Treatment system for vehicle slipping

Abstract

The invention discloses a vehicle slipping processing system, and relates to the technical field of unmanned driving, and the system comprises a first vehicle which is used for detecting whether a slipping event occurs in the vehicle in the driving process, obtaining the slipping information of the vehicle under the condition that the slipping event occurs in the vehicle, and sending the slipping information; and the second vehicle is used for acquiring a slip protection area generated according to the slip information, generating a target driving strategy according to the slip protection area, and driving according to the target driving strategy. Through information interaction among multiple vehicles, when one vehicle has a slip event, other vehicles can generate the slip protection area and the corresponding safe driving strategy in a targeted manner, so that the vehicle driving safety is effectively ensured, and the technical problem that effective and safe treatment cannot be performed on vehicle slip in the related technology is solved.

Description

Technical Field

[0001] The present application relates to the field of unmanned driving technology, and in particular to a vehicle skidding processing system. Background Art

[0002] In unmanned mine operations, since the roads are often dirt roads, they often become muddy in rainy days or after a watering truck passes by. When an unmanned vehicle passes through the above sections with poor road conditions, tire slippage may occur, causing safety hazards or even accidents.

[0003] However, no effective safety protection solution has been proposed for the above-mentioned skidding incidents. Summary of the invention

[0004] The embodiment of the present application provides a vehicle skidding processing system to solve the technical problem in the related art that effective safety protection processing cannot be performed on vehicle skidding events.

[0005] According to the first invention of the present application, a vehicle skidding processing system is provided, the system comprising: a first vehicle, for detecting whether a skidding event occurs in the vehicle during driving, and when a skidding event is detected, obtaining the skidding information of the vehicle and sending the skidding information; a second vehicle, for obtaining a skidding protection area generated according to the skidding information, generating a target driving strategy according to the skidding protection area, and driving according to the target driving strategy.

[0006] Optionally, the second vehicle is used to obtain a slip protection area generated according to the slip information and first vehicle attribute information of the second vehicle, wherein the first vehicle attribute information is used to characterize vehicle characteristics of the second vehicle.

[0007] Optionally, the slip information includes at least one of the following information: second vehicle attribute information, slip attribute information, wherein the second vehicle attribute information is used to characterize vehicle characteristics of the first vehicle, and the slip attribute information is used to characterize characteristics of the slip event, wherein the vehicle attribute information includes at least one of the following: vehicle speed, vehicle model, vehicle identification code; and / or, the slip attribute information includes at least one of the following: slip position, slip direction, slip deviation from a preset global trajectory, slip speed.

[0008] Optionally, the second vehicle is further used to receive skidding information of the first vehicle and generate the skidding protection area according to the skidding information.

[0009] Optionally, the system further includes: a cloud platform, configured to receive the slip information sent by the first vehicle, and send the slip information to the second vehicle.

[0010] Optionally, the cloud platform is used to receive the slip information sent by the first vehicle, mark the slip information at a corresponding position on the map, and send the marked map to the second vehicle.

[0011] Optionally, the second vehicle is used to determine the slip position based on the acquired slip information, and identify whether the slip position already exists in a designated slip set; when it is identified that the slip position already exists in the designated slip set, ignore the slip position determined based on the slip information; when it is identified that the slip position does not exist in the designated slip set, store the slip position in the designated slip set, and generate the slip protection area based on the slip position determined by the slip information.

[0012] Optionally, the second vehicle is used to identify whether a slip combination already exists in a designated slip set; when it is identified that the slip combination already exists in the designated slip set, the slip position determined by the slip information is ignored; when it is identified that the slip combination does not exist in the designated slip set, the slip combination is stored in the designated slip set; wherein the slip combination includes the slip position and a corresponding slip level, and the slip level is used to characterize the severity of the slip.

[0013] Optionally, the second vehicle is further configured to, when identifying that the slip combination does not exist in the designated slip set, store the slip combination into the designated slip set and record a timestamp of storing the slip combination into the designated slip set.

[0014] Optionally, the second vehicle is used to detect whether the slip position stored in the specified slip set is within a first target area related to the current position of the second vehicle, and to generate the slip protection area according to the slip position when it is determined that the slip position corresponding to the specified slip set is within the first target area related to the current position of the second vehicle.

