Vehicle cooperation method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle collaboration method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the collaboration information of a to-be-collaborated vehicle; updating a road condition table according to the collaborative information to obtain an updated road condition table; performing road condition analysis on the updated road condition table to obtain road condition information; and performing collaborative decision on the to-be-collaborative vehicle according to the road condition information. By implementing the method, the vehicle cooperation efficiency and the cooperation precision can be improved, so that the vehicle can work cooperatively in a low-speed and complex environment, the reliability and the safety of cooperative operation are improved, vehicle driving obstacles and driving hidden dangers are reduced, and support is provided for information interaction in the vehicle driving process.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and more specifically, to a vehicle collaboration method, device, electronic device and storage medium. Background Art

[0002] Vehicle cooperative technology refers to the coordinated operation and decision-making between vehicles through communication and data sharing. Through the exchange of information between vehicles, vehicles can perceive and understand each other's status, intentions and behaviors, so as to better coordinate driving actions and improve traffic efficiency and safety. Vehicle cooperative technology usually involves the research and development of on-board communication equipment, network protocols, data transmission and processing algorithms.

[0003] There are some challenges and difficulties in the development of vehicle cooperative technology. The reliability and safety of vehicle cooperative technology are very important. The existing vehicle cooperative technology is usually used for automatic driving of vehicles in high-speed driving environments such as highways. However, when congestion occurs in high-speed driving environments, the vehicle speed decreases, the number of surrounding vehicles increases sharply, and the road conditions become complicated. The existing vehicle cooperative method will be greatly affected, resulting in deviations in cooperative decision-making. Summary of the invention

[0004] The purpose of this application is to provide a vehicle collaboration method, device, electronic device and storage medium, which can improve the vehicle collaboration efficiency and collaboration accuracy, enable vehicles to work collaboratively in low-speed and complex environments, improve the reliability and safety of collaborative operation, reduce vehicle driving obstacles and driving hazards, and provide support for information exchange during vehicle driving.

[0005] In a first aspect, an embodiment of the present application provides a vehicle coordination method, the method comprising: Obtaining the coordination information of the vehicle to be coordinated; The traffic condition table is updated according to the collaborative information to obtain an updated traffic condition table; Performing traffic condition analysis on the updated traffic condition table to obtain traffic condition information; A collaborative decision is made for the vehicles to be coordinated based on the road condition information.

[0006] In the above implementation process, the road condition table is updated in real time according to the collaborative information, and collaborative analysis and decision-making are carried out according to the real-time road conditions, which can improve the vehicle collaborative efficiency and collaborative accuracy, enable vehicles to work collaboratively in low-speed and complex environments, improve the reliability and safety of collaborative operation, reduce vehicle driving obstacles and driving hazards, and provide support for information exchange during vehicle driving.

[0007] Furthermore, the step of obtaining the coordination information of the vehicle to be coordinated includes: Get the first time threshold; Within the first time threshold, determining a vehicle within a preset distance of the own vehicle as the to-be-coordinated vehicle; Receive the cooperation information sent by the vehicle to be cooperated.

[0008] In the above implementation process, determining the vehicle to be coordinated according to the first time threshold can ensure the stability of the vehicle to be coordinated, avoid the signal transmission between the vehicle to be coordinated and the own vehicle being limited by distance, and ensure that the information exchange between vehicles can be carried out reasonably and effectively.

[0009] Furthermore, the step of updating the traffic table according to the collaborative information to obtain an updated traffic table includes: Parsing the collaboration information to obtain a collaboration message; Extracting vehicle information from the collaborative message; The road condition table is updated according to the vehicle information to obtain the updated road condition table.

[0010] In the above implementation process, the road condition table is updated according to the multiple types of vehicle information in the collaborative message, so that the road condition table completely saves the specific information of each vehicle to be coordinated, which can improve the coordination efficiency and ensure the coordination stability.

[0011] Furthermore, the step of updating the road condition table according to the vehicle information to obtain the updated road condition table includes: Updating the vehicle information into the traffic table, and determining a first retention time according to the update time; The first retention time is updated into the traffic condition table to obtain the updated traffic condition table.

