Control method and control device for multi-vehicle marshalling to pass through traffic light intersection

Abstract

The invention provides a control method and a control device for a multi-vehicle group to pass through a traffic light intersection, and the method comprises the steps: when a head vehicle in the multi-vehicle group detects that there is an intersection in front, the head vehicle transmits vehicle group information to a roadside facility through V2I direct connection; the roadside facility obtains road condition information, and carries out integrated analysis according to the road condition information and the vehicle team information to obtain an optimal driving route and driving state of the vehicle team passing through the intersection; and the roadside facility sends the optimal driving route and driving state of the intersection to the whole multi-vehicle group through V2I direct connection, and all vehicles in the multi-vehicle group run through the intersection according to the optimal driving route and driving state. According to the invention, the running state of a multi-vehicle group completely passing through the traffic lights is calculated in advance, group vehicle speed guidance is provided, and the problem of how to regather after the vehicle groups pass through the traffic lights separately is solved; the team travel information sharing efficiency and the travel efficiency can be greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-vehicle group control of digital roadside facilities, and in particular to a control method and a control device for a multi-vehicle group passing through a traffic light intersection. Background Art

[0002] There are already relevant research results on vehicle driving control methods based on intelligent roadside facilities. The roadside unit provides real-time vehicle environment perception and traffic status prediction. The intelligent computing unit formulates the vehicle driving plan based on the vehicle driving data and sends immediate control instructions to the corresponding on-board unit. The vehicle drives according to the immediate control instructions.

[0003] However, there are several important research directions in the field of multi-vehicle travel control methods: (1) Using a single-vehicle intelligent automatic driving following method to achieve following vehicle driving, which is mainly based on the perception module, decision-making module and execution control module configured by the vehicle itself; (2) Using the PC5 direct communication mode of V2V to achieve following vehicle driving. The fleet understands the driving status and driving position of the other party through V2V real-time information interaction, and assists the automatic driving function to achieve following vehicle driving; (3) Using the map formation mode to achieve following vehicle driving. The map formation driving mode can provide the driving position of the formation vehicles and the approximate path planning.

[0004] All of the above directions have certain disadvantages. For example, when using automatic driving to achieve vehicle-following driving, there are often problems such as the distance between the convoys being too far or the turning intersections and traffic light intersections exceeding the sensing distance of a single vehicle. It is very easy for the convoy to be lost, and automatic driving cannot solve this problem.

[0005] Using V2V's PC5 direct communication mode to achieve vehicle-following driving is only a communication method, not a driving control solution. When a long-distance convoy needs to pass through a traffic light intersection, due to the long distance of the convoy, it is very easy for the leading vehicle to pass through the traffic light intersection, and the trailing vehicle cannot follow the vehicle in time due to waiting for the traffic light.

[0006] Using the map teaming mode to achieve vehicle-following driving can only provide the vehicle location and driving path. It cannot cope with the complex environment of traffic light intersections and scenarios that require computing power support, and cannot solve the problem of multiple vehicles passing through traffic lights. Summary of the invention

[0007] The purpose of the present invention is to propose a control method and a control device for a multi-vehicle formation passing through a traffic light intersection, to solve the technical problem of how to effectively ensure the optimization of driving through a traffic light intersection based on the current position environment, and to greatly improve the safety and efficiency of vehicle formation driving.

[0008] On the one hand, a control method for a multi-vehicle group passing through a traffic light intersection is provided, which is implemented based on a vehicle network, wherein the vehicle network at least includes roadside facilities and a vehicle-mounted terminal, wherein the roadside facilities are used to collect road condition information in real time and communicate with the vehicle-mounted terminal in real time, including:

[0009] When the leading vehicle in a multi-vehicle formation detects an intersection ahead, the leading vehicle sends vehicle formation information to the roadside facilities via V2I direct connection;

[0010] The roadside facility obtains road condition information, and integrates and analyzes the road condition information and the vehicle convoy information to obtain the best driving route and driving status of the convoy through the intersection; wherein the road condition information at least includes the timing information of traffic lights and signal lights, other vehicle flow information, and driving environment information;

[0011] The roadside facility sends the optimal driving route and driving status of the intersection to the entire multi-vehicle formation through V2I direct connection, and all vehicles in the multi-vehicle formation pass through the intersection according to the optimal driving route and driving status.