[0015] Optionally, the second vehicle is used to detect whether the distance from the slip position corresponding to the slip information to the projection point of the current global trajectory of the second vehicle meets the distance requirement. If it is detected that the distance requirement is met, the target area surrounding the slip position is determined as the slip protection area.

[0016] Optionally, the target area includes: a first distance range forward of the projection point and a second distance range backward of the projection point, and the first distance range is greater than the second distance range.

[0017] Optionally, the target driving strategy includes at least one of the following: increasing the following distance; imposing a maximum speed limit; and imposing a maximum deceleration limit.

[0018] Optionally, the second vehicle is used to clear the slip position recorded before the corresponding timestamp after acquiring the target driving strategy for the slip protection area.

[0019] According to an embodiment of the present application, a vehicle skidding processing system is provided, the system comprising: a first vehicle, used to detect whether a skidding event occurs in the vehicle during driving, and when a skidding event is detected, obtain the skidding information of the vehicle and send the skidding information; a second vehicle, used to obtain a skidding protection area generated according to the skidding information, generate a target driving strategy according to the skidding protection area, and drive according to the target driving strategy. Through information interaction between multiple vehicles, the present application can generate skidding protection areas and corresponding safe driving strategies for other vehicles in a targeted manner when a skidding event occurs in one vehicle, thereby effectively ensuring the driving safety of the vehicle and solving the technical problem that the related technology cannot effectively and safely handle vehicle skidding. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 is a schematic diagram of a vehicle skidding processing system according to an embodiment of the present application;

[0022] Figure 2 is a schematic diagram of a slip point filtering according to an embodiment of the present application;

[0023] Figure 3 It is a schematic diagram of another vehicle skidding processing system according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned 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 data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] In unmanned mine operations, since the roads are often dirt roads, mud often appears on rainy days or after a watering truck passes by. When an unmanned vehicle passes through the above-mentioned road sections with bad conditions, tire slippage may occur, causing safety hazards or even accidents. However, no effective safety protection solution has been proposed for the above-mentioned slippage events. In order to solve the above-mentioned problems, this application proposes a vehicle slippage processing system, which can be specifically referred to in the following embodiments.

[0027] Embodiment 1

[0028] According to an embodiment of the present application, a vehicle skidding processing system is provided, such as Figure 1 As shown, the system may include:

[0029] The first vehicle 10 is used to detect whether a skidding event occurs in the vehicle during driving, and when a skidding event is detected, obtain the skidding information of the vehicle and send the skidding information.

[0030] The second vehicle 20 is used to obtain a skidding protection area generated according to the skidding information, generate a target driving strategy according to the skidding protection area, and drive according to the target driving strategy.

[0031] In this embodiment, the first vehicle and the second vehicle are two different vehicles, or the same vehicle. For example, when the first vehicle and the second vehicle are the same vehicle, at a first time point, the vehicle detects whether a slip event occurs to the vehicle itself, and when a slip event is detected, obtains the slip information of the vehicle itself, and sends the slip information, and at a second time point (for example, when the vehicle returns to the adjacent area of ​​the area again), further obtains a slip protection area generated based on the slip information, generates a target driving strategy based on the slip protection area, and drives according to the target driving strategy. When the first vehicle and the second vehicle are different vehicles, the second vehicle is a vehicle that approaches the slip position later than the first vehicle.

[0032] In the above embodiment, the first vehicle refers to a vehicle that is detected to have experienced a skidding event. Optionally, during the driving process, the first vehicle continuously monitors whether the vehicle is skidding to determine whether a skidding event has occurred.

[0033] Optionally, the slip information includes but is not limited to at least one of the following: slip location, slip time, slip speed, model of the slip vehicle (type, empty load, etc.), slip level, etc.

[0034] Optionally, in the above embodiment, the first vehicle and the second vehicle may communicate directly, or the first vehicle and the second vehicle may communicate indirectly. In the case of indirect communication, it may be performed through a cloud platform or other third-party device. Optionally, the cloud platform or other third-party device processes the slip information and sends it to the second vehicle. Preferably, the cloud platform or other third-party device only forwards the slip information without processing the information.

[0035] Optionally, the first vehicle and the second vehicle are different vehicles, and both can be manned vehicles or unmanned vehicles.

[0036] Optionally, the skid protection area may be a specific location area, or may be empty. When the skid protection area is empty, it indicates that the skid protection area is not generated.

