Intelligent driving vehicle grouping and networking method based on satellite flash technology

Abstract

The invention belongs to the technical field of intelligent driving, and provides an intelligent driving vehicle grouping and networking method based on a star flash technology, which comprises the following steps: S1, an intelligent driving vehicle broadcasts and receives grouping information through a star flash transmission technology; s2, team formation information is judged, and the intelligent driving vehicles meeting the team formation conditions form an intelligent driving vehicle team; s3, the intelligent driving fleet forms an intelligent driving fleet chain domain network through a star flash technology; s4, the intelligent driving vehicles in the chain domain network execute the same driving instruction to drive; and S5, any two adjacent intelligent driving vehicles in the chain domain network compare whether the information of the next road section coincides or not, if yes, team formation is continued, and if not, the intelligent driving vehicles are separated from the current vehicle team and reteam formation is carried out. By utilizing the strong communication capability of the satellite flash technology, direct communication between vehicles is realized, the dependence on the roadside and the cloud is reduced, the reliability and the stability of the communication system are improved, the operation cost is reduced, and the energy consumption of vehicle driving is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent driving technology and relates to an intelligent driving vehicle teaming and networking method based on star flash technology. Background Art

[0002] There are many advantages to teaming up with smart driving vehicles. First of all, the reaction time of smart driving vehicles is greatly reduced compared to human-driven vehicles, which can greatly reduce the safe driving distance of vehicles. After teaming up, the safe distance between vehicles can be further adjusted, thereby greatly improving road traffic efficiency. Secondly, after teaming up, the head vehicle of the smart driving fleet can broadcast driving control signals to the following vehicles, which can reduce the sensor and computing power consumption of the following vehicles, and greatly reduce the computing power expenditure of smart driving vehicles.

[0003] In the future, the vehicles on the road should be mainly intelligent driving vehicles, and the intelligent driving vehicles should be mainly in the platoon state during their journey, and single vehicle driving should be less frequent. Therefore, in the field of intelligent driving, vehicle platooning technology is one of the key technologies to improve road traffic efficiency, enhance driving safety and save energy consumption. However, the existing intelligent driving vehicle platooning methods generally adopt roadside communication or cloud communication modes. Although these methods have achieved information exchange and collaborative control between vehicles to a certain extent, they have some obvious disadvantages and limitations in terms of reliability, latency, bandwidth, number of connections, and communication distance: ① Traditional intelligent driving vehicle platooning technology is heavily dependent on the support of roadside units or cloud servers, which reduces the robustness and reliability of the system and cannot avoid security threats such as signal interference, hacker attacks, and personal privacy leakage; ② The data transmission path of roadside communication and cloud communication is long and the data processing process is complex, which easily leads to increased communication delays and even interruption of communication connections, causing security issues; ③ With the increase in the number of vehicles, the roadside communication infrastructure limits the communication bandwidth and the number of vehicle connections, and the construction and maintenance costs are huge. At the same time, there are problems such as information loss and even vehicle inaccessibility.

[0004] In view of the above problems, it is particularly important to develop an efficient, simple and external facility-independent intelligent driving vehicle teaming and networking method. Summary of the invention

[0005] The present invention discloses a teaming and networking method based on Star Flash communication technology. The dynamic teaming and adjustment between intelligent driving vehicles are realized through Star Flash technology, which does not rely on the roadside or the cloud. After teaming, the vehicles in the team rely on the powerful communication capability of Star Flash technology to network, build the team into a whole, and build a "rigid connection" of the vehicles in the team, which greatly improves the efficiency and stability of teaming and networking, and thus greatly improves the road traffic capacity and safety. In addition, the method also has the advantages of low energy consumption and cost, and provides a feasible solution for future intelligent transportation systems.

[0006] In order to achieve the above purpose, the technical solution adopted by this application is: A method for forming a team and networking of intelligent driving vehicles based on Star Flash technology, comprising the following steps: Step S1: The intelligent driving vehicle broadcasts and receives team formation information through the Star Flash transmission technology.

