Vehicle control method and device, server and computer readable storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, a server and a computer readable storage medium, and relates to the technical field of intelligent network connection traffic. According to the invention, road network data, real-time road information, and vehicle basic information and vehicle real-time information uploaded by a vehicle can be obtained, and the vehicle real-time information comprises information obtained in the driving process of the vehicle; grouping the vehicles according to the road network data, the real-time road information, the basic information of the vehicles and the real-time information of the vehicles to obtain vehicle team information; and controlling the vehicle according to the vehicle team information. The vehicles are grouped according to the road network data, the real-time road information, the vehicle basic information and the vehicle real-time information, and the vehicles are uniformly controlled according to the grouped vehicle team information, so that the cooperation capability between the vehicles can be improved, orderly passing of the vehicles on the road is realized, and the road passing efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent connected transportation technology, and more specifically, to a vehicle control method, device, server, and computer-readable storage medium. Background Art

[0002] At present, all vehicles on the road are independently driven and controlled. Due to the lack of mutual cooperation between vehicles, when there are many vehicles on the road and the road resources are limited, the phenomenon of "ghost traffic jam" is prone to occur. That is, when there is no traffic accident, vehicles will still drive slowly on the road, resulting in low road traffic efficiency.

[0003] In order to improve the efficiency of road traffic, the relevant technology proposes an intelligent networked transportation system, which includes perception, communication, and control modules on the vehicle side and the road side, as well as the management and dispatching system of each node. The vehicle can only be dispatched by connecting the vehicle's own multiple sensors, road test units, and road section monitoring nodes. The intelligent networked transportation system is too large and complex. As long as any link indicator is abnormal, it will affect the performance of the entire intelligent networked transportation system. It is difficult to implement and the system availability is poor. Summary of the invention

[0004] The embodiments of the present application propose a vehicle control method, device, server and computer-readable storage medium to solve the technical problem of how to improve road traffic efficiency.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method, the method comprising: obtaining road network data, real-time road information, basic vehicle information uploaded by the vehicle, and real-time vehicle information, the real-time vehicle information comprising information obtained by the vehicle during driving; forming a team of the vehicles to obtain team information based on the road network data, real-time road information, basic vehicle information, and real-time vehicle information; and controlling the vehicles based on the team information.

[0006] In a second aspect, an embodiment of the present application provides a vehicle control device, which includes: a data acquisition module for acquiring road network data, real-time road information, basic vehicle information uploaded by the vehicle, and real-time vehicle information, wherein the real-time vehicle information includes information acquired by the vehicle during driving; a vehicle teaming module for teaming the vehicles according to the road network data, real-time road information, basic vehicle information, and real-time vehicle information to obtain team information; a team control module for teaming the vehicles according to the team information.

[0007] P1CN-GQJT240119, 2024P0498CN1 vehicle is controlled.

[0008] In a third aspect, an embodiment of the present application provides a server, comprising: a memory and a processor, wherein an application is stored in the memory, and the application is used to enable the processor to execute a vehicle control method when called by the processor.

[0009] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a program code stored thereon, wherein the program code is used to enable the processor to execute a vehicle control method when called by the processor.

[0010] The vehicle control method provided by the embodiment of the present application has the following technical effects: according to the road network data, real-time road information, basic vehicle information and real-time vehicle information, the vehicles are grouped to obtain the fleet information, and the vehicles are uniformly controlled according to the fleet information, so as to improve the cooperation ability between vehicles, realize the orderly passage of vehicles on the road, and improve the road traffic efficiency. In addition, the system involved in the present application is much simpler than the intelligent networked transportation system in the related technology, which improves the practicability of the method. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, not all embodiments. Based on the embodiments of the present application, all other embodiments and drawings obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0012] Figure 1 A schematic diagram of the structure of an intelligent connected transportation system provided in an embodiment of the present application is shown;

[0013] Figure 2 A schematic diagram of human-vehicle interaction provided by an embodiment of the present application is shown;

[0014] Figure 3 A schematic diagram of the communication architecture of an intelligent connected transportation system provided by an embodiment of the present application is shown;

[0015] Figure 4 A schematic diagram of a vehicle control method according to an embodiment of the present application is shown;

[0016] Figure 5 A schematic diagram of a road scene provided by an exemplary embodiment of the present application is shown;

[0017] Figure 6 A schematic diagram of a fleet provided by an exemplary embodiment of the present application is shown;

[0018] Figure 7A schematic flow chart of a vehicle control method provided by another embodiment of the present application is shown;

[0019] Figure 8 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0020] Fig. 9 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0021] Fig.10 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0022] Fig.11 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0023] Fig.12 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0024] Fig.13 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0025] Fig.14 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0026] Fig.15 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0027] Fig.16 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0028] Fig.17 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0029] Fig.18 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0030] Fig.19 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0031] Fig. 20 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0032] Fig.21 A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0033] Fig. 22A schematic diagram of a vehicle traffic scene provided by an exemplary embodiment of the present application is shown;

[0034] Fig.23 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application is shown;

[0035] Fig.24 A schematic diagram of the structure of a server provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0036] 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.

[0037] See also Figure 1 , Figure 1 The structural diagram of the intelligent networked transportation system provided by the embodiment of the present application is shown. The intelligent networked transportation system 100 may include a server 110 and a vehicle 120 on the road. The server 110 may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, referred to as CDN), and big data and artificial intelligence platforms. The vehicle 120 may include all vehicles traveling on the road.