[0037] In the above embodiment, the second vehicle is used to interact with the first vehicle for skidding information, so that the second vehicle can reasonably set a driving plan for its own driving according to the skidding situation of the first vehicle. Specifically, the driving plan includes generating a skidding protection area and a target driving strategy based on the skidding protection area. The target driving strategy may include: speed limit, detour, etc. Of course, it should be noted that for different first and second vehicles, the target driving strategy may also include: keeping the original driving strategy unchanged, or increasing the driving speed based on actual needs, directly entering the skidding protection area, or not setting the skidding protection area, etc. For example, the first vehicle is an unloaded vehicle, and the skidding information indicates that the skidding level is low (the severity of the skidding is not high) and the skidding is normal driving. If the second vehicle is a heavy-loaded vehicle of the same model and is driving normally, the following strategies can be adopted for the second vehicle: no skidding protection area is generated, and / or the target driving strategy is to keep the first driving strategy unchanged.

[0038] According to an embodiment of the present application, a vehicle skidding processing system is provided, the system comprising: a first vehicle, used to detect whether a skidding event occurs in the vehicle during driving, and when a skidding event is detected, obtain the skidding information of the vehicle and send the skidding information; a second vehicle, used to obtain a skidding protection area generated according to the skidding information, generate a target driving strategy according to the skidding protection area, and drive according to the target driving strategy; wherein the first vehicle and the second vehicle are two different vehicles. The present application can generate skidding protection areas and corresponding safe driving strategies for other vehicles in a targeted manner when a skidding event occurs in one vehicle through information interaction between multiple vehicles, thereby effectively ensuring the driving safety of the vehicle and solving the technical problem that the related technology cannot effectively and safely handle vehicle skidding.

[0039] Optionally, the second vehicle is used to obtain a slip protection area generated according to the slip information and first vehicle attribute information of the second vehicle, wherein the first vehicle attribute information is used to characterize vehicle characteristics of the second vehicle.

[0040] In this embodiment, after obtaining the slip information of the first vehicle, the second vehicle can comprehensively use the slip information and the vehicle attribute information of the second vehicle to determine whether to generate a slip protection area and how to generate the slip protection area. Optionally, the attribute information of the first vehicle includes but is not limited to at least one of the following: vehicle speed, vehicle model (type, empty and heavy load, etc.), vehicle identification code, etc. In this embodiment, when the first vehicle slips, the slip information is sent to the second vehicle. The second vehicle determines whether to generate a slip protection area based on its own vehicle attributes, and determines what position of the slip protection area to generate when it is necessary to generate a slip protection area, so that the slip protection strategy is more in line with the actual needs of each vehicle, rather than a single slip protection area for each vehicle, avoiding the problem of poor accuracy and effectiveness of the slip protection strategy caused by the mechanical slip protection area configuration method.

[0041] Optionally, the slip information includes at least one of the following information: second vehicle attribute information and slip attribute information, wherein the second vehicle attribute information is used to characterize vehicle characteristics of the first vehicle, and the slip attribute information is used to characterize characteristics of the slip event;

[0042] Among them, optionally, the vehicle attribute information includes at least one of the following: vehicle speed, vehicle model (type, empty or overload, etc.), vehicle identification code; and / or, the slip attribute information includes at least one of the following: slip position, slip direction, slip deviation from a preset global trajectory, slip speed.

[0043] Optionally, the second vehicle is further used to receive skidding information of the first vehicle and generate the skidding protection area according to the skidding information.

[0044] In this embodiment, the first vehicle and the second vehicle can communicate directly via V2V. Considering the cloud platform transmission method, there is a certain delay from the vehicle skidding to the execution of the protection strategy by all vehicles (data upload, cloud platform calculation, and data distribution are required). In the weak network environment of the mine, it is very likely that there will be a large delay, or even failure of the transmission link from the vehicle to the cloud platform. At this time, the solution cannot guarantee the safe driving of vehicles in slippery areas. For example, the front vehicle may skid and the wheels may lock, and the rear vehicle may fail to slow down in time to increase the safety distance, and eventually rear-end collision may occur. This method can avoid the cloud platform, avoid the problem of untimely information transmission due to cloud platform communication delays, and effectively improve the efficiency of handling skidding events.