[0007] Furthermore, in step S1, the intelligent driving vehicle includes a first intelligent driving vehicle and a second intelligent driving vehicle, the first intelligent driving vehicle includes first team list information, and the second intelligent driving vehicle includes second team list information. The first intelligent driving vehicle entering the current road section broadcasts the first team list information and simultaneously receives the second team list information of the second intelligent driving vehicle; the second intelligent driving vehicle entering the current road section broadcasts the second team list information and simultaneously receives the first team list information of the first intelligent driving vehicle.

[0008] Furthermore, the first team list information includes the vehicle ID of the first intelligent driving vehicle 0 , location S, speed V, current road section ID 1 , next segment ID 2 The second team list information includes the vehicle ID of the second intelligent driving vehicle 0 , location S, speed V, current road section ID 1 , next segment ID 2 .

[0009] Furthermore, the current segment ID 1 and the next segment ID 2 It can be given by the navigation system of the intelligent driving vehicle.

[0010] Furthermore, the first intelligent driving vehicle can be any independent vehicle, and the second intelligent driving vehicle can be any independent vehicle or the head vehicle or the tail vehicle of any intelligent driving fleet.

[0011] Furthermore, the first intelligent driving vehicle can simultaneously receive the second team list information of multiple second intelligent driving vehicles; the second intelligent driving vehicle can simultaneously receive the first team list information of multiple first intelligent driving vehicles.

[0012] Step S2: Team formation information is determined, and intelligent driving vehicles that meet team formation conditions form an intelligent driving team.

[0013] Furthermore, the process of step S2 is as follows: Step S21. Team formation trigger: For any of the first intelligent driving vehicles denoted as the first intelligent driving vehicle p and the second intelligent driving vehicle denoted as the second intelligent driving vehicle q, it satisfies ID 1 (p) = ID 1 (q) & ID 2 (p) = ID 2 (q); Step S22. Team formation start: Obtain the position Ap of the first intelligent driving vehicle p and the position Aq of the second intelligent driving vehicle q. The set of the first intelligent driving vehicle p is P = {A1p, A2p, A3p,..., Anp}, n ≥ 1, and any Aip ∈ P in the set P is free; the set of the second intelligent driving vehicle q is Q = {A1q, A2q, A3q,..., Amq}, m ≥ 1, and any Ajq ∈ Q in the set Q is fixed; For any Ajq ∈ {A1q, Amq}, where j = 1 or j = m; obtain the team formation distance dij = ‖Aip - Ajq‖ between the first intelligent driving vehicle p and the second intelligent driving vehicle q. If dij < RAq, then Aip and Ajq can start team formation; where RAq is the team formation distance threshold, and the team formation distance threshold RAq is determined by the team formation distance domain S(Ajq, RAq) with Ajq as the center and RAq as the radius; Step S23. Optimal team formation: Suppose the set of all team formation distances that satisfy the team formation distance threshold within the team formation distance domain S(Ajq, RAq) is denoted as Dj = {dij < RAq | i = 1, 2,..., n, j = 1 or m}. For any Atp ∈ P, if dtj = min(Dj), then the second intelligent driving vehicle q located at the position Ajq preferentially teams up with the first intelligent driving vehicle p located at the position Atp; Step S24. Team formation execution: The second intelligent driving vehicle q located at the position Ajq sends a handshake success signal to the first intelligent driving vehicle p located at the position Aip, as well as the second team formation list information of the second intelligent driving vehicle q, and executes team formation.