[0012] In the above implementation process, the vehicle information is recorded and updated to the first detention time in the road condition table, and the first detention time is updated to the road condition table, so that the road condition table can record the detention time of each vehicle to be coordinated in real time, providing data support for collaborative work.

[0013] Furthermore, the step of updating the first retention time into the traffic condition table to obtain the updated traffic condition table further includes: Determine that the vehicle code when the vehicle information is updated to the road condition table is the first vehicle code; If, within the first detention time, a second vehicle code identical to the first vehicle code is updated to the road condition table, the first detention time is reset to the second detention time; If, within the first retention time, there is no second vehicle code identical to the first vehicle code updated to the road condition table, the first retention time is reset to 0, and the first vehicle code and its corresponding vehicle information are deleted.

[0014] In the above implementation process, whether the vehicles can continue to work together can be determined based on the vehicle's detention time, ensuring that there will be no information interruption during the collaborative process, and the surrounding environment can be clarified in time to improve safety performance.

[0015] Furthermore, the step of performing traffic analysis on the updated traffic table to obtain traffic information includes: In the updated road condition table, a vehicle whose remaining hop count in the vehicle information meets a threshold is selected as a target vehicle, and the target vehicle is a vehicle in the vehicles to be coordinated; Acquiring the driving status of the target vehicle; The road condition information is obtained according to the driving state.

[0016] In the above implementation process, selecting a vehicle whose remaining hop count meets the threshold as the target vehicle can ensure the stability of information interaction between vehicles and facilitate accurate acquisition of driving status and road condition information.

[0017] Furthermore, the step of obtaining the road condition information according to the driving state includes: If the driving state of the target vehicle is accelerating, determining that the target vehicle is located at the starting position of the congested road section; If the target vehicle is traveling at a constant speed, it is determined that the target vehicle is located in the middle of a congested road section; If the driving state of the target vehicle is decelerating, it is determined that the target vehicle is located at the end of the congested road section.

[0018] In the above implementation process, road condition information is obtained according to the driving state of the target vehicle to ensure that the vehicle can adjust the speed and running state in time, thereby improving the stability and safety during driving.

[0019] In a second aspect, an embodiment of the present application further provides a vehicle cooperation device, the device comprising: A data acquisition module, used to obtain the coordination information of the vehicle to be coordinated; An updating module, used for updating the traffic table according to the collaborative information to obtain an updated traffic table; An analysis module, used for performing a traffic analysis on the updated traffic table to obtain traffic information; The coordination module is used to make a coordinated decision on the vehicles to be coordinated according to the road condition information.

[0020] In the above implementation process, the road condition table is updated in real time according to the collaborative information, and collaborative analysis and decision-making are carried out according to the real-time road conditions, which can improve the vehicle collaborative efficiency and collaborative accuracy, enable vehicles to work collaboratively in low-speed and complex environments, improve the reliability and safety of collaborative operation, reduce vehicle driving obstacles and driving hazards, and provide support for information exchange during vehicle driving.

[0021] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of the first aspects when executing the computer program.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed on a computer, the computer executes the method as described in any one of the first aspects.

[0023] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on a computer, enables the computer to execute the method as described in any one of the first aspects.

[0024] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present disclosure.

[0025] And it can be implemented according to the contents of the specification. The following is a detailed description of the preferred embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the range values. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 A schematic diagram of a vehicle collaboration method according to an embodiment of the present application; Figure 2 A schematic diagram of the structural composition of a vehicle cooperative device provided in an embodiment of the present application; Figure 3 A schematic diagram of the structural composition of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0029] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0030] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0031] Embodiment 1 Figure 1 is a flow chart of the vehicle cooperation method provided in the embodiment of the present application, such as Figure 1 As shown, the method includes: S1, obtaining the coordination information of the vehicle to be coordinated; S2, updating the traffic table according to the coordinated information to obtain an updated traffic table; S3, analyzing the updated traffic table to obtain traffic information; S4, making collaborative decisions for collaborative vehicles based on road condition information.