[0012] Preferably, the vehicle formation information includes at least the distance between the lead vehicle and the intersection, the number of vehicles in the convoy, the distance between two vehicles in the convoy, the convoy speed, the vehicle body length, the distance to the traffic light intersection, the red light time at the intersection and the green light time at the intersection.

[0013] Preferably, the integrated analysis based on the road condition information and the vehicle team information specifically includes:

[0014] Determine the current green light status of the intersection according to the traffic information;

[0015] When the green light is just turned on, the time it takes for the entire multi-vehicle formation to pass through the intersection is determined based on the distance between the lead vehicle and the intersection and the speed of the convoy.

[0016] The time it takes for the entire multi-vehicle formation to pass through the intersection is compared with the duration of the green light, and based on the comparison result, it is determined whether the entire multi-vehicle formation can pass through the intersection in one go.

[0017] Preferably, it also includes:

[0018] When the time it takes for the entire multi-vehicle formation to pass through the intersection is less than or equal to the duration of the green light, it is determined that the entire multi-vehicle formation can pass through the intersection in one go.

[0019] Preferably, it also includes:

[0020] When the time for the entire multi-vehicle formation to pass through the intersection is greater than the duration of the green light, it is determined that the entire multi-vehicle formation cannot pass through the intersection in one go, and the multi-vehicle formation is split into multiple sub-convoys to pass through the intersection.

[0021] Preferably, it also includes:

[0022] When the first sub-convoy passes the intersection, the first sub-convoy is set to enter the half-speed waiting mode, and the second sub-convoy and subsequent sub-convoys are set to enter the red light waiting time;

[0023] When the red light timing ends, setting the second sub-convoy and subsequent sub-convoys to enter a driving state, and determining in real time whether the second sub-convoy has caught up with the first sub-convoy;

[0024] When the second sub-convoy catches up with the first sub-convoy, it is determined whether the subsequent sub-convoy has caught up with the first sub-convoy at the same time; if the subsequent sub-convoy has not caught up with the first sub-convoy at the same time, the second sub-convoy and the first sub-convoy are regarded as the new first sub-convoy to enter the half-speed waiting mode and the subsequent sub-convoy is regarded as the new second sub-convoy to enter the red light waiting time until the new second sub-convoy catches up with the new first sub-convoy;

[0025] When the subsequent sub-convoys simultaneously catch up with the first sub-convoy or the new second sub-convoy catches up with the new first sub-convoy, the multi-vehicle formation reassembles and travels normally after the first sub-convoy or the new first sub-convoy is set to speed up again.

[0026] Preferably, the time it takes for the entire multi-vehicle formation to pass through the intersection is determined by the following formula:

[0027]

[0028] Among them, T is the time it takes for the entire multi-vehicle formation to pass through the intersection, n is the number of vehicles in the convoy, L is the length of the vehicle body, d is the distance between two vehicles in the convoy, and S a is the distance between the first vehicle and the intersection, M a is the distance between traffic lights and intersections, V a is the convoy speed.

[0029] Preferably, when the first sub-convoy enters the half-speed waiting mode, the vehicle speed is set to half of the original convoy's driving speed.

[0030] On the other hand, a control device for a multi-vehicle group passing through a traffic light intersection is also provided, which is used to implement a control method for a multi-vehicle group passing through a traffic light intersection, comprising:

[0031] An intelligent computing unit disposed in the roadside facility is used to obtain vehicle platoon information through V2I when the leading vehicle in the multi-vehicle formation detects an intersection ahead;

[0032] It is also used to obtain road condition information, and to integrate and analyze the road condition information and the vehicle team information to obtain the best driving route and driving status of the team through the intersection; wherein the road condition information at least includes the timing information of traffic lights and signal lights, other traffic flow information, and driving environment information;

[0033] The optimal driving route and driving status of the intersection are sent to the entire multi-vehicle formation through V2I direct connection, and all vehicles in the multi-vehicle formation drive through the intersection according to the optimal driving route and driving status.