[0014] Furthermore, in step S24, if m=1, that is, the second intelligent driving vehicle q is an independent vehicle, the first intelligent driving vehicle p and the second intelligent driving vehicle q are queued according to the principle of the front vehicle in front and the rear vehicle in the rear, and the two vehicles control their speed to drive into the same lane, and the distance between the first intelligent driving vehicle p and the second intelligent driving vehicle q is controlled to be the team spacing, and the team is completed; if m>1, that is, the second intelligent driving vehicle q is an intelligent driving team, if the second intelligent driving vehicle q is the head vehicle of the team, the first intelligent driving vehicle p drives in front of the second intelligent driving vehicle q as the head vehicle of the intelligent driving team, and the distance between the first intelligent driving vehicle p and the second intelligent driving vehicle q is controlled to be the team spacing, and the team is completed; if the second intelligent driving vehicle q is the tail vehicle of the team, the first intelligent driving vehicle p drives behind the second intelligent driving vehicle q as the tail vehicle of the team, and the distance between the first intelligent driving vehicle p and the second intelligent driving vehicle q is controlled to be the team spacing, and the team is completed.

[0015] Furthermore, the team spacing satisfies: L=△t*V+H, wherein L represents the team spacing, △t represents the vehicle communication delay, V represents the vehicle speed, and H represents the safety spacing required for safe driving of the vehicle.

[0016] Furthermore, the length of the convoy does not exceed a specified length.

[0017] Step S3: The smart driving fleet forms a smart driving fleet chain domain network through the Star Flash technology.

[0018] Furthermore, in step S3, the head vehicle of the intelligent driving fleet sends the unstructured data such as the on-board radar data and on-board video data of the front side of the head vehicle and the driving instructions such as the next road section ID2, vehicle speed, acceleration, deceleration, steering wheel adjustment, etc. of the head vehicle in the fleet to each vehicle behind it through the Star Flash technology, and the tail vehicle sends the unstructured data such as the on-board radar data and on-board video data of the rear side of the tail vehicle in the fleet to each vehicle in front through the Star Flash technology.

[0019] Step S4: The intelligent driving vehicles in the chain domain network execute the same driving instruction.

[0020] Furthermore, in step S4, among any two adjacent vehicles in the intelligent driving team, the rear vehicle drives according to the instructions of the head vehicle in the team when the safety distance, lateral safety distance and lane keeping are met with the front vehicle, and the corresponding sensing and computing units of the rear vehicle are on standby.

[0021] Step S5: Any two adjacent intelligent driving vehicles in the chain domain network compare whether the next road segment information overlaps. If so, they continue to form a team. If not, they leave the current team and form a new team.

[0022] Furthermore, in step S5, each time a new road section is entered, the following vehicle compares the next road section ID with the first vehicle in the queue. 2 Do they overlap? If so, continue to form a team. If not, exit the current road section ID. 1 The front and rear vehicles leave the convoy and, when entering the next road section, start broadcasting the convoy information again with the current road section as the current road section, seeking to form a convoy with other vehicles.

[0023] The beneficial effects of the present invention are: 1. Improve road capacity: Through the Star Flash technology, efficient teaming and networking between intelligent driving vehicles can be achieved, the fleet can be built into a whole, and a "rigid connection" between vehicles in the fleet can be established, which can greatly improve road capacity. This is because the communication between vehicles is faster and more accurate, which solves the limitations of communication bandwidth, number of vehicle connections and long transmission paths in traditional communication methods, and reduces traffic congestion and traffic safety problems caused by information transmission delays.

[0024] 2. Improve safety: This method does not rely on the roadside or the cloud, but relies on the powerful communication capabilities of Star Flash to form teams and networks between vehicles, which reduces dependence on external facilities and improves the system's anti-interference ability and stability. At the same time, by sharing unstructured data such as on-board radar data, video data, and driving instructions in real time, the synchronization and coordination of vehicles within the fleet are ensured, thereby improving overall safety.

[0025] 3. Optimize resource allocation: In the process of teaming, the strategy of selecting the best team can effectively allocate vehicles to the most suitable position, making the operation of the team more efficient. In addition, when a vehicle enters a new section of road, if the information of the next section does not overlap, the vehicle will leave the current team and re-team. Such dynamic adjustment helps to optimize the use of road resources.