[0045] Optionally, the system further includes: a cloud platform, for receiving the slip information sent by the first vehicle, and sending the slip information to the second vehicle. Optionally, the cloud platform is used to receive the slip information sent by the first vehicle, mark the slip information at a corresponding position on a map, and send the marked map to the second vehicle. In this embodiment, the first vehicle and the second vehicle can communicate through the cloud platform. In this way, the cloud platform can mark the relevant slip information on the map, and the information can be effectively sent to each relevant vehicle through the map, thereby ensuring the accuracy of information transmission.

[0046] Optionally, the second vehicle is used to determine the slip position based on the acquired slip information, and identify whether the slip position already exists in a designated slip set; when it is identified that the slip position already exists in the designated slip set, ignore the slip position determined based on the slip information; when it is identified that the slip position does not exist in the designated slip set, store the slip position in the designated slip set, and generate the slip protection area based on the slip position determined by the slip information.

[0047] In this embodiment, the position where the slip occurs is recorded, and when the position where the slip occurs repeatedly is detected, the position where the slip occurs repeatedly is not recorded repeatedly. Optionally, the timing can be started after a specific slip position has been stored in the specified slip set, and within a specified time range, if the slip information corresponding to the same slip position is recognized again, the storage of the slip position determined again according to the new slip information is ignored.

[0048] Optionally, the second vehicle is used to identify whether a slip combination already exists in a designated slip set; when it is identified that the slip combination already exists in the designated slip set, the slip position determined by the slip information is ignored; when it is identified that the slip combination does not exist in the designated slip set, the slip combination is stored in the designated slip set; wherein the slip combination includes the slip position and a corresponding slip level, and the slip level is used to characterize the severity of the slip.

[0049] In this embodiment, the slip combination refers to the slip position and the corresponding slip level. When the same slip position at the same slip level is detected again, it will not be recorded again; if it is the same position but the slip level is different, it will be recorded. The slip level here can be divided into different levels according to user needs, and different slip levels represent different severities of slip. For example, the slip level may include Level 1, Level 2, and Level 3, where Level 1 indicates slight slip, Level 2 indicates moderate slip, and Level 3 indicates severe slip.

[0050] Optionally, the second vehicle is further configured to, when identifying that the slip combination does not exist in the designated slip set, store the slip combination into the designated slip set and record a timestamp of storing the slip combination into the designated slip set.

[0051] In this embodiment, when the slip combination is stored, the stored timestamp is recorded, and the corresponding slip combination can be processed according to the stored timestamp. For example, according to a large number of tests, when the timestamp meets the time threshold, the slip position will be eliminated (for example, the slippery area will dry after a period of time), and the slip combination corresponding to the timestamp can be deleted from the specified slip set.

[0052] Optionally, the slippery area may be periodically designated to be driven in a safe manner (such as at a low speed) to detect whether the slippery property disappears. When it is detected that the slippery condition disappears, the slippery combination may be removed from the slippery set.

[0053] Optionally, the second vehicle is used to detect whether the slip position stored in the specified slip set is within a first target area related to the current position of the second vehicle, and to generate the slip protection area according to the slip position when it is determined that the slip position corresponding to the specified slip set is within the first target area related to the current position of the second vehicle.

[0054] In this embodiment, the second vehicle is a vehicle different from or the same as the first vehicle. During the driving of the second vehicle, if the slip position in the distance slip set is determined to meet a certain distance range based on its positioning, a slip protection area is generated based on the slip position.

[0055] Optionally, the second vehicle is used to detect whether the distance from the slip position corresponding to the slip information to the projection point of the current global trajectory of the second vehicle meets the distance requirement, and when it is detected that the distance requirement is met, the target area surrounding the slip position is determined as the slip protection area. In this embodiment, the second vehicle determines the distance from the projection point of the global trajectory to the slip position based on the global trajectory and positioning information, and when the distance between the two meets the distance requirement, the target area surrounding the slip position is determined as the slip protection area.

[0056] Optionally, the target area includes: a first distance range forward of the projection point and a second distance range backward of the projection point, and the first distance range is greater than the second distance range. In this embodiment, while considering the first distance range forward of the projection point, the second distance range backward of the projection point is further considered, thereby further improving safety.

[0057] Optionally, the target driving strategy includes at least one of the following: increasing the following distance; limiting the maximum speed; limiting the maximum deceleration. This embodiment can improve the driving safety in the skid protection area by increasing the following distance, limiting the maximum speed, limiting the maximum deceleration, etc.