[0038] A control center is established in the server 110, and the control center includes a road data collection system, a vehicle data collection system, a road network matching system, and a vehicle dispatching system. The road data collection system is used to collect complete map road network data and real-time road information. A road network refers to a road system composed of various roads in a certain area that are interconnected and interwoven into a network distribution. The map road network data may include basic information about the road. The basic information about the road may include, but is not limited to, road identification information (Identity document, referred to as ID), the number of lanes on the road, lane identification information, road speed limit, lane speed limit, etc. Real-time road information may include, but is not limited to, road maintenance information, vehicle failure information on the road, traffic flow information, etc. In some embodiments, the road data collection system is also used to store and archive the basic information and real-time road information based on the road identification information.

[0039] The vehicle data collection system is used to collect the information uploaded by the vehicle, and store and archive the collected vehicle information based on the vehicle identification information, that is, the information uploaded by the vehicle corresponds to the vehicle identification information, so that the server can distinguish the information uploaded by different vehicles. The vehicle identification information may include but is not limited to the vehicle's account information, model, specific identification code, or the server's customized number for the vehicle, etc., which can be used to identify the vehicle to distinguish different vehicles. The information uploaded by the vehicle may include basic information and real-time information of the vehicle. The basic information of the vehicle may include information that can describe the basic characteristics and performance of the vehicle, such as vehicle identification information, vehicle geometry, and the maximum speed of the vehicle. The maximum speed of the vehicle can reflect the performance and type of the vehicle. The real-time information of the vehicle may include variable information related to the vehicle's travel, such as the vehicle's real-time speed, acceleration, torque, positioning information, accelerator pedal information, and the vehicle's itinerary information (departure point, route section, destination), etc.

[0040] The road network matching system is used to match all vehicles on the road to the corresponding road network based on the map road network data and the real-time information of the vehicle. For example, all vehicles on the road can be matched to the corresponding road network based on the real-time positioning information and speed of the vehicle, and the future driving route (also called driving trajectory) of the vehicle can be matched to the corresponding road network based on the navigation information of the vehicle.

[0041] The vehicle dispatching system dispatches vehicles on the road, groups them into teams, and guides and controls the teams in a unified manner. The vehicle dispatching system can perform cloud-based operations based on the basic information, real-time information, navigation information, and road network data of the vehicles. According to the types and performance differences of the vehicles, the vehicles with the same road section, the same destination, and similar performance can be grouped into teams to form different chained teams (referred to as team chains). After the chained team is formed, the vehicle dispatching system can generate vehicle guidance information based on the number of lanes, road speed limits, and general road status information in the road network data, and send the vehicle guidance information to the vehicles, thereby achieving unified guidance of the team.

[0042] The vehicle 120 is integrated with a satellite navigation system, a vehicle-side system, an interactive system, and an automatic driving system. The satellite navigation system can access the Internet. The satellite navigation system can meet the basic requirements of vehicle navigation positioning, destination search, route planning, navigation guidance, and real-time road condition display. The satellite navigation system can transmit information such as the vehicle's positioning information, speed information, and navigation route planning information to the vehicle-side system. The satellite navigation system can receive and execute vehicle guidance information (or fleet guidance information) transmitted to the vehicle-side by the control center of the server.

[0043] The vehicle-side system is used to obtain real-time and basic information of the vehicle, such as vehicle wheel speed information, positioning information, navigation information, and overall vehicle performance information. The vehicle-side system can be connected to the control center in real time through a cellular mobile network or other network. The vehicle-side system can upload the acquired information to the control center of the server based on the vehicle identification information (such as vehicle ID).

[0044] The interactive system can realize the audio and video interaction of the vehicle, the interaction of the local communication network, and the calling of the programs of each controller of the vehicle. The interactive system can realize the interaction between people and vehicles, the interaction between vehicles and the Internet of Vehicles, and the interaction between vehicles and the control center. The interactive system can display the vehicle guidance information to the driver through the audio and video through the intelligent multimedia audio and video system and navigation system on the vehicle, so that the driver can perform vehicle control operations according to the vehicle guidance information, thereby realizing the dispatch of the vehicle by the control center of the server. For example, please refer to Figure 2 , Figure 2 FIG. 1 shows a schematic diagram of a human-vehicle interaction provided by an embodiment of the present application. Figure 2 As shown, when the vehicle receives the vehicle guidance information sent by the control center and the navigation positioning information sent by the satellite navigation system, the navigation positioning information and the vehicle guidance information are displayed to the driver through the on-board display and the audio player. The driver can control the vehicle laterally (steering control), longitudinally (acceleration and braking control) and light control (for prompting other vehicle-related information) based on the navigation positioning information and the vehicle guidance information, thereby achieving vehicle control.

[0045] The interactive system can upload the basic and real-time information of the vehicle to the server through the vehicle-to-cloud data transmission service provided by the telematics box (T-BOX) on the vehicle to ensure the accuracy and real-time nature of the data. The vehicle's interactive system is responsible for transmitting the basic and real-time information of the vehicle to the control center, interpreting the data transmitted back by the control center and executing the corresponding information guidance or control on the vehicle. The control center is responsible for processing the driving information of all vehicles collected first, obtaining the information of the traffic flow-road network, and then further processing to generate the best driving guidance plan data for the vehicle-side system.