[0026] 4. Reduce energy consumption and be environmentally friendly: As the vehicles form a tight convoy, the following vehicles can drive according to the instructions of the leading vehicle, and the corresponding sensing and computing units on the following vehicles are on standby, thereby improving the overall traffic capacity of the convoy vehicles, reducing abnormal traffic congestion and energy consumption of the convoy vehicles, and at the same time having a positive impact on the construction of a harmonious society and environmental protection.

[0027] 5. Promote the development of intelligent transportation systems: This method only requires the implantation of the Starflash communication module in the intelligent driving vehicle, without the need for the construction of roadside communication infrastructure. It has low investment and maintenance costs, helps promote the development of intelligent transportation systems, and provides a feasible solution for future autonomous driving and vehicle networking technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0029] Figure 1 It is an overall flow chart of a method for forming a team and networking of intelligent driving vehicles based on Star Flash technology; Figure 2 A schematic diagram of a team formation process of a method for forming a team and networking of intelligent driving vehicles based on the Star Flash technology; Figure 3 A schematic diagram of the teaming and networking of traditional intelligent driving vehicle teaming technology that relies on roadside units or cloud servers; Figure 4 A schematic diagram of a team formation and networking method for intelligent driving vehicle team formation and networking based on the Star Flash technology; Description of the numbers in the figure: The first intelligent driving vehicle A1p; the first intelligent driving vehicle A2p; the second intelligent driving vehicle A1q; the second intelligent driving vehicle A2q; the second intelligent driving vehicle A3q; the teaming distance domain S (A1q, RAq); the Star Flash module 100; the roadside unit or the cloud server 200. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions 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 are within the scope of protection of this application.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0032] like Figure 1 As shown, a method for forming a team and networking of intelligent driving vehicles based on the Star Flash technology includes the following steps: Step S1: The intelligent driving vehicle broadcasts and receives team formation information through the Star Flash transmission technology.

[0033] Furthermore, in step S1, the intelligent driving vehicle includes a first intelligent driving vehicle and a second intelligent driving vehicle, the first intelligent driving vehicle includes first team list information, and the second intelligent driving vehicle includes second team list information. The first intelligent driving vehicle entering the current road section broadcasts the first team list information and simultaneously receives the second team list information of the second intelligent driving vehicle; the second intelligent driving vehicle entering the current road section broadcasts the second team list information and simultaneously receives the first team list information of the first intelligent driving vehicle.

[0034] Furthermore, the first team list information includes the vehicle ID of the first intelligent driving vehicle 0 , position S, speed V, current road section ID 1 , next segment ID 2 The second team list information includes the vehicle ID of the second intelligent driving vehicle 0 , position S, speed V, current road section ID 1 , next segment ID 2 .

[0035] Furthermore, the current segment ID 1 and the next segment ID 2 It can be given by the navigation system of the intelligent driving vehicle.

[0036] Furthermore, the first intelligent driving vehicle can be any independent vehicle, and the second intelligent driving vehicle can be any independent vehicle or the head vehicle or the tail vehicle of any intelligent driving fleet.

[0037] Furthermore, the first intelligent driving vehicle can simultaneously receive the second team list information of multiple second intelligent driving vehicles; the second intelligent driving vehicle can simultaneously receive the first team list information of multiple first intelligent driving vehicles.

[0038] Step S2: Team formation information is determined, and intelligent driving vehicles that meet team formation conditions form an intelligent driving team.

[0039] Furthermore, the process of step S2 is as follows: Step S21, team formation triggering, for any of the first intelligent driving vehicles, record it as the first intelligent driving vehicle p, the second intelligent driving vehicle is record it as the second intelligent driving vehicle q, satisfying ID 1 (p) = ID 1 (q) & ID 2 (p) = ID 2 (q).