[0058] Optionally, the skid protection area may be an area corresponding to a preset distance range extending in all directions with the skid position as the center.

[0059] Optionally, the second vehicle is used to clear the slip position recorded before the corresponding timestamp after acquiring the target driving strategy for the slip protection area.

[0060] Embodiment 2

[0061] The present application also provides a method for handling vehicle skidding. In this embodiment, for a skidding vehicle, when the vehicle finds that it is skidding, it will send the skidding level (for example, no skidding, longitudinal skidding, lateral skidding, lateral skidding and deviation from the current trajectory) and basic vehicle information (position, speed, model, vehicle identification code VIN, etc.) to other vehicles, for example, through V2V, or to a cloud platform, for example, through V2N.

[0062] For all vehicles, when receiving skidding information from other vehicles through V2V, first distinguish the skidding level and filter the newly received skidding points. If there are recorded skidding points with the same skidding level within a certain range, filter the newly received skidding points (such as Figure 2 ), and updates the timestamp of the recorded slippage point.

[0063] Secondly, when planning the trajectory, the recorded slip points within 250m of the ego vehicle are processed. If the distance from the slip point to the projection point of the current global trajectory of the ego vehicle is less than 10m, a slip protection area is generated 200m in front of the projection point and 100m in the back (the slip protection area can be an area with a radius of 20m centered on the slip position). The ego vehicle executes a series of safety protection strategies in the slip protection area (generated by calculating the slip vehicle information, such as increasing the following distance, and limiting the speed and maximum deceleration, etc.).

[0064] In addition, after receiving the slippery area protection strategy issued by the cloud platform through V2N, the vehicle will clear all recorded slip points before the platform strategy timestamp to ensure that the platform can cancel the slippery area protection strategy (after manually confirming that there is no safety risk in the slippery area) to avoid the permanent existence of the slippery area and affect the work efficiency. At the same time, the vehicle will execute a safety protection strategy similar to the above in the slippery area issued by the platform.

[0065] The above-mentioned embodiments of the present application can generate a skid protection area and a corresponding safe driving strategy for the rear vehicle in a targeted manner when the front vehicle skids, thereby effectively ensuring the driving safety of the vehicle and solving the technical problem in the related art that the vehicle skid cannot be effectively and safely handled.

[0066] Embodiment 3

[0067] According to an embodiment of the present application, a vehicle skidding processing system is also provided, such as Figure 3 As shown, the system may include:

[0068] The first vehicle 20 is used to detect whether a skidding event occurs in the vehicle during driving, and when a skidding event is detected, obtain the skidding information of the vehicle and send the skidding information;

[0069] The cloud platform 22 is used to receive the slip information sent by the first vehicle and send the slip information to the second vehicle;

[0070] The second vehicle 23 is used to obtain a skidding protection area generated according to the skidding information, generate a target driving strategy according to the skidding protection area, and drive according to the target driving strategy.

[0071] In this embodiment, the cloud platform may process the slip information and then send it to the second vehicle. Alternatively, the cloud platform may only forward the slip information without processing the information.

[0072] In this embodiment, the cloud platform can be used to receive the slip information sent by the first vehicle, mark the slip information at the corresponding position of the map, and send the marked map to the second vehicle. In this embodiment, the first vehicle and the second vehicle can communicate through the cloud platform. In this way, the cloud platform can mark the relevant slip information in the map, and the information can be effectively sent to each relevant vehicle through the map, thereby ensuring the accuracy of information transmission. Optionally, the content marked in the map includes: first vehicle attribute information and slip attribute information. The vehicle attribute information includes at least one of the following: vehicle speed, vehicle model (type, empty and heavy load, etc.), vehicle identification code, etc.; and / or, the slip attribute information includes at least one of the following: slip position, slip direction, slip deviation from the preset global trajectory, slip speed, etc.

[0073] In the above embodiment, after the second vehicle obtains the slip information sent by the cloud platform (without further processing the slip information sent by the first vehicle), it can comprehensively use the slip information and the vehicle attribute information of the second vehicle to determine whether to generate a slip protection area and how to generate the slip protection area. In this embodiment, when the first vehicle slips, it sends the slip information to the second vehicle. The second vehicle determines whether to generate a slip protection area based on its own vehicle attributes, and determines the location of the slip protection area to generate when it is necessary to generate a slip protection area, so that the slip protection strategy is more in line with the actual needs of each vehicle, rather than simply targeting each vehicle with the same slip protection area, avoiding the problem of poor accuracy and effectiveness of the slip protection strategy caused by the mechanical slip protection area configuration method.