[0046] The automatic driving system integrates a lateral control module, a longitudinal control module and a lighting control module. The lateral control module is used to control the lateral movement of the vehicle. The longitudinal control module is used to control the longitudinal movement of the vehicle. The lighting control module is used to control the lights of the vehicle. The interactive system can transmit the vehicle guidance information sent by the control center to the automatic driving system. The automatic driving system can perform automatic driving based on the vehicle guidance information and realize automatic vehicle control. Compared with manual control of the vehicle, it can further improve the vehicle cooperation ability and improve the road traffic efficiency.

[0047] It is understandable that the vehicles 120 on the road can communicate with each other through mobile networks, ultra-wideband communications, etc., thereby improving the vehicle cooperation ability. For example, vehicle-to-vehicle communication can be achieved through vehicle-to-everything (V2X) wireless communication technology. V2X is a combination of vehicle-mounted units and roadside units to realize the networking of information related to vehicles and roads, and vehicles and vehicles in a short distance and small range, thereby realizing communication between vehicles, allowing vehicles to achieve orderly passage to avoid congestion and accidents.

[0048] See also Figure 3 , Figure 3 The communication architecture diagram of the intelligent networked transportation system provided by an embodiment of the present application is shown. The vehicle 120 on the road can obtain the vehicle's positioning information (i.e., a type of real-time information) through the Global Positioning System (GPS) / Beidou Positioning System, and send the vehicle's basic information and real-time information to the control center of the server based on the mobile network. The control center can obtain road network data based on the mobile network.

[0049] The vehicle control method in the embodiment of the present application can be applied to a vehicle control device or a server. The vehicle control device can be integrated in a server. The vehicle control method in the embodiment of the present application can be used to control all vehicles on the road. For the sake of convenience, the vehicle control method is described in the following embodiment using the current road as an example.

[0050] That is to say, in this application, the vehicle transmits information such as positioning and speed to the control center of the server through the T-BOX mobile network. At the same time, the control center also sends the collected vehicle information and fleet guidance information to each vehicle, and synchronizes the driving strategy of each vehicle to the vehicle. Through the human-vehicle interaction system, the driver controls the vehicle according to the guidance plan of the control center, thereby realizing the chain control of the fleet. In some embodiments, if the pilot vehicle of a certain link fleet finds an abnormality, the control plan of the subsequent vehicles can be known through the algorithm of the control center to allow the entire fleet to pass smoothly. Avoid the phenomenon that the front road is smooth, but the back is congested. Among them, the abnormality refers to the vehicle encountering all situations that can change the original speed and lane. For example, if it is found that the current lane in front is repaired and there is a lane next to it that can be changed, the vehicle control plan can be to control the fleet to change lanes. For another example, if a collision accident is found in the front lane, the subsequent fleet is notified to slow down or slow down. In some embodiments, full automatic driving control of the fleet can be achieved based on the automatic driving system.

[0051] See also Figure 4 , Figure 4The flowchart of the vehicle control method provided by an embodiment of the present application is shown. The vehicle control method may include steps S110 to S130.

[0052] Step S110: Obtain road network data, real-time road information, basic vehicle information uploaded by the vehicle, and real-time vehicle information. The real-time vehicle information includes information obtained during the driving process of the vehicle.

[0053] The road network data may be obtained by the server from databases or websites such as the national basic geographic information database, road network download software, and road network download websites. For example, the server may obtain the road network data from the Open Street Map (OSM) website. The road network data may include basic information about the road. The basic information about the road may include, but is not limited to, road identification information (Identity document, ID for short), the number of lanes on the road, lane identification information, road speed limit, lane speed limit, etc. The road speed limit may include lane speed limit, and the speed limits of different lanes may be the same or different.

[0054] The real-time road information can be obtained by the server from the real-time information uploaded by the vehicle, or can also be obtained by the server from the information released by the urban traffic system. The real-time road information can include but is not limited to road maintenance information, vehicle failure information on the road, traffic flow information, etc.

[0055] The basic information of the vehicle may include information that can describe the basic characteristics and performance of the vehicle, such as vehicle identification information, vehicle geometry, and the maximum speed of the vehicle. The maximum speed of the vehicle can reflect the performance and type of the vehicle. The real-time information of the vehicle may include variable information related to the driving of the vehicle, such as the real-time speed, acceleration, torque, positioning information, accelerator pedal information, and itinerary information of the vehicle (departure point, route section, destination), etc.

[0056] In some embodiments, the vehicle can communicate with the server. Based on the vehicle identification information, the vehicle uploads its own basic information and real-time information to the server. The server files and stores the acquired vehicle information (real-time information and basic information) based on the vehicle identification information.

[0057] Table 1

[0058] Vehicle identification information Vehicle Type Departure Road destination A 1 a ①③④ e B 2 a ①③⑤ f C 1 b ②③④ e D 2 b ②③⑤ f E 1 m ③⑤ n

[0059] As an example, see Table 1 and Figure 5 , Figure 5 FIG. 1 is a schematic diagram of a road scene provided by an exemplary embodiment of the present application. Figure 5In the road scene shown, the server can file and store the basic information, departure place, passing roads and destination uploaded by different vehicles based on the vehicle identification information to form Table 1. As shown in Table 1, vehicles A, C, and E are of the same vehicle type, and vehicles B and D are of the same vehicle type. Vehicle A arrives at e from a via roads ①③④. Vehicle B arrives at f from a via roads ①③⑤. Vehicle C arrives at e from b via roads ②③④. Vehicle D arrives at f from b via roads ②③⑤. Vehicle E arrives at n from m via roads ③⑤.