[0040] Step S22: Team formation is initiated. Obtain the position Ap of the first intelligent driving vehicle p and the position Aq of the second intelligent driving vehicle q. The set of the first intelligent driving vehicles p is P = {A1p, A2p, A3p,..., Anp}, where n ≥ 1, and any Aip ∈ P in the set P is free; the set of the second intelligent driving vehicles q is Q = {A1q, A2q, A3q,..., Amq}, where m ≥ 1, and any Ajq ∈ Q in the set Q is fixed.

[0041] For any Ajq ∈ {A1q, Amq}, where j = 1 or j = m; obtain the teaming distance dij = ‖Aip - Ajq‖ between the first intelligent driving vehicle p and the second intelligent driving vehicle q. If dij < RAq, then Aip and Ajq can initiate team formation; where RAq is the teaming distance threshold, and the teaming distance threshold RAq is determined by the teaming distance domain S(Ajq, RAq) with Ajq as the center and RAq as the radius.

[0042] Step S23: Optimal team selection. Let the set of all teaming distances that satisfy the teaming distance threshold within the teaming distance domain S(Ajq, RAq) be represented as Dj = {dij < RAq | i = 1, 2,..., n, j = 1 or m}. For any Atp ∈ P, if dtj = min(Dj), then the second intelligent driving vehicle q located at the position Ajq preferentially teams up with the first intelligent driving vehicle p located at the position Atp.

[0043] Step S24: Team formation execution. The second intelligent driving vehicle q located at the position Ajq sends a handshake success signal to the first intelligent driving vehicle p located at the position Aip, as well as the second teaming list information of the second intelligent driving vehicle q, and executes team formation.

[0044] Furthermore, in step S24, if m=1, that is, the second intelligent driving vehicle q is an independent vehicle, the first intelligent driving vehicle p and the second intelligent driving vehicle q are queued according to the principle of the front vehicle in front and the rear vehicle in the rear, and the two vehicles control their speed to drive into the same lane, and the distance between the first intelligent driving vehicle p and the second intelligent driving vehicle q is controlled to be the team spacing, and the team is completed; if m>1, that is, the second intelligent driving vehicle q is an intelligent driving team, if the second intelligent driving vehicle q is the head vehicle of the team, the first intelligent driving vehicle p drives in front of the second intelligent driving vehicle q as the head vehicle of the intelligent driving team, and the distance between the first intelligent driving vehicle p and the second intelligent driving vehicle q is controlled to be the team spacing, and the team is completed; if the second intelligent driving vehicle q is the tail vehicle of the team, the first intelligent driving vehicle p drives behind the second intelligent driving vehicle q as the tail vehicle of the team, and the distance between the first intelligent driving vehicle p and the second intelligent driving vehicle q is controlled to be the team spacing, and the team is completed.

[0045] Furthermore, the team spacing satisfies: L=△t*V+H, wherein L represents the team spacing, △t represents the vehicle communication delay, V represents the vehicle speed, and H represents the safety spacing required for safe driving of the vehicle.

[0046] Furthermore, the length of the convoy does not exceed a specified length.

[0047] Step S3: The smart driving fleet forms a smart driving fleet chain domain network through the Star Flash technology.

[0048] Furthermore, in step S3, the leading vehicle of the intelligent driving team sends the unstructured data such as the on-board radar data and on-board video data of the front side of the leading vehicle and the next road segment ID of the leading vehicle to each of the following vehicles through the Star Flash technology. 2 The rear vehicle in the team uses Star Flash technology to send unstructured data such as the on-board radar data and on-board video data on the rear side of the rear vehicle to each vehicle in front of it, based on driving instructions such as vehicle speed, acceleration, deceleration, and steering wheel adjustment.

[0049] Step S4: The intelligent driving vehicles in the chain domain network execute the same driving instruction.