[0034] Preferably, the intelligent computing unit is specifically used to determine the current green light on state of the intersection according to the road condition information;

[0035] When the green light is just turned on, the time it takes for the entire multi-vehicle formation to pass through the intersection is determined based on the distance between the lead vehicle and the intersection and the speed of the convoy.

[0036] The time it takes for the entire multi-vehicle formation to pass through the intersection is compared with the duration of the green light, and based on the comparison result, it is determined whether the entire multi-vehicle formation can pass through the intersection in one go;

[0037] When the time it takes for the entire multi-vehicle formation to pass through the intersection is less than or equal to the duration of the green light, it is determined that the entire multi-vehicle formation can pass through the intersection in one go;

[0038] When the time for the entire multi-vehicle formation to pass through the intersection is greater than the duration of the green light, it is determined that the entire multi-vehicle formation cannot pass through the intersection in one go, and the multi-vehicle formation is split into multiple sub-vehicle formations to pass through the intersection;

[0039] When the first sub-convoy passes the intersection, the first sub-convoy is set to enter the half-speed waiting mode, and the second sub-convoy and subsequent sub-convoys are set to enter the red light waiting time;

[0040] When the red light timing ends, setting the second sub-convoy and subsequent sub-convoys to enter a driving state, and determining in real time whether the second sub-convoy has caught up with the first sub-convoy;

[0041] When the second sub-convoy catches up with the first sub-convoy, it is determined whether the subsequent sub-convoy has caught up with the first sub-convoy at the same time; if the subsequent sub-convoy has not caught up with the first sub-convoy at the same time, the second sub-convoy and the first sub-convoy are regarded as the new first sub-convoy to enter the half-speed waiting mode and the subsequent sub-convoy is regarded as the new second sub-convoy to enter the red light waiting time until the new second sub-convoy catches up with the new first sub-convoy;

[0042] When the subsequent sub-convoys simultaneously catch up with the first sub-convoy or the new second sub-convoy catches up with the new first sub-convoy, the multi-vehicle formation reassembles and travels normally after the first sub-convoy or the new first sub-convoy is set to speed up again.

[0043] In summary, the implementation of the embodiments of the present invention has the following beneficial effects:

[0044] The control method and control device for a multi-vehicle formation passing through a traffic light intersection provided by the present invention utilize roadside facilities to solve the travel problem of a multi-vehicle formation, fully utilize the road environment sensing capability and computing capability of the roadside facilities, and innovatively utilize intelligent roads to direct a multi-vehicle formation to travel through a traffic light intersection; calculate in advance the travel status of a multi-vehicle formation completely passing through a traffic light, provide formation vehicle speed guidance, and solve the problem of how to reassemble a convoy after it has separated and passed a traffic light; and can greatly improve the efficiency of information sharing for convoy travel and the efficiency of travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, without paying creative labor, other drawings obtained based on these drawings still belong to the scope of the present invention.

[0046] Figure 1 The present invention is a schematic diagram of the main process of a method for controlling a multi-vehicle formation passing through a traffic light intersection in an embodiment of the present invention.

[0047] Figure 2 The diagram is a schematic diagram of a multi-vehicle formation passing through a traffic light intersection according to an embodiment of the present invention.

[0048] Figure 3 It is a schematic diagram of a control device for a multi-vehicle formation passing through a traffic light intersection in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings.

[0050] like Figure 1 FIG. 1 is a schematic diagram of an embodiment of a control method for a multi-vehicle group passing through a traffic light intersection provided by the present invention. In this embodiment, the method is implemented based on a vehicle network, and the vehicle network at least includes roadside facilities and a vehicle-mounted terminal. The roadside facilities are used to collect road condition information in real time and communicate with the vehicle-mounted terminal in real time, including the following steps:

[0051] Step S1, when the leading vehicle in the multi-vehicle formation detects that there is an intersection ahead, the leading vehicle sends vehicle formation information to the roadside facilities through V2I direct connection; it can be understood that during the driving process of the multi-vehicle formation, if Figure 2 As shown, when the leading vehicle detects the current intersection A, the distance S is set a ,The lead vehicle sends the vehicle platoon information to the digital roadside facilities through V2I direct connection.