[0060] Step S120: According to the road network data, real-time road information, basic vehicle information and real-time vehicle information, the vehicles are grouped to obtain team information.

[0061] In some embodiments, a link is established based on road network data, real-time road information and real-time vehicle information; the vehicles are grouped according to the real-time road information, real-time vehicle information and basic vehicle information to obtain fleet information.

[0062] In some embodiments, the vehicle is matched to the corresponding road section according to the road network data and the real-time vehicle information to obtain the target road section; and a link is established according to the number of lanes and lane speed limits of the target road section in the real-time road information. The road network data may include a map road network, and the real-time vehicle information may include the real-time position of the vehicle. The vehicle may be matched to the corresponding road section based on the real-time position of the vehicle and the map road network to obtain the target road section. For example, the map road network may be used as a line, and the vehicles traveling on the road network may be used as points to match the vehicles to the corresponding road sections, and the vehicles on the same road section and the same lane may form a chained convoy.

[0063] Among them, each lane corresponds to a link, and the link speed limit is equal to the speed limit of the lane where the link is located. The number of convoys that each link can support can be determined based on the number of lanes on each target section, the minimum speed limit of each target section, and the vehicles traveling on each target section. In short, when the road is a two-way single lane, only one link is allowed to be formed in one direction. When the vehicle has multiple lanes, multiple links can be formed. A link is also a channel. For example, taking a two-way four-lane road as an example, for one side, at least two convoys can be established, and the upper limit of the convoy depends on the capacity of the road. The capacity of the road can be calculated based on the geometric size, speed, and braking distance of the vehicles on the road. It can be understood that the link includes a main link and a branch link, such as Figure 5 As shown, ①②④⑤ are all branch links (such as ordinary roads), and ③ is the main link (such as a highway).

[0064] In some embodiments, the vehicle type is determined based on the basic vehicle information and real-time road information; based on the real-time road information and the real-time vehicle information, vehicles of the same type passing through the same road section at the same time and space are grouped into a fleet to obtain fleet information.

[0065] In some embodiments, the maximum speed of the vehicle in the basic vehicle information and the lane speed limit in the real-time road information are obtained; the maximum speed of the vehicle under the lane speed limit is determined based on the maximum speed of the vehicle and the lane speed limit; the vehicle type of the vehicle is determined based on the maximum speed of the vehicle under the lane speed limit.

[0066] The maximum speed of a vehicle can reflect the performance and type of the vehicle. For example, the maximum speed of a car is greater than that of a truck, and the maximum speed of a new car is greater than that of an old car. It can be understood that the maximum speed of a vehicle represents the vehicle's capabilities, and the maximum speed of a vehicle under the lane speed limit can be determined based on the maximum speed of the vehicle and the lane speed limit.

[0067] According to the relationship between the lane speed limit and the maximum speed of the vehicle, it can be determined whether the maximum speed of the vehicle under the lane speed limit is the lane speed limit or the maximum speed of the vehicle. For example, when the maximum speed of the vehicle is less than the lane speed limit, the maximum speed of the vehicle under the lane speed limit is equal to the maximum speed of the vehicle; when the maximum speed of the vehicle is greater than or equal to the lane speed limit, the maximum speed of the vehicle under the lane speed limit is equal to the lane speed limit.

[0068] For example, the lane speed limit is 100km / h. Assuming that the maximum speed of car A is 120km / h, the maximum speed of car A under the lane speed limit is 100km / h. Assuming that the maximum speed of car B is 90km / h, the maximum speed of car B under the lane speed limit is 90km / h.

[0069] In some embodiments, the vehicle type can be determined based on the maximum speed of the vehicle under the lane speed limit. Vehicles of the same vehicle type have the same maximum speed under the lane speed limit. Figure 5 Take road ③ in the figure as an example. Assuming that the speed limit of road ③ is 120km / h, vehicles A, B, C, D, and E are traveling on road ③. The maximum speeds of vehicles A, C, and E under the speed limit of road ③ are all 120km / h, and the maximum speeds of vehicles B and D on road ③ are all 110km / h. Then, vehicles A, C, and E can be formed into a convoy and the speed of the vehicles in the convoy can be set to 120km / h. Vehicles B and D can be formed into a convoy and the speed of the vehicles in the convoy can be set to 110km / h.

[0070] In other embodiments, the vehicle type of the vehicle may also be determined based on the maximum speed of the vehicle under the lane speed limit and the vehicle size. Vehicles of the same vehicle type have the same maximum speed under the lane speed limit and the same or similar size.

[0071] Vehicles of the same vehicle type that pass through the same road section at the same time and space can be grouped into a convoy. The speeds of the vehicles in the convoy are the same, that is, the vehicles in the same convoy maintain the same speed, which can be called the convoy speed. The convoy speed can be determined based on the maximum speed of the vehicles under the lane speed limit. Specifically, the convoy speed can be set to be less than or equal to the maximum speed of the vehicles under the lane speed limit. For example, there are cars A and B traveling on the current road. Assuming that the maximum speeds of cars A and B under the lane speed limit are both 120 kilometers per hour (km / h), cars A and B can be grouped into a convoy, and the vehicle speed of the convoy is less than or equal to 120km / h.