[0050] Furthermore, in step S4, among any two adjacent vehicles in the intelligent driving team, the rear vehicle drives according to the instructions of the head vehicle in the team when the safety distance, lateral safety distance and lane keeping are met with the front vehicle, and the corresponding sensing and computing units of the rear vehicle are on standby.

[0051] Step S5: Any two adjacent intelligent driving vehicles in the chain domain network compare whether the next road segment information overlaps. If so, they continue to form a team. If not, they leave the current team and form a new team.

[0052] Furthermore, in step S5, each time a new road section is entered, the following vehicle compares the next road section ID with the first vehicle in the queue. 2 Do they overlap? If so, continue to form a team. If not, exit the current road section ID. 1 The front and rear vehicles leave the convoy and, when entering the next road section, start broadcasting the convoy information again with the current road section as the current road section, seeking to form a convoy with other vehicles.

[0053] like Figure 2 This is one of the situations in which the intelligent driving vehicles provided in this application complete the teaming through the Star Flash technology. The detailed process is described as follows: Figure 2 In the example, the first intelligent driving vehicle A1p and the second intelligent driving vehicle A1q satisfy ID 1 (A1p) = ID 1 (A2p) = ID 1 (A1q) & ID 2 (A1p) = ID 2 (A2p) = ID 2 (A1q), team triggered.

[0054] The set of two first intelligent driving vehicles is denoted as P={A1p, A2p}, where A1p and A2p are freely discrete. There is a second intelligent driving vehicle denoted as A1q. Assume that the first intelligent driving vehicle A1p and the first intelligent driving vehicle A2p are both within the teaming distance domain S(A1q, RAq) of the second intelligent driving vehicle A1q. Calculate the teaming distance d11=‖A1p-A1q‖ between the first intelligent driving vehicle A1p and the second intelligent driving vehicle A1q, and the teaming distance d21=‖A2p-A1q‖ between the first intelligent driving vehicle A2p and the second intelligent driving vehicle A1q. The set of all teaming distances that meet the teaming distance threshold is denoted as D1={d11, d21}, as follows: Figure 2 As shown, d11<d21, so through the optimal teaming condition dtj=min(Dj), it is obtained that the second intelligent driving vehicle A1q preferably sends a signal to the first intelligent driving vehicle A1p that it can team up. After the first intelligent driving vehicle A1p receives the signal of successful teaming, it queues up according to the principle of the front vehicle in front and the rear vehicle in the back. The two vehicles control their speeds to drive into the same lane, and control the distance between the first intelligent driving vehicle A1p and the second intelligent driving vehicle A1q to the teaming distance, thus completing the teaming; After the first intelligent driving vehicle A1p and the second intelligent driving vehicle A1q form a team successfully, they become an intelligent driving team Q. The original first intelligent driving vehicle A1p becomes the head vehicle of the intelligent driving team Q, recorded as A1q, and the original second intelligent driving vehicle A1q becomes the tail vehicle of the intelligent driving team Q, recorded as A2q, recorded as a set Q={A1q, A2q}, wherein the positions of A1q and A2q after teaming are fixed; the first intelligent driving vehicle A2p and the tail vehicle A2q in the intelligent driving team Q meet the teaming conditions, and team up, the position of the intelligent driving team Q remains unchanged, the first intelligent driving vehicle A2p enters the intelligent driving team Q, and is located behind the tail vehicle A2q in the intelligent driving team Q, and is adjusted to the teaming distance to form a new intelligent driving team Q1, the original first intelligent driving vehicle A2p becomes the tail vehicle of the new intelligent driving team Q1, recorded as A3q, and the new intelligent driving team Q1 is recorded as a set Q1={A1q, A2q, A3q}.

[0055] like Figure 3 The figure shows a network diagram of traditional intelligent driving vehicle teaming technology that relies on a roadside unit or a cloud server 200. It can be seen from the figure that the vehicle needs to transmit information to the roadside unit or the cloud server, and then the roadside unit or the cloud server receives and processes the data and sends the information to related vehicles. There is no reliable communication connection between vehicles, the communication data transmission path is long, and the data processing process is complicated.