[0052] In a specific embodiment, the vehicle formation information at least includes the distance between the leading vehicle and the intersection, the number of vehicles in the convoy, the distance between two vehicles in the convoy, the driving speed of the convoy, the length of the vehicle body, the distance between the traffic light intersection, the red light time of the intersection and the green light time of the intersection. It can be understood that the digital roadside facilities will sense the road condition information (including the timing information of traffic lights and signal lights, other traffic flow information, and driving environment information) sensed by the RSU, where the distance S between the leading vehicle and the intersection is set here. a , there are n vehicles in the convoy, the distance between each vehicle in the convoy is d, and the convoy speed is V a , the vehicle body length is L, and the distance from the traffic light intersection is M a , set the red light time to 60s, the green light time to 120s, and the yellow light time to be negligible.

[0053] In step S2, the roadside facility obtains road condition information, and integrates and analyzes the road condition information and the vehicle formation information to obtain the best driving route and driving status of the vehicle formation through the intersection; wherein the road condition information at least includes the timing information of traffic lights and signal lights, other traffic driving information, and driving environment information; it is understandable that the integrated analysis is performed in combination with the vehicle formation driving information, and the best driving route and driving status of the vehicle formation through the traffic lights at the intersection are analyzed by the intelligent computing unit, and the digital roadside unit transmits the best driving status, route and other information of the current road section to the entire vehicle formation through the V2I direct connection, and the vehicles in the formation pass according to the recommended driving status.

[0054] In a specific embodiment, the current green light status of the intersection is determined based on the road condition information; when the green light status is just turned on, the time for the entire multi-vehicle formation to pass through the intersection is determined based on the distance of the leading vehicle from the intersection and the speed of the convoy; the time for the entire multi-vehicle formation to pass through the intersection is compared with the duration of the green light, and based on the comparison result, it is determined whether the entire multi-vehicle formation can pass through the intersection in one go. That is, the distance between the convoy and the traffic light intersection is S a , and assuming that the current intersection is in the green light just turned on state, the digital roadside unit calculates the time it takes for the convoy to completely pass the traffic light intersection and compares it with 120 seconds (green light duration).

[0055] Specifically, when the time for the entire multi-vehicle formation to pass through the intersection is less than or equal to the duration of the green light, it is determined that the entire multi-vehicle formation can pass through the intersection in one go. a The drive passed through the intersection smoothly.

[0056] More specifically, when the time for the entire multi-vehicle formation to completely pass through the intersection is greater than the duration of the green light, it is determined that the entire multi-vehicle formation cannot completely pass through at one time, and the multi-vehicle formation is split into multiple sub-vehicle formations to pass through the intersection. Among them, when the first sub-convoy passes through the intersection, the first sub-convoy is set to enter the half-speed waiting mode, and the second sub-convoy and the subsequent sub-convoy are set to enter the red light waiting time; when the red light timing ends, the second sub-convoy and the subsequent sub-convoy are set to enter the driving state, and it is determined in real time whether the second sub-convoy catches up with the first sub-convoy; when the second sub-convoy catches up with the first sub-convoy, it is determined whether the subsequent sub-convoy catches up with the first sub-convoy at the same time; if the subsequent sub-convoy does not catch up with the first sub-convoy at the same time, the second sub-convoy and the first sub-convoy are taken as the new first sub-convoy to enter the half-speed waiting mode and the subsequent sub-convoy is taken as the new second sub-convoy to enter the red light waiting time until the new second sub-convoy catches up with the new first sub-convoy; when the subsequent sub-convoy catches up with the first sub-convoy at the same time or the new second sub-convoy catches up with the new first sub-convoy, the first sub-convoy or the new first sub-convoy is set to speed up again, and the multi-vehicle formation reassembles and drives normally. When the first sub-convoy enters the half-speed waiting mode, the vehicle speed is set to be half of the original convoy driving speed.