[0032] In the above implementation process, the road condition table is updated in real time according to the collaborative information, and collaborative analysis and decision-making are carried out according to the real-time road conditions, which can improve the vehicle collaborative efficiency and collaborative accuracy, enable vehicles to work collaboratively in low-speed and complex environments, improve the reliability and safety of collaborative operation, reduce vehicle driving obstacles and driving hazards, and provide support for information exchange during vehicle driving.

[0033] The inter-vehicle communication technology of the embodiments of the present application can be implemented in a variety of ways, and common technologies include wireless local area network (WLAN), cellular network, ad hoc network technology and auxiliary sensors. Among them, wireless local area network technology can realize real-time data transmission between vehicles, including location information, speed, acceleration, etc., and the coverage range is generally within 10 meters. Cellular networks can provide a larger coverage range and higher bandwidth, but are limited by network coverage and signal strength. Ad hoc network technology can establish a temporary network without infrastructure support, which improves the robustness of the system. In addition, vehicles can also detect the presence of surrounding vehicles through auxiliary sensors (such as infrared, ultrasonic, etc.) and send data messages to them. Based on the above-mentioned technologies, this application can build a reliable and efficient vehicle-to-vehicle collaborative system, providing important support for the development of intelligent transportation systems.

[0034] Furthermore, S1 includes: Get the first time threshold; Within a first time threshold, determining a vehicle within a preset distance of the own vehicle as a to-be-coordinated vehicle; Receive the coordination information sent by the vehicle to be coordinated.

[0035] In the above implementation process, determining the vehicle to be coordinated according to the first time threshold can ensure the stability of the vehicle to be coordinated, avoid the signal transmission between the vehicle to be coordinated and the own vehicle being limited by distance, and ensure that the information exchange between vehicles can be carried out reasonably and effectively.

[0036] In the embodiment of the present application, the vehicle to be coordinated refers to other vehicles that need to be coordinated. The propagation distance of the coordinated information broadcast by the vehicle to be coordinated to its own vehicle will be controlled within a certain range, such as 20m-30m. This value can be set according to experience based on the specific situation. Optionally, the safe vehicle distance is used as the propagation distance, for example, 100m on the highway, 60m on the urban road, etc. Therefore, the present application uses the first time threshold to limit the distance between the vehicle to be coordinated and its own vehicle.

[0037] When vehicles are driving normally, each vehicle cannot receive the coordinated information sent by other vehicles because the distance between them is too large, so there is no need for vehicle coordination. However, when traffic becomes increasingly congested and the distance between vehicles gradually decreases, a large amount of coordinated forwarding will be carried out between vehicles due to the existence of the forwarding mechanism.

[0038] Therefore, the present application records collaborative information in the road condition table of each vehicle when the vehicle is driving at a low speed and in congested traffic. At this time, the vehicle can understand the road conditions based on the road condition table and make reasonable decisions, such as changing lanes, parking, etc.

[0039] Furthermore, S2 includes: Parse the collaborative information to obtain a collaborative message; Extract vehicle information from collaborative messages; The traffic condition table is updated according to the vehicle information to obtain an updated traffic condition table.

[0040] In the above implementation process, the road condition table is updated according to the multiple types of vehicle information in the collaborative message, so that the road condition table completely saves the specific information of each vehicle to be coordinated, which can improve the coordination efficiency and ensure the coordination stability.

[0041] The vehicle information extracted from the collaborative message includes vehicle code, lane, remaining number of hops, and driving status. The road condition table includes several parameters such as vehicle code, lane, remaining number of hops, driving status, and detention time.