[0072] As an example, assume that vehicles A, B, C, and D are traveling on the same road section in space and time. The maximum speed of vehicles A and B is 120 km / h, and the maximum speed of vehicles C and D is 100 km / h. Assuming that the lane speed limit is 120 km / h, the maximum speed of vehicles A and B under the lane speed limit of 120 km / h is 120 km / h. Vehicles A and B have the same maximum speed under the lane speed limit, so they can form a team; the maximum speed of vehicles C and D under the lane speed limit of 120 km / h is 100 km / h. Vehicles C and D have the same maximum speed under the lane speed limit, so they can form a team. Therefore, the teaming results of this example are: vehicles A and B form a team, and vehicles C and D form a team.

[0073] As another example, suppose that vehicles A, B, C, and D are traveling on the same road section in space and time. The maximum speed of vehicles A and B is 120 km / h. Due to the large size of the vehicles or the old age of the vehicles, the maximum speed of vehicles C and D is 80 km / h. Assuming that the lane speed limit is 60 km / h, the maximum speed of vehicles A, B, C, and D under the lane speed limit of 60 km / h is 60 km / h. Then, vehicles A, B, C, and D have the same maximum speed under the lane speed limit and can form a team. Therefore, the team formation result of this example is: vehicles A, B, C, and D form a team.

[0074] Step S130: Control the vehicle according to the fleet information.

[0075] The fleet information may include the vehicle identification information of each vehicle in the fleet, so as to facilitate the server to uniformly control the fleet, thereby realizing mutual cooperation between vehicles. Specifically, according to the fleet information, the vehicles belonging to the same fleet can be controlled to travel at the same fleet speed, and the fleet speed can be less than or equal to the maximum driving speed of the vehicles in the fleet under the lane speed limit. Among them, for each vehicle, the server can send a vehicle dispatch instruction to the corresponding vehicle based on the vehicle identification information of each vehicle, thereby realizing vehicle control.

[0076] In some embodiments, for each convoy, the convoy speed may be determined according to the maximum speed of the vehicles in the convoy under the lane speed limit. The convoy speed may be a speed range or a specific speed value, and this application does not impose any specific restrictions. For example, assuming that the maximum speed of the vehicles in the convoy under the lane speed limit is 120km / h, the convoy speed may be a speed range [115km / h, 120km / h], or the convoy speed may also be 120km / h.

[0077] The server can publish the fleet speed to the vehicle so that the vehicle adjusts the vehicle speed according to the fleet speed, so that the driving speed of the vehicles in the same fleet is in the same speed range or the same speed. For example, assuming that the fleet speed is in the speed range [115km / h, 120km / h], the driving speed of the vehicles in the same fleet can fluctuate in the speed range [115km / h, 120km / h]. For another example, assuming that the fleet speed is 120km / h, the driving speed of the vehicles in the same fleet can be 120km / h.

[0078] In some embodiments, guidance information for each vehicle can be generated based on the lane in which the convoy is located and the convoy speed; the guidance information for each vehicle is published to the corresponding vehicle, so that the vehicle travels in the corresponding lane at the corresponding convoy speed based on its own guidance information, thereby achieving cooperation between vehicles and improving road traffic efficiency.

[0079] It is understood that a convoy may include at least one convoy chain. When a convoy includes multiple convoy chains, the distance between adjacent convoy chains is greater than or equal to the distance threshold. Figure 6 , Figure 6 A schematic diagram of a fleet provided by an exemplary embodiment of the present application is shown. Figure 6The vehicle platooning situation in the same time and space is shown, that is, the speed limit of main link 1 is greater than the speed limit of main link 2. Convoy chain 3 and convoy chain 4 are traveling on the same main link 1, and the vehicles in convoy chain 3 and convoy chain 4 are of the same type. There is enough distance between convoy chain 3 and convoy chain 4 to accommodate other convoy chains. Since the vehicles in convoy chain 3 and convoy chain 4 are of the same type, the maximum driving speeds of convoy chain 3 and convoy chain 4 under the lane speed limit are the same, so convoy chain 3 and convoy chain 4 belong to the same convoy as a whole.

[0080] Steps S110 to S130 have the following technical effects: according to the road network data, real-time road information, basic vehicle information and real-time vehicle information, the vehicles are teamed to obtain the team information, and the vehicles are uniformly controlled according to the team information, so as to improve the cooperation ability between vehicles, realize the orderly passage of vehicles on the road, and improve the road traffic efficiency. In addition, the present application collects road information and vehicle-side information from the (cloud) server to team up and dispatch the vehicles on the road, and uniformly control the speed of the teamed vehicles, that is, the present application utilizes vehicle GPS / Beidou positioning data, road network data, control and dispatch center and vehicle display and control system, that is, it can realize the construction of intelligent transportation road network and team of vehicles. In other words, the system involved in the present application is much simpler than the intelligent networked transportation system in the related technology, which improves the practicability of the method.

[0081] See also Figure 7 , Figure 7 A schematic flow chart of a vehicle control method provided by another embodiment of the present application is shown. The vehicle control method may include steps S210 to S260.

[0082] Step S210: Obtain road network data, real-time road information, basic vehicle information uploaded by the vehicle, and real-time vehicle information, where the real-time vehicle information includes information obtained during the driving process of the vehicle.

[0083] Step S220: According to the road network data, real-time road information, basic vehicle information and real-time vehicle information, the vehicles are grouped to obtain team information.

[0084] Step S230: Determine whether vehicle overlap occurs based on the number of lanes, lane speed limits, and real-time vehicle information in the real-time road information.

[0085] Vehicle overlap may be caused by the following reasons: vehicles meeting in the same lane, or vehicles changing lanes.