[0057] Understandably, when the digital roadside unit calculates that the time for the convoy to pass through the traffic light intersection is greater than 120 seconds (green light duration), the convoy cannot pass through the intersection in one go, and the convoy needs to be split into two parts, namely, convoy A and convoy B. Assuming that the convoy is disconnected from the xth vehicle, convoy A includes x vehicles, and convoy B includes nx vehicles. When convoy A passes the traffic light intersection, it enters the half-speed waiting mode, and the speed is set to 1 / 2V. a , Team B waits for 60 seconds at the red light. Team B starts driving after the red light ends. The current distance between Teams A and B is S t , the distance between Team B and Team A changes from d to d+0.5V a *60, the time for Team B to catch up with Team A after waiting for the traffic light is 120 seconds, and Team A speeds up to V again after 120 seconds. a , the team regroups and drives normally. The driving management of the next traffic light intersection B is carried out in the same way as that of intersection A, and so on, until the entire driving at the final traffic light intersection is completed.

[0058] The time it takes for the entire multi-vehicle formation to pass through the intersection is determined by the following formula:

[0059]

[0060] Among them, T is the time it takes for the entire multi-vehicle formation to pass through the intersection, n is the number of vehicles in the convoy, L is the length of the vehicle body, d is the distance between two vehicles in the convoy, and S a is the distance between the first vehicle and the intersection, M a is the distance between traffic lights and intersections, V a is the convoy speed.

[0061] Step S3, the roadside facility sends the best driving route and driving status of the intersection to the entire multi-vehicle formation through V2I direct connection, and all vehicles in the multi-vehicle formation drive through the intersection according to the best driving route and driving status.

[0062] like Figure 3 As shown, in an embodiment of the present invention, a control device for a multi-vehicle group passing through a traffic light intersection is also provided, which is used to implement a control method for a multi-vehicle group passing through a traffic light intersection, comprising:

[0063] An intelligent computing unit disposed in the roadside facility is used to obtain vehicle platoon information through V2I when the leading vehicle in the multi-vehicle formation detects an intersection ahead;

[0064] It is also used to obtain road condition information, and to integrate and analyze the road condition information and the vehicle team information to obtain the best driving route and driving status of the team through the intersection; wherein the road condition information at least includes the timing information of traffic lights and signal lights, other traffic flow information, and driving environment information;

[0065] The optimal driving route and driving status of the intersection are sent to the entire multi-vehicle formation through V2I direct connection, and all vehicles in the multi-vehicle formation drive through the intersection according to the optimal driving route and driving status.

[0066] In this embodiment, the intelligent computing unit is specifically used to determine the current green light on state of the intersection according to the road condition information;

[0067] When the green light is just turned on, the time it takes for the entire multi-vehicle formation to pass through the intersection is determined based on the distance between the lead vehicle and the intersection and the speed of the convoy.

[0068] The time it takes for the entire multi-vehicle formation to pass through the intersection is compared with the duration of the green light, and based on the comparison result, it is determined whether the entire multi-vehicle formation can pass through the intersection in one go;

[0069] When the time it takes for the entire multi-vehicle formation to pass through the intersection is less than or equal to the duration of the green light, it is determined that the entire multi-vehicle formation can pass through the intersection in one go;

[0070] When the time for the entire multi-vehicle formation to pass through the intersection is greater than the duration of the green light, it is determined that the entire multi-vehicle formation cannot pass through the intersection in one go, and the multi-vehicle formation is split into multiple sub-vehicle formations to pass through the intersection;

[0071] When the first sub-convoy passes the intersection, the first sub-convoy is set to enter the half-speed waiting mode, and the second sub-convoy and subsequent sub-convoys are set to enter the red light waiting time;

[0072] When the red light timing ends, setting the second sub-convoy and subsequent sub-convoys to enter a driving state, and determining in real time whether the second sub-convoy has caught up with the first sub-convoy;