[0042] The vehicle code refers to the unique identification code of each vehicle, which can be represented by the license plate number or other representation methods; the lane refers to the lane where the vehicle sending the collaborative information is located. The lanes in the embodiment of the present application are fixed to 3 (in actual applications, different threads can be run for different roads, and the number of lanes can be obtained according to the electronic map). For example, 0, 1, and 2 can represent the left, middle, and right lanes respectively; the remaining number of hops refers to the remaining number of times the collaborative information is forwarded. When a collaborative information is generated, the remaining number of hops can be a preset value, such as 10, 15, etc. Whenever a collaborative information is forwarded by a vehicle, the value of the remaining number of hops of the collaborative information is reduced by 1. Until the remaining number of hops is 0, the message will no longer be forwarded. That is, when a vehicle receives a message with a remaining number of hops of 0, the vehicle will no longer forward the collaborative information.

[0043] The driving state represents the data of the driving state of the vehicle, including acceleration, uniform speed, and deceleration (for example, they can be represented by 4, 5, and 6 respectively). Since the vehicle may stop and go when driving at a low speed in a crowded state, using instantaneous acceleration to represent the driving state of the vehicle cannot reflect the actual driving trend of the vehicle or the driving intention of the driver. Therefore, the present application indicates these three driving states by detecting the speed change of the vehicle over a period of time. If the speed difference between the start time and the end time exceeds a preset threshold (such as 20km / h), it indicates that the vehicle may be in an acceleration or deceleration state (driving away from or entering a congested section). If the speed difference between the start time and the end time does not exceed the preset threshold, it indicates that the vehicle may be driving at a low speed.

[0044] The retention time indicates the time a collaborative information is retained in the traffic table, which decreases with the passage of time.

[0045] Further, the step of updating the traffic table according to the vehicle information to obtain an updated traffic table includes: Updating the vehicle information into the traffic table, and determining the first detention time according to the update time; The first detention time is updated into the traffic condition table to obtain an updated traffic condition table.

[0046] In the above implementation process, the vehicle information is recorded and updated to the first detention time in the road condition table, and the first detention time is updated to the road condition table, so that the road condition table can record the detention time of each vehicle to be coordinated in real time, providing data support for collaborative work.

[0047] After receiving the collaborative information, the vehicle code of the collaborative information is matched from the road condition table. If the collaborative information corresponding to the vehicle code does not exist in the road condition table, the collaborative information is written into the road condition table and the retention time is set to the maximum value. If there is an entry with the same vehicle code in the road condition table, the remaining number of hops between the entry and the collaborative information is compared, the system information with a larger remaining number of hops is retained, and the retention time is reset to ensure that each entry in the road condition table is the collaborative information sent by the vehicle closest to the vehicle.

[0048] Further, the step of updating the first retention time into the traffic condition table to obtain an updated traffic condition table further includes: Determine that the vehicle code when the vehicle information is updated to the road condition table is the first vehicle code; If, during the first detention time, a second vehicle code identical to the first vehicle code is updated to the road condition table, the first detention time is reset to the second detention time; If, within the first retention time, there is no second vehicle code identical to the first vehicle code updated to the road condition table, the first retention time is reset to 0, and the first vehicle code and its corresponding vehicle information are deleted.

[0049] In the above implementation process, whether the vehicles can continue to work together can be determined based on the vehicle's detention time, ensuring that there will be no information interruption during the collaborative process, and the surrounding environment can be clarified in time to improve safety performance.

[0050] Whenever a vehicle receives a collaborative message with the same vehicle code, the retention time is reset to the maximum value and determined as the first retention time. When the value is reduced to 0, the collaborative message can be deleted from the road condition table. For example, in the table, the entry with the vehicle code ABCD123 has a retention time of 15s, which means that 15s can be retained. If the vehicle receives a collaborative message with the vehicle code ABCD123 again during this period, the first retention time in the entry can be updated and reset to the maximum value (such as 30s), which is determined as the second retention time.

[0051] Furthermore, S3 includes: In the updated traffic table, a vehicle whose remaining hop count in the vehicle information meets the threshold is selected as the target vehicle, and the target vehicle is the vehicle in the to-be-coordinated vehicle; Obtain the driving status of the target vehicle; Obtain road condition information based on driving status.

[0052] In the above implementation process, selecting a vehicle whose remaining hop count meets the threshold as the target vehicle can ensure the stability of information interaction between vehicles and facilitate accurate acquisition of driving status and road condition information.

