vehicle and the target driving order of each vehicle if the current driving order of the target vehicle does not match the target driving order of the target vehicle; the target vehicle is any vehicle in the fleet.

[0196] The second sending unit is used to send the driving mode of each vehicle to each vehicle.

[0197] In one embodiment of the present application, the driving mode determination unit specifically includes: an expectation determination unit and a second mode generation unit.

[0198] The expectation determination unit is used to determine the expected driving speed and the expected vehicle state of each vehicle based on the current driving order of each vehicle and the target driving order of each vehicle.

[0199] The second pattern generating unit is configured to generate the driving pattern of each vehicle based on the expected driving speed and the expected vehicle state of each vehicle.

[0200] In one embodiment of the present application, the instruction generation device 500 further includes: a fourth acquisition unit, a gathering place determination unit and a third sending unit.

[0201] The fourth acquisition unit is used to acquire the target position of each vehicle when each vehicle is driving based on the corresponding management instruction.

[0202] The assembly point determination unit is used to determine the assembly point according to the target positions of the respective vehicles if the target position of the target vehicle is not a path point on the driving path corresponding to the target vehicle; the target vehicle is any vehicle in the fleet.

[0203] The third sending unit is used to send the assembly place to each of the vehicles.

[0204] In one embodiment of the present application, the driving information includes the current position of the vehicle; the mode determination unit 53 specifically includes: a number determination unit, a starting point determination unit, an area determination unit and a third mode generation unit. Among them:

[0205] The number determination unit is used to determine the competition end point of the team and the number of each vehicle when the management mode is a competition mode.

[0206] The starting point determination unit is used to determine the starting point of the competition according to the current position of each vehicle and the competition end point.

[0207] The area determination unit is used to determine a competition area according to the competition end point and the competition starting point.

[0208] The third mode determination unit is used to generate a management mode for each of the vehicles according to the number of each of the vehicles and the competition area.

[0209] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0210] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0211] Figure 8 This is a schematic diagram of the structure of a vehicle-mounted terminal provided in one embodiment of the present application. Figure 8 As shown, the vehicle terminal 6 of this embodiment includes: at least one processor 60 ( Figure 8 Only one is shown in the figure) a processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, and when the processor 60 executes the computer program 62, the steps in any of the above-mentioned instruction generation method embodiments are implemented.

[0212] The vehicle terminal may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 8 It is only an example of the vehicle-mounted terminal 6 and does not constitute a limitation on the vehicle-mounted terminal 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0213] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0214] In some embodiments, the memory 61 may be an internal storage unit of the vehicle-mounted terminal 6, such as the memory of the vehicle-mounted terminal 6. In other embodiments, the memory 61 may also be an external storage device of the vehicle-mounted terminal 6, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the vehicle-mounted terminal 6. Further, the memory 61 may also include both the internal storage unit of the vehicle-mounted terminal 6 and an external storage device. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0215] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0216] An embodiment of the present application provides a computer program product. When the computer program product runs on a vehicle-mounted terminal, the vehicle-mounted terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0217] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the vehicle-mounted terminal, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0218] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0219] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for generating an instruction, characterized in that: The method is applied to a vehicle-mounted terminal of a main control vehicle in a fleet, and comprises: In response to the fleet management instruction, determine a management mode corresponding to the fleet; Acquire driving information of each vehicle in the fleet; Determining a management mode corresponding to each vehicle based on the driving information of each vehicle and the management mode; Based on the management method of each vehicle, a management instruction corresponding to each vehicle is generated, and each management instruction is sent to the corresponding vehicle respectively.

2. The instruction generation method according to claim 1, characterized in that: The driving information includes the current location and destination of the vehicle; and determining the management mode corresponding to each vehicle based on the driving information of each vehicle and the management mode includes: When the management mode is a formation mode, determining the formation information of the convoy and the number of each vehicle; Determining a target driving order of each vehicle according to the fleet formation information and the numbers of each vehicle; Determining a driving path of each vehicle according to the current position of each vehicle, the driving order and the destination; A management method for each of the vehicles is generated based on the target driving order of each of the vehicles and the driving path of each of the vehicles.

3. The instruction generation method according to claim 1, characterized in that: After sending each of the management instructions to the corresponding vehicles respectively, the method further includes: When the management mode is a platoon mode, in the process of each vehicle driving based on the corresponding management instruction, obtaining resource information of each vehicle; If the resource information of the target vehicle does not meet the preset conditions, the stopping place of the fleet is determined based on the resource information of the target vehicle; the target vehicle is any vehicle in the fleet; the stopping place refers to a place for replenishing the resources of the target vehicle; The stop places are sent to the respective vehicles.

4. The instruction generation method according to claim 2, characterized in that: After sending each of the management instructions to the corresponding vehicles respectively, the method further includes: Acquiring a target position of each vehicle during the driving of each vehicle based on the corresponding management instruction; Determining a current driving order of each of the vehicles according to the target positions of each of the vehicles; If the current driving order of the target vehicle does not match the target driving order of the target vehicle, the driving mode of each vehicle is determined based on the current driving order of each vehicle and the target driving order of each vehicle; the target vehicle is any vehicle in the fleet; The driving patterns of the respective vehicles are transmitted to the respective vehicles.

5. The instruction generation method according to claim 4, characterized in that: The determining the driving modes of the vehicles based on the current driving order of the vehicles and the target driving order of the vehicles includes: Determining the expected driving speed and the expected vehicle state of each vehicle based on the current driving order of each vehicle and the target driving order of each vehicle; Based on the expected driving speed and the expected vehicle state of each of the vehicles, the driving pattern of each of the vehicles is generated.

6. The instruction generation method according to claim 1, characterized in that: After sending each of the management instructions to the corresponding vehicles respectively, the method further includes: When the management mode is a platoon mode, during the driving of each vehicle based on the corresponding management instruction, obtaining the target position of each vehicle; If the target position of the target vehicle is not a path point on the driving path corresponding to the target vehicle, then determining the assembly point according to the target positions of the respective vehicles; the target vehicle is any vehicle in the fleet; The assembly point is sent to each of the vehicles.

7. The instruction generation method according to claim 1, characterized in that: The driving information includes the current position of the vehicle; and determining the management mode corresponding to each vehicle based on the driving information of each vehicle and the management mode includes: When the management mode is a competition mode, determining the competition end point of the team and the number of each vehicle; Determining a competition starting point according to the current positions of the respective vehicles and the competition end point; Determining a competition area according to the competition end point and the competition starting point; A management method for each of the vehicles is generated according to the number of each of the vehicles and the competition area.

8. An instruction generating device, characterized in that: The vehicle-mounted terminal applied to the main control vehicle in the fleet comprises: A mode determination unit, configured to determine a management mode corresponding to the fleet in response to the fleet management instruction; A first acquisition unit, used to acquire driving information of each vehicle in the fleet; A mode determination unit, configured to determine a management mode corresponding to each vehicle based on the driving information of each vehicle and the management mode; The instruction generating unit is used to generate management instructions corresponding to each vehicle based on the management mode of each vehicle, and send each management instruction to the corresponding vehicle respectively.

9. A vehicle-mounted terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the instruction generation method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: Comprising the vehicle-mounted terminal as claimed in claim 9.

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