[0073] When the second sub-convoy catches up with the first sub-convoy, it is determined whether the subsequent sub-convoy has caught up with the first sub-convoy at the same time; if the subsequent sub-convoy has not caught up with the first sub-convoy at the same time, the second sub-convoy and the first sub-convoy are regarded as the new first sub-convoy to enter the half-speed waiting mode and the subsequent sub-convoy is regarded as the new second sub-convoy to enter the red light waiting time until the new second sub-convoy catches up with the new first sub-convoy;

[0074] When the subsequent sub-convoys simultaneously catch up with the first sub-convoy or the new second sub-convoy catches up with the new first sub-convoy, the multi-vehicle formation reassembles and travels normally after the first sub-convoy or the new first sub-convoy is set to speed up again.

[0075] It should be noted that the device described in the above embodiment corresponds to the method described in the above embodiment. Therefore, the part of the device described in the above embodiment that is not described in detail can be obtained by referring to the content of the method described in the above embodiment, and will not be repeated here.

[0076] In summary, the implementation of the embodiments of the present invention has the following beneficial effects:

[0077] The control method and control device for a multi-vehicle formation passing through a traffic light intersection provided by the present invention utilize roadside facilities to solve the travel problem of a multi-vehicle formation, fully utilize the road environment sensing capability and computing capability of the roadside facilities, and innovatively utilize intelligent roads to direct a multi-vehicle formation to travel through a traffic light intersection; calculate in advance the travel status of a multi-vehicle formation completely passing through a traffic light, provide formation vehicle speed guidance, and solve the problem of how to reassemble a convoy after it has separated and passed a traffic light; and can greatly improve the efficiency of information sharing for convoy travel and the efficiency of travel.

[0078] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A control method for a multi-vehicle group passing through a traffic light intersection is implemented based on a vehicle network, wherein the vehicle network at least includes roadside facilities and a vehicle-mounted terminal, wherein the roadside facilities are used to collect road condition information in real time and communicate with the vehicle-mounted terminal in real time, and is characterized in that: include: When the leading vehicle in a multi-vehicle formation detects an intersection ahead, the leading vehicle sends vehicle formation information to the roadside facilities via V2I direct connection; The roadside facility obtains road condition information, and integrates and analyzes the road condition information and the vehicle convoy information to obtain the best driving route and driving status of the convoy through the intersection; wherein the road condition information at least includes the timing information of traffic lights and signal lights, other vehicle flow information, and driving environment information; The roadside facility sends the optimal driving route and driving status of the intersection to the entire multi-vehicle formation through V2I direct connection, and all vehicles in the multi-vehicle formation pass through the intersection according to the optimal driving route and driving status.

2. The control method according to claim 1, characterized in that: The vehicle platoon information includes at least the distance between the lead vehicle and the intersection, the number of vehicles in the platoon, the distance between two vehicles in the platoon, the platoon speed, the length of the vehicle body, the distance to the traffic light intersection, the red light time at the intersection and the green light time at the intersection.

3. The control method according to claim 2, characterized in that: The integrated analysis based on the road condition information and the vehicle team information specifically includes: Determine the current green light status of the intersection according to the traffic information; When the green light is just turned on, the time it takes for the entire multi-vehicle formation to pass through the intersection is determined based on the distance between the lead vehicle and the intersection and the speed of the convoy. The time it takes for the entire multi-vehicle formation to pass through the intersection is compared with the duration of the green light, and based on the comparison result, it is determined whether the entire multi-vehicle formation can pass through the intersection in one go.

4. The control method according to claim 3, characterized in that: Also includes, When the time it takes for the entire multi-vehicle formation to pass through the intersection is less than or equal to the duration of the green light, it is determined that the entire multi-vehicle formation can pass through the intersection in one go.

5. The control method according to claim 3, characterized in that: Also includes, When the time for the entire multi-vehicle formation to pass through the intersection is greater than the duration of the green light, it is determined that the entire multi-vehicle formation cannot pass through the intersection in one go, and the multi-vehicle formation is split into multiple sub-convoys to pass through the intersection.