[0053] When the number of information entries in the traffic table exceeds a certain value, it indicates that the vehicle has entered a congested traffic queue. At this time, the traffic information can be understood and decisions can be made based on the traffic table.

[0054] Select 4-5 entries with the largest number of remaining hops from the traffic table. If the remaining number of hops of these information entries are all the maximum, it means that the information entries in the traffic table are all sent directly to the own vehicle by other vehicles (without forwarding). At this time, the location of the target vehicle can be determined based on the driving status of these information entries.

[0055] Furthermore, the step of obtaining road condition information according to the driving state includes: If the target vehicle is in an accelerating state, it is determined that the target vehicle is located at the starting position of the congested road section; If the target vehicle is traveling at a constant speed, it is determined that the target vehicle is located in the middle of the congested road section; If the driving state of the target vehicle is decelerating, it is determined that the target vehicle is located at the end of the congested road section.

[0056] In the above implementation process, road condition information is obtained according to the driving state of the target vehicle to ensure that the vehicle can adjust the speed and running state in time, thereby improving the stability and safety during driving.

[0057] When a vehicle gradually leaves a congested road section, the vehicle will receive less and less collaborative information, and the information entries in its traffic table will gradually decrease because they cannot be updated.

[0058] If the target vehicles are all in the acceleration state, it means that the target vehicles are at the head of the congestion queue and are about to leave; If the target vehicles are all moving at a constant speed, it means that the target vehicles are located in the middle of the congestion queue. At this time, other decision-making methods can be used to decide whether to change lanes; If the target vehicles are all in the deceleration state, it means that the target vehicles are at the tail end of the congestion queue and are about to enter the congestion queue. At this time, decisions such as changing routes and changing lanes can be made.

[0059] Select the information of accelerating driving status from the traffic table of the target vehicle, and count the distribution of lanes. If most vehicles are in the leftmost lane in the accelerating state, it means that most vehicles are leaving the congested queue through the leftmost lane. At this time, the middle and right lanes may be blocked due to traffic accidents and cannot be passed. The target vehicle can change to the left lane in advance to improve traffic efficiency.

[0060] The present application performs communication when the vehicle is traveling at a low speed, so that the vehicle can know the overall road conditions when traveling at a low speed, and thus make accurate decisions.

[0061] Embodiment 2 In order to execute the method corresponding to the above-mentioned embodiment 1 to achieve the corresponding functions and technical effects, a vehicle cooperation device is provided below, such as Figure 2 As shown, the device comprises: The data acquisition module 1 is used to obtain the coordination information of the vehicle to be coordinated; An updating module 2 is used to update the traffic table according to the collaborative information to obtain an updated traffic table; Analysis module 3, used for analyzing the updated traffic table to obtain traffic information; The collaboration module 4 is used to make collaborative decisions for collaborative vehicles based on road condition information.

[0062] In the above implementation process, the road condition table is updated in real time according to the collaborative information, and collaborative analysis and decision-making are carried out according to the real-time road conditions, which can improve the vehicle collaborative efficiency and collaborative accuracy, enable vehicles to work collaboratively in low-speed and complex environments, improve the reliability and safety of collaborative operation, reduce vehicle driving obstacles and driving hazards, and provide support for information exchange during vehicle driving.

[0063] Furthermore, the data acquisition module 1 is also used for: Get the first time threshold; Within a first time threshold, determining a vehicle within a preset distance of the own vehicle as a to-be-coordinated vehicle; Receive the coordination information sent by the vehicle to be coordinated.

[0064] In the above implementation process, determining the vehicle to be coordinated according to the first time threshold can ensure the stability of the vehicle to be coordinated, avoid the signal transmission between the vehicle to be coordinated and the own vehicle being limited by distance, and ensure that the information exchange between vehicles can be carried out reasonably and effectively.

[0065] Furthermore, the update module 2 is also used for: Parse the collaborative information to obtain a collaborative message; Extract vehicle information from collaborative messages; The traffic condition table is updated according to the vehicle information to obtain an updated traffic condition table.