[0086] For example, if there are more than two vehicles driving on the same lane and the speed of the rear vehicle is higher than that of the front vehicle, the rear vehicle may catch up with the front vehicle after a period of time, and the two vehicles will overlap in the same time and space. If the rear vehicle is far away from the front vehicle, and the front vehicle has already left the current road before the rear vehicle catches up with the front vehicle, it can be determined that there is no overlap of vehicles in the same time and space.

[0087] Vehicle lane change includes the number of lane changes, lane changes from fast lane to slow lane, lane changes from slow lane to fast lane, etc. Figure 6 As shown, assuming that fleet chains 1, 3, and 4 have the same maximum speed on main link 1, fleet chain 1 should enter main link 1 when entering a new section. In this case, the vehicles in fleet chain 1 need to change lanes twice and change from the slow lane to the fast lane (because the branch chain speed limit is less than the main chain speed limit). Assuming that fleet chains 1 and 2 have the same maximum speed on main link 2, fleet chain 1 should enter main link 2 when entering a new section. In this case, the vehicles in fleet chain 1 only need to change lanes once and change from the slow lane to the fast lane (because the branch chain speed limit is less than the main chain speed limit). Assuming that fleet chain 4 wants to enter branch link 2, in this case, the vehicles in fleet chain 4 need to change lanes twice and change from the fast lane to the slow lane (because the branch chain speed limit is less than the main chain speed limit).

[0088] Whether the vehicles overlap can be determined based on the driving trajectories of the vehicles in the real-time vehicle information. Specifically, it can be calculated whether the driving trajectories of vehicles in different fleets overlap when the vehicles change lanes in the same time and space. Figure 6 As shown, convoy chains 1 and 2 overlap in space. If convoy chain 2 has already left when convoy chain 1 arrives at main link 2, convoy chains 1 and 2 will not overlap in time and will not meet each other. In the same time and space, convoy chains 1 and convoy chain 2 do not overlap, and vehicles will not overlap in the same time and space. If convoy chain 2 has not left when convoy chain 1 arrives at main link 2, convoy chain 1 and convoy chain 2 overlap in time, and vehicles will overlap in the same time and space.

[0089] If there is no vehicle overlap, the process goes to step S240 and the fleet information remains unchanged.

[0090] If vehicle overlap occurs, the process goes to step S250 to rearrange the vehicles based on the vehicle overlap, the number of lanes in the real-time road information, the lane speed limit, and the real-time vehicle information.

[0091] For ease of understanding, the fleet formation form of this application can be as shown in Table 2-4. All example diagrams in Table 2-4 (i.e. Figures 8 to 22) indicates the maximum speed of the vehicle, and the number in the circle with black letters on a gray background indicates the speed limit of the road / lane. Figure 5 When the road ① shown in the figure is crossed by vehicles A and B, there may be situations as shown in Table 2. Among them, whether there is vehicle overlap refers to whether vehicles A and B will meet in the same lane in the same time and space. For example, the road has only one lane, and vehicle A is driving in front of vehicle B. Assuming that the speed of vehicle A is slower than that of vehicle B and vehicle B can catch up with A on the road, vehicles A and B will meet in the same lane, and vehicles A and B will overlap in road section ①. Assuming that the speed of vehicle A is faster than or equal to the speed of vehicle B, vehicle A always drives in front of vehicle B on road ①, and vehicles A and B will not meet in the same lane until they exit road ①, then vehicles A and B will not overlap in road ①.

[0092] Table 2

[0093]

[0094]

[0095] Assume that the pathway is Figure 5 For road ② shown in the figure, there are vehicles with a speed exceeding the road speed limit and there are vehicles with a speed less than or equal to the road speed limit. Taking Table 1 as an example, assuming that the speed of vehicles of vehicle type 1 in Table 1 is less than or equal to the road speed limit and the speed of vehicles of vehicle type 2 is greater than the road speed limit, there may be a situation as shown in Table 3.

[0096] Table 3

[0097]

[0098] Assume that the vehicle is Figure 5 When the vehicle drives out of the convoy chain from road ③ to road ④ or ⑤, the situation shown in Table 4 may occur.

[0099] Table 4

[0100]

[0101]

[0102] Step S240: Keep the fleet information unchanged.

[0103] After step S240 is executed, step S260 and step S230 are entered to control the vehicle according to the fleet information, and at the same time, it is continued to determine whether vehicle overlap occurs based on the number of lanes, lane speed limits and real-time vehicle information in the real-time road information.

[0104] Step S250: Regroup the vehicles according to the vehicle overlap situation, the number of lanes in the real-time road information, the lane speed limit and the real-time vehicle information.

[0105] When the vehicle overlap is caused by vehicles meeting on the same lane, the vehicles meeting are grouped. That is, when vehicles overlap in the same lane at the same time and space, the overlapping vehicles are merged to form a new group, and the group speed of the new group is determined to be the minimum of the driving speeds of the vehicles in the new group.

[0106] When the vehicle overlap is caused by vehicle lane changes, the vehicle lane changes are coordinated according to the vehicle lane change conditions and the fleet information. After the vehicle lane changes, the vehicles are re-teamed based on the number of lanes, lane speed limits and real-time vehicle information in the real-time road information.

[0107] In some embodiments, when a vehicle changes lanes from a fast lane to a slow lane, if vehicles on the fast lane and the slow lane overlap in the same time and space, the vehicle on the slow lane is controlled to accelerate or decelerate to leave space for the vehicle on the fast lane; the vehicle on the fast lane is controlled to drive into the empty space in the slow lane.