[0056] like Figure 4 The figure shows the schematic diagram of the formation and networking of the intelligent driving vehicles based on the Star Flash technology of this application. It can be seen from the figure that the intelligent driving vehicles rely on the powerful communication capability of the Star Flash module 100 to form a network, without the need for a roadside unit or a cloud server, to build the fleet into a whole, to build a "rigid connection" of the vehicles in the fleet, and to make the communication between vehicles faster and more accurate. In addition, since a tight formation is formed between the vehicles, the rear vehicles can drive according to the instructions of the head vehicle, and the corresponding part of the sensing and computing units on the rear vehicles are on standby, thereby improving the overall traffic capacity of the fleet vehicles, reducing abnormal traffic congestion and energy consumption of the fleet vehicles, and at the same time having a positive impact on the construction of a harmonious society and environmental protection.

[0057] It is worth noting that the various technical features of the above-described embodiments can be arbitrarily combined. In order to make the description concise, not all possible combinations of the various technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0059] In addition, based on feedback from actual applications, the system parameters are continuously optimized and adjusted to achieve the best results.

Claims

1. A method for forming a team and networking of intelligent driving vehicles based on Star Flash technology, characterized in that: including Step S1: The intelligent driving vehicle broadcasts and receives teaming information through the StarFlash transmission technology; Step S2: Discriminate the teaming information, and the intelligent driving vehicles that meet the teaming conditions form an intelligent driving fleet; Step S3: The intelligent driving fleet forms an intelligent driving fleet chain network through the StarFlash technology; Step S4: The intelligent driving vehicles within the chain network execute the same driving instruction to drive; Step S5: Compare whether the information of the next section coincides between any two adjacent intelligent driving vehicles within the chain network. If they coincide, continue to team up. If not, leave the current fleet and re-team up.

2. According to claim 1, a method for forming a team and networking of intelligent driving vehicles based on Star Flash technology is characterized in that: In the step S1, the intelligent driving vehicle includes a first intelligent driving vehicle and a second intelligent driving vehicle. The first intelligent driving vehicle includes first teaming list information, and the second intelligent driving vehicle includes second teaming list information. The first intelligent driving vehicle entering the current section broadcasts the first teaming list information and simultaneously receives the second teaming list information of the second intelligent driving vehicle; The second intelligent driving vehicle entering the current section broadcasts the second teaming list information and simultaneously receives the first teaming list information of the first intelligent driving vehicle.

3. The method for forming a team and networking of intelligent driving vehicles based on Star Flash technology according to claim 2 is characterized in that: The first team list information includes the vehicle ID of the first intelligent driving vehicle 0 , location S, speed V, current road section ID 1 , next segment ID 2 The second team list information includes the vehicle ID of the second intelligent driving vehicle 0 , location S, speed V, current road section ID 1 , next segment ID 2 .