[0066] In the above implementation process, the road condition table is updated according to the multiple types of vehicle information in the collaborative message, so that the road condition table completely saves the specific information of each vehicle to be coordinated, which can improve the coordination efficiency and ensure the coordination stability.

[0067] Furthermore, the update module 2 is also used for: Updating the vehicle information into the traffic table, and determining the first detention time according to the update time; The first detention time is updated into the traffic condition table to obtain an updated traffic condition table.

[0068] In the above implementation process, the vehicle information is recorded and updated to the first detention time in the road condition table, and the first detention time is updated to the road condition table, so that the road condition table can record the detention time of each vehicle to be coordinated in real time, providing data support for collaborative work.

[0069] Furthermore, the update module 2 is also used for: Determine that the vehicle code when the vehicle information is updated to the road condition table is the first vehicle code; If, during the first detention time, a second vehicle code identical to the first vehicle code is updated to the road condition table, the first detention time is reset to the second detention time; If, within the first retention time, there is no second vehicle code identical to the first vehicle code updated to the road condition table, the first retention time is reset to 0, and the first vehicle code and its corresponding vehicle information are deleted.

[0070] In the above implementation process, whether the vehicles can continue to work together can be determined based on the vehicle's detention time, ensuring that there will be no information interruption during the collaborative process, and the surrounding environment can be clarified in time to improve safety performance.

[0071] Furthermore, the analysis module 3 is also used for: In the updated traffic table, a vehicle whose remaining hop count in the vehicle information meets the threshold is selected as the target vehicle, and the target vehicle is the vehicle in the to-be-coordinated vehicle; Obtain the driving status of the target vehicle; Obtain road condition information based on driving status.

[0072] In the above implementation process, selecting a vehicle whose remaining hop count meets the threshold as the target vehicle can ensure the stability of information interaction between vehicles and facilitate accurate acquisition of driving status and road condition information.

[0073] Furthermore, the analysis module 3 is also used for: If the target vehicle is in an accelerating state, it is determined that the target vehicle is located at the starting position of the congested road section; If the target vehicle is traveling at a constant speed, it is determined that the target vehicle is located in the middle of the congested road section; If the driving state of the target vehicle is decelerating, it is determined that the target vehicle is located at the end of the congested road section.

[0074] In the above implementation process, road condition information is obtained according to the driving state of the target vehicle to ensure that the vehicle can adjust the speed and running state in time, thereby improving the stability and safety during driving.

[0075] The above-mentioned vehicle cooperative device can implement the method of the above-mentioned embodiment 1. The options in the above-mentioned embodiment 1 are also applicable to this embodiment and will not be described in detail here.

[0076] The rest of the contents of the embodiments of the present application can refer to the contents of the above-mentioned embodiment 1, and will not be repeated in this embodiment.

[0077] Embodiment 3 An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the vehicle collaboration method of embodiment one.

[0078] Optionally, the above-mentioned electronic device may be a server.

[0079] See also Figure 3 , Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include a processor 31, a communication interface 32, a memory 33 and at least one communication bus 34. The communication bus 34 is used to realize direct connection and communication between these components. The communication interface 32 of the device in the embodiment of the present application is used to communicate signaling or data with other node devices. The processor 31 may be an integrated circuit chip with signal processing capabilities.

[0080] The processor 31 mentioned above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or the processor 31 can also be any conventional processor, etc.

[0081] The memory 33 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 33 stores computer readable instructions. When the computer readable instructions are executed by the processor 31, the device can execute the above-mentioned Figure 1 The method embodiment involves various steps.

[0082] Optionally, the electronic device may further include a storage controller and an input / output unit. The memory 33, the storage controller, the processor 31, the peripheral interface, and the input / output unit are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via a communication bus 34. The processor 31 is used to execute executable modules stored in the memory 33, such as software function modules or computer programs included in the device.

[0083] The input and output unit is used to provide users with the task creation and to create an optional time period or preset execution time for the task to enable interaction between the user and the server. The input and output unit can be, but is not limited to, a mouse and a keyboard.