[0108] like Figure 6 As shown, the convoy speed of the convoy on main link 1 (including convoy chains 3 and 4) is greater than the convoy speed of the convoy on main link 2 (i.e., convoy chain 2), the convoy speed on main links 1 and 2 is greater than the convoy speed of convoy chain 1 on branch link 1, and the convoy speed on main links 1 and 2 is greater than the convoy speed of convoy chain 5 on branch link 2. Assuming that the vehicle types of convoy chains 1, 3, and 4 are the same, that is, the maximum driving speeds of convoy chains 1, 3, and 4 on main link 1 are the same, then convoy chain 1 should enter main link 1 when entering a new section. When convoy chain 1 is to be added to main link 1, the control center of the server can allow convoy chain 1 to first join main link 2 and then enter main link 1 from main link 2. In this case, the control center needs to dispatch convoy chain 2 (vehicles) on main link 2. The control center can calculate whether convoy chain 1 and convoy chain 2 overlap in the same time and space; if convoy chain 1 and convoy chain 2 do not overlap in the same time and space, convoy chain 1 can first directly enter main link 2 and then further change lanes to main link 1. If convoy chain 1 and convoy chain 2 overlap in the same time and space, convoy chain 2 is controlled to have priority. Optionally, if the vehicles in convoy chain 2 maintain a sufficient distance from the workshop, and the speed of the vehicles in convoy chain 1 is higher than that of the vehicles in convoy chain 2, the vehicles in convoy chain 1 can first be inserted into convoy chain 2 to form a temporary link, and then further speed up to merge with the main link 1. On the contrary, if convoy chain 4 on the main link 1 wants to exit the main link 1, it can first slow down and merge into the main link 2, then merge to the right to exit the main link 2 and enter the branch link 2.

[0109] After step S250 is executed, step S260 and step S230 are entered to control the vehicle according to the fleet information, and at the same time, it is continued to determine whether vehicle overlap occurs based on the number of lanes, lane speed limits and real-time vehicle information in the real-time road information.

[0110] Step S260: Control the vehicle according to the fleet information.

[0111] For a detailed description of step S260 , please refer to step S130 .

[0112] Compared with steps S110 to S130, steps S210 to S260 have the following additional technical effects: overlapping convoys can be merged to ensure vehicle driving safety and improve vehicle traffic efficiency. In addition, the vehicles in the convoy can be coordinated to change lanes, and the convoys on the road can be regrouped after the lane change, thereby further improving road traffic efficiency.

[0113] See also Fig.23 , Fig.23 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application is shown. The vehicle control device 200 can be integrated in a server. The vehicle control device 200 may include a data acquisition module 210, a vehicle teaming module 220, and a fleet control module 230. Among them: the data acquisition module 210 is used to obtain road network data, real-time road information, basic vehicle information uploaded by the vehicle, and vehicle real-time information, and the vehicle real-time information includes information obtained by the vehicle during driving. The vehicle teaming module 220 is used to team the vehicles according to the road network data, real-time road information, basic vehicle information, and real-time vehicle information to obtain fleet information. The fleet control module 230 is used to control the vehicles according to the fleet information.

[0114] In some embodiments, the vehicle teaming module 220 is also used to establish a link based on road network data, real-time road information and real-time vehicle information; and to team the vehicles based on real-time road information, real-time vehicle information and basic vehicle information to obtain fleet information.

[0115] In some embodiments, the vehicle teaming module 220 is also used to match the vehicle to the corresponding road section according to the road network data and the real-time information of the vehicle to obtain the target road section; and establish a link according to the number of lanes and lane speed limits of the target road section in the real-time road information.

[0116] In some embodiments, the vehicle teaming module 220 is also used to determine the vehicle type of the vehicle based on the basic vehicle information and real-time road information; based on the real-time road information and the real-time vehicle information, vehicles of the same type passing through the same road section at the same time and space are grouped into a team to obtain team information.

[0117] In some embodiments, the vehicle teaming module 220 is also used to obtain the maximum driving speed of the vehicle in the basic vehicle information and the lane speed limit in the real-time road information; determine the maximum driving speed of the vehicle under the lane speed limit based on the maximum driving speed of the vehicle and the lane speed limit; determine the vehicle type of the vehicle based on the maximum driving speed of the vehicle under the lane speed limit.

[0118] In some embodiments, the vehicle teaming module 220 is also used to determine whether vehicle overlap occurs based on the number of lanes, lane speed limits and real-time vehicle information in the real-time road information; if there is no vehicle overlap, the team information remains unchanged; if there is vehicle overlap, the vehicles are re-teamed based on the vehicle overlap, the number of lanes, lane speed limits and real-time vehicle information in the real-time road information.

[0119] In some embodiments, the vehicle teaming module 220 is also used to team up the encountering vehicles when the vehicle overlap is caused by the encounter of vehicles on the same lane; when the vehicle overlap is caused by the vehicle changing lanes, coordinate the vehicle lane changes according to the vehicle lane changing conditions and team information, and after the vehicle changes lanes, re-team the vehicles according to the number of lanes in the real-time road information, the lane speed limit and the real-time vehicle information.

[0120] Those skilled in the art can clearly understand that the above device provided in the embodiment of the present application can implement the method provided in the embodiment of the present application. The specific working process of the above-described device and module can refer to the corresponding process of the method in the embodiment of the present application, which will not be repeated here.