[0074] Through information interaction between multiple vehicles, the present application can generate skid protection areas and corresponding safe driving strategies for other vehicles in a targeted manner when one vehicle skids, thereby effectively ensuring vehicle driving safety and solving the technical problem in related technologies that is unable to effectively and safely handle vehicle skidding.

[0075] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0077] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0078] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0079] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A vehicle skidding treatment system, It is characterized in that The system comprises: The first vehicle is used to detect whether a skidding event occurs in the vehicle during driving, and if a skidding event is detected, obtain the skidding information of the vehicle and send the skidding information; The second vehicle is used to obtain a skidding protection area generated according to the skidding information, generate a target driving strategy according to the skidding protection area, and drive according to the target driving strategy.

2. The system according to claim 1, It is characterized in that The second vehicle is used to obtain a slip protection area generated according to the slip information and first vehicle attribute information of the second vehicle, wherein the first vehicle attribute information is used to characterize vehicle characteristics of the second vehicle.

3. The system according to claim 1, It is characterized in that The slip information includes at least one of the following information: second vehicle attribute information and slip attribute information, wherein the second vehicle attribute information is used to characterize vehicle characteristics of the first vehicle, and the slip attribute information is used to characterize characteristics of the slip event, wherein: The vehicle attribute information includes at least one of the following: vehicle speed, vehicle model, vehicle identification code; and / or, The slip attribute information includes at least one of the following: slip position, slip direction, slip deviation from a preset global trajectory, and slip speed.

4. The system according to any one of claims 1 to 3, It is characterized in that The second vehicle is further used to receive the skidding information of the first vehicle and generate the skidding protection area according to the skidding information.

5. The system according to any one of claims 1 to 4, It is characterized in that The system further comprises: The cloud platform is used to receive the slip information sent by the first vehicle and send the slip information to the second vehicle.

6. The system according to claim 5, It is characterized in that The cloud platform is used to receive the skid information sent by the first vehicle, mark the skid information at a corresponding position on a map, and send the marked map to the second vehicle.

7. The system according to any one of claims 1 to 6, It is characterized in that The second vehicle is used to determine the slip position according to the acquired slip information, and identify whether the slip position already exists in the designated slip set; when it is identified that the slip position already exists in the designated slip set, ignore the slip position determined according to the slip information; when it is identified that the slip position does not exist in the designated slip set, store the slip position in the designated slip set, and generate the slip protection area according to the slip position determined by the slip information.

8. The system according to claim 7, It is characterized in that The second vehicle is used to identify whether the slip combination already exists in the designated slip set; when it is identified that the slip combination already exists in the designated slip set, ignore the slip position determined by the slip information; when it is identified that the slip combination does not exist in the designated slip set, store the slip combination in the designated slip set; wherein the slip combination includes the slip position and the corresponding slip level, and the slip level is used to characterize the severity of the slip.

9. The system according to claim 8, It is characterized in that The second vehicle is further configured to store the slip combination into the designated slip set and record a timestamp of storing the slip combination into the designated slip set when identifying that the slip combination does not exist in the designated slip set.

10. The system according to any one of claims 7 to 9, It is characterized in that The second vehicle is used to detect whether the slip position stored in the specified slip set is within a first target area related to the current position of the second vehicle, and to generate the slip protection area according to the slip position when it is determined that the slip position corresponding to the specified slip set is within the first target area related to the current position of the second vehicle.

11. The system according to claim 1 or 10, It is characterized in that The second vehicle is used to detect whether the distance from the slip position corresponding to the slip information to the projection point of the current global trajectory of the second vehicle meets the distance requirement. When it is detected that the distance requirement is met, the target area surrounding the slip position is determined as the slip protection area.

12. The system according to claim 11, It is characterized in that The target area includes: a first distance range forward of the projection point and a second distance range backward of the projection point, and the first distance range is greater than the second distance range.

13. The system according to claim 1, It is characterized in that The target driving strategy includes at least one of the following: Increase following distance; Implement maximum speed limit; Limit the maximum deceleration.

14. The system according to claim 9, It is characterized in that The second vehicle is used to clear the slip position recorded before the corresponding timestamp after acquiring the target driving strategy for the slip protection area.

Images