[0084] Understandably, Figure 3 The structure shown is for illustration only. The electronic device may also include Figure 3 More or fewer components as shown, or with Figure 3 Different configurations are shown. Figure 3 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0085] In addition, an embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the vehicle collaboration method of embodiment one is implemented.

[0086] The embodiment of the present application also provides a computer program product, which, when running on a computer, enables the computer to execute the method described in the method embodiment.

[0087] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart, can be implemented with a dedicated hardware-based device that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0088] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0089] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0090] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0091] The above is only a specific implementation of the present application, but the protection range of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical range disclosed in the present application, which should be included in the protection range of the present application. Therefore, the protection range of the present application should be based on the protection range of the claims.

[0092] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A vehicle cooperation method, characterized in that: The method comprises: Obtaining the coordination information of the vehicle to be coordinated; The traffic condition table is updated according to the collaborative information to obtain an updated traffic condition table; Performing traffic condition analysis on the updated traffic condition table to obtain traffic condition information; A collaborative decision is made for the vehicles to be coordinated based on the road condition information.

2. The vehicle cooperation method according to claim 1, characterized in that: The step of obtaining the cooperative information of the vehicle to be coordinated includes: Get the first time threshold; Within the first time threshold, determining a vehicle within a preset distance of the own vehicle as the to-be-coordinated vehicle; Receive the cooperation information sent by the vehicle to be cooperated.

3. The vehicle cooperation method according to claim 1, characterized in that: The step of updating the traffic table according to the collaborative information to obtain an updated traffic table includes: Parsing the collaboration information to obtain a collaboration message; Extracting vehicle information from the collaborative message; The road condition table is updated according to the vehicle information to obtain the updated road condition table.

4. The vehicle cooperation method according to claim 3, characterized in that: The step of updating the road condition table according to the vehicle information to obtain the updated road condition table includes: Updating the vehicle information into the traffic table, and determining a first retention time according to the update time; The first retention time is updated into the traffic condition table to obtain the updated traffic condition table.

5. The vehicle cooperation method according to claim 4, characterized in that: The step of updating the first retention time into the traffic condition table to obtain the updated traffic condition table further includes: Determine that the vehicle code when the vehicle information is updated to the road condition table is the first vehicle code; If, within the first detention time, a second vehicle code identical to the first vehicle code is updated to the road condition table, the first detention time is reset to the second detention time; If, within the first retention time, there is no second vehicle code identical to the first vehicle code updated to the road condition table, the first retention time is reset to 0, and the first vehicle code and its corresponding vehicle information are deleted.

6. The vehicle cooperation method according to claim 1, characterized in that: The step of analyzing the updated traffic condition table to obtain traffic condition information includes: In the updated road condition table, a vehicle whose remaining hop count in the vehicle information meets a threshold is selected as a target vehicle, and the target vehicle is a vehicle in the vehicles to be coordinated; Acquiring the driving status of the target vehicle; The road condition information is obtained according to the driving state.

7. The vehicle cooperation method according to claim 6, characterized in that: The step of obtaining the road condition information according to the driving state comprises: If the driving state of the target vehicle is accelerating, determining that the target vehicle is located at the starting position of the congested road section; If the target vehicle is traveling at a constant speed, it is determined that the target vehicle is located in the middle of a congested road section; If the driving state of the target vehicle is decelerating, it is determined that the target vehicle is located at the end of the congested road section.

8. A vehicle cooperative device, characterized in that: The device comprises: A data acquisition module, used to obtain the coordination information of the vehicle to be coordinated; An updating module, used for updating the traffic table according to the collaborative information to obtain an updated traffic table; An analysis module, used for performing a traffic analysis on the updated traffic table to obtain traffic information; The coordination module is used to make a coordinated decision on the vehicles to be coordinated according to the road condition information.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the vehicle cooperation method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: It stores a computer program, which, when executed by a processor, implements the vehicle cooperation method as described in any one of claims 1 to 7.

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