[0121] In the embodiments provided in the present application, the coupling, direct coupling or communication connection between the modules shown or discussed may be indirect coupling or communication coupling through some interfaces, devices or modules, and may be electrical, mechanical or other forms, and the embodiments of the present application do not impose specific limitations on this.

[0122] In addition, each functional module in the embodiment of the present application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0123] See also Fig.24 , Fig.24 The server 300 may include a memory 310 and a processor 320 , wherein the memory 310 stores an application program, and the application program is configured to execute the method provided in the embodiment of the present application when called by the processor 320 .

[0124] The processor 320 may include one or more processing cores. The processor 320 uses various interfaces and lines to connect various parts of the entire server 300, and is used to run or execute instructions, programs, code sets or instruction sets stored in the memory 310, and call to run or execute data stored in the memory 310, perform various functions of the server 300 and process data.

[0125] The processor 320 can be implemented in at least one of the following hardware forms: digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 320 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 320, but may be implemented separately through a communication chip.

[0126] The memory 310 may include a random access memory (RAM) or a read-only memory (ROM). The memory 310 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 310 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may store data created by the server 300 during use, etc.

[0127] The embodiment of the present application also provides a computer-readable storage medium, on which a program code is stored. The program code is configured to execute the method provided by the embodiment of the present application when called by a processor.

[0128] The computer-readable storage medium may be an electronic memory such as a flash memory, an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a hard disk or a ROM.

[0129] In some embodiments, the computer-readable storage medium includes a non-transitory computer-readable storage medium (Non-TCRSM).

[0130] P1CN-GQJT240119, 2024P0498CN1 The computer-readable storage medium has storage space for program codes for executing any method step in the above method. These program codes can be read from or written into one or more computer program products. The program codes can be compressed in an appropriate form.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle control method, characterized in that: include: Obtain road network data, real-time road information, basic vehicle information uploaded by vehicles, and real-time vehicle information. Real-time vehicle information includes information obtained by the vehicle during driving; According to the road network data, real-time road information, basic vehicle information and real-time vehicle information, the vehicles are grouped to obtain fleet information; The vehicle is controlled according to the fleet information.

2. The method according to claim 1, characterized in that: The vehicles are grouped according to the road network data, real-time road information, basic vehicle information and real-time vehicle information to obtain team information, including: Establish links based on road network data, real-time road information and real-time vehicle information; According to the real-time road information, the real-time vehicle information and the basic vehicle information, the vehicles are grouped into teams to obtain team information.

3. The method according to claim 2, characterized in that The link is established according to the road network data, the real-time road information and the real-time vehicle information, including: According to the road network data and real-time vehicle information, the vehicle is matched to the corresponding road section to obtain the target road section; A link is established based on the number of lanes and lane speed limits of the target road section in real-time road information.

4. The method according to claim 2, characterized in that: The vehicles are grouped according to the real-time road information, the real-time vehicle information and the basic vehicle information to obtain the fleet information, including: Determine the vehicle type of the vehicle based on basic vehicle information and real-time road information; According to the real-time road information and vehicle real-time information, vehicles of the same vehicle type and passing through the same road section at the same time and space are grouped into a fleet to obtain fleet information.

5. The method according to claim 4, characterized in that The determining the vehicle type of the vehicle according to the basic vehicle information and the real-time road information includes: Obtain the maximum speed of the vehicle in the basic vehicle information and the lane limit speed in the real-time road information; According to the maximum driving speed of the vehicle and the lane speed limit, determine the maximum driving speed of the vehicle under the lane speed limit; The vehicle type of the vehicle is determined based on the vehicle's maximum travel speed at the lane speed limit.

6. The method according to any one of claims 1 to 5, characterized in that: After the vehicles are grouped according to the road network data, the real-time road information, the basic vehicle information and the real-time vehicle information to obtain the fleet information, the method further includes: Determine whether there is a vehicle overlap situation based on the number of lanes, lane speed limits, and real-time vehicle information in real-time road information; If there is no vehicle overlap, the fleet information remains unchanged; If vehicle overlap occurs, the vehicles will be re-teamed based on the vehicle overlap, the number of lanes in the real-time road information, the lane speed limit and the real-time vehicle information.

7. The method according to claim 6, characterized in that The re-teaming of vehicles according to the vehicle overlap situation, the number of lanes in the real-time road information, the lane speed limit and the real-time vehicle information includes: In the case where the vehicle overlap is caused by vehicles meeting on the same lane, the meeting vehicles are grouped; When the vehicle overlap is caused by vehicle lane changes, the vehicle lane changes are coordinated according to the vehicle lane change conditions and the fleet information. After the vehicle lane changes, the vehicles are re-teamed based on the number of lanes, lane speed limits and real-time vehicle information in the real-time road information.

8. A vehicle control device, characterized in that: include: The data acquisition module is used to obtain road network data, real-time road information, basic vehicle information uploaded by the vehicle, and real-time vehicle information. The real-time vehicle information includes information obtained during the vehicle's driving process; The vehicle teaming module is used to team the vehicles according to the road network data, real-time road information, basic vehicle information and real-time vehicle information to obtain team information; The fleet control module is used to control the vehicles according to the fleet information.

9. A server, characterized in that: include: A memory and a processor, wherein an application is stored on the memory P1CN-GQJT240119, 2024P0498CN1, and the application is configured to enable the processor to execute the method according to any one of claims 1 to 7 when called by the processor.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, and the program codes are configured to, when called by a processor, cause the processor to execute the method according to any one of claims 1 to 7.

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