4. The method for forming a team and networking of intelligent driving vehicles based on Star Flash technology according to claim 3 is characterized in that: The process of the step S2 is as follows: Step S21, team formation triggering, for any of the first intelligent driving vehicles, record it as the first intelligent driving vehicle p, the second intelligent driving vehicle is record it as the second intelligent driving vehicle q, satisfying ID 1 (p) = ID 1 (q) & ID 2 (p) = ID 2 (q); Step S22: Start teaming, obtain the position Ap of the first intelligent driving vehicle p and the position Aq of the second intelligent driving vehicle q. The set of the first intelligent driving vehicle p is P = {A1p, A2p, A3p,..., Anp}, n≥1, and any Aip∈P in the set P is free; the set of the second intelligent driving vehicle q is Q = {A1q, A2q, A3q,..., Amq}, m≥1, and any Ajq∈Q in the set Q is fixed; For any Ajq∈{A1q, Amq}, where j = 1 or j = m; obtain the teaming distance dij = ‖Aip - Ajq‖ between the first intelligent driving vehicle p and the second intelligent driving vehicle q. If dij < RAq, then Aip and Ajq can start teaming up; where RAq is the teaming distance threshold, and the teaming distance threshold RAq is determined by the teaming distance domain S(Ajq, RAq) with Ajq as the center and RAq as the radius; Step S23: Select the optimal teaming. Suppose the set of all teaming distances that meet the teaming distance threshold within the teaming distance domain S(Ajq, RAq) is represented as Dj = {dij < RAq丨i = 1,2,..., n, j = 1 or m}. For any Atp∈P, if dtj = min(Dj), then the second intelligent driving vehicle q located at the position Ajq teams up with the first intelligent driving vehicle p located at the position Atp preferentially; Step S24: Execute teaming. The second intelligent driving vehicle q located at the position Ajq sends a handshake success signal to the first intelligent driving vehicle p located at the position Aip, as well as the second teaming list information of the second intelligent driving vehicle q, and executes teaming.

5. The method for forming a team and networking of intelligent driving vehicles based on Star Flash technology according to claim 4 is characterized in that: In step S24, if m=1, that is, the second intelligent driving vehicle q is an independent vehicle, the first intelligent driving vehicle p and the second intelligent driving vehicle q are queued according to the principle of the front vehicle in front and the rear vehicle in the rear, and the two vehicles control their speed to drive into the same lane, and the distance between the first intelligent driving vehicle p and the second intelligent driving vehicle q is controlled to be the teaming distance, and the teaming is completed; if m>1, that is, the second intelligent driving vehicle q is an intelligent driving team, if the second intelligent driving vehicle q is the head vehicle of the team, the first intelligent driving vehicle p drives in front of the second intelligent driving vehicle q as the head vehicle of the intelligent driving team, and the distance between the first intelligent driving vehicle p and the second intelligent driving vehicle q is controlled to be the teaming distance, and the teaming is completed; If the second intelligent driving vehicle q is the rear vehicle of the team, the first intelligent driving vehicle p drives behind the second intelligent driving vehicle q as the rear vehicle of the team, and the distance between the first intelligent driving vehicle p and the second intelligent driving vehicle q is controlled to the teaming distance to complete the teaming.

6. The method for forming a team and networking of intelligent driving vehicles based on Star Flash technology according to claim 5 is characterized in that: The team spacing satisfies: L=△t*V+H, where L represents the team spacing, △t represents the vehicle communication delay, V represents the vehicle speed, and H represents the safety spacing required for safe driving of the vehicle.

7. The method for forming a team and networking of intelligent driving vehicles based on Star Flash technology according to claim 1, characterized in that: In step S3, the head vehicle of the intelligent driving fleet sends the unstructured data of the front side of the head vehicle and the driving adjustment instructions of the head vehicle for the next road section to each vehicle behind it through the Star Flash technology, and the tail vehicle sends the unstructured data of the rear side of the tail vehicle to each vehicle in front through the Star Flash technology.

8. The method for forming a team and networking of intelligent driving vehicles based on Star Flash technology according to claim 1, characterized in that: In step S4, of any two adjacent vehicles in the intelligent driving team, the rear vehicle drives according to the instructions of the head vehicle in the team when the safety distance, lateral safety distance and lane keeping are met with the front vehicle, and the corresponding sensing and computing units of the rear vehicle are on standby.

9. The method for forming a team and networking of intelligent driving vehicles based on Star Flash technology according to claim 1, characterized in that: In step S5, each time a new road section is entered, the following vehicle compares the next road section ID with the first vehicle in the queue. 2 Do they overlap? If so, continue to form a team. If not, exit the current road section ID. 1 The front and rear vehicles leave the convoy and, when entering the next road section, they restart broadcasting the convoy information with the current road section as the current road section, seeking to form a convoy with other vehicles.

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