6. The control method according to claim 5, characterized in that: Also includes, When the first sub-convoy passes the intersection, the first sub-convoy is set to enter the half-speed waiting mode, and the second sub-convoy and subsequent sub-convoys are set to enter the red light waiting time; When the red light timing ends, setting the second sub-convoy and subsequent sub-convoys to enter a driving state, and determining in real time whether the second sub-convoy has caught up with the first sub-convoy; When the second sub-convoy catches up with the first sub-convoy, it is determined whether the subsequent sub-convoy has caught up with the first sub-convoy at the same time; if the subsequent sub-convoy has not caught up with the first sub-convoy at the same time, the second sub-convoy and the first sub-convoy are regarded as the new first sub-convoy to enter the half-speed waiting mode and the subsequent sub-convoy is regarded as the new second sub-convoy to enter the red light waiting time until the new second sub-convoy catches up with the new first sub-convoy; When the subsequent sub-convoys simultaneously catch up with the first sub-convoy or the new second sub-convoy catches up with the new first sub-convoy, the multi-vehicle formation reassembles and travels normally after the first sub-convoy or the new first sub-convoy is set to speed up again.

7. The control method according to claim 4 or 5, characterized in that: The time it takes for the entire multi-vehicle formation to pass through the intersection is determined by the following formula: Among them, T is the time it takes for the entire multi-vehicle formation to pass through the intersection, n is the number of vehicles in the convoy, L is the length of the vehicle body, d is the distance between two vehicles in the convoy, and S a is the distance between the first vehicle and the intersection, M a is the distance between traffic lights and intersections, V a is the convoy speed.

8. The control method according to claim 6, characterized in that: When the first sub-convoy enters the half-speed waiting mode, the vehicle speed is set to half of the original convoy's driving speed.

9. A control device for a multi-vehicle group passing through a traffic light intersection, used to implement the method according to any one of claims 1 to 8, characterized in that: include: An intelligent computing unit disposed in the roadside facility is used to obtain vehicle platoon information through V2I when the leading vehicle in the multi-vehicle formation detects an intersection ahead; It is also used to obtain road condition information, and to integrate and analyze the road condition information and the vehicle team information to obtain the best driving route and driving status of the team through the intersection; wherein the road condition information at least includes the timing information of traffic lights and signal lights, other traffic flow information, and driving environment information; The optimal driving route and driving status of the intersection are sent to the entire multi-vehicle formation through V2I direct connection, and all vehicles in the multi-vehicle formation drive through the intersection according to the optimal driving route and driving status.

10. The control device according to claim 9, characterized in that The intelligent computing unit is specifically used to determine the current green light on state of the intersection according to the road condition information; When the green light is just turned on, the time it takes for the entire multi-vehicle formation to pass through the intersection is determined based on the distance between the lead vehicle and the intersection and the speed of the convoy. The time it takes for the entire multi-vehicle formation to pass through the intersection is compared with the duration of the green light, and based on the comparison result, it is determined whether the entire multi-vehicle formation can pass through the intersection in one go; When the time it takes for the entire multi-vehicle formation to pass through the intersection is less than or equal to the duration of the green light, it is determined that the entire multi-vehicle formation can pass through the intersection in one go; When the time for the entire multi-vehicle formation to pass through the intersection is greater than the duration of the green light, it is determined that the entire multi-vehicle formation cannot pass through the intersection in one go, and the multi-vehicle formation is split into multiple sub-vehicle formations to pass through the intersection; When the first sub-convoy passes the intersection, the first sub-convoy is set to enter the half-speed waiting mode, and the second sub-convoy and subsequent sub-convoys are set to enter the red light waiting time; When the red light timing ends, setting the second sub-convoy and subsequent sub-convoys to enter a driving state, and determining in real time whether the second sub-convoy has caught up with the first sub-convoy; When the second sub-convoy catches up with the first sub-convoy, it is determined whether the subsequent sub-convoy has caught up with the first sub-convoy at the same time; if the subsequent sub-convoy has not caught up with the first sub-convoy at the same time, the second sub-convoy and the first sub-convoy are regarded as the new first sub-convoy to enter the half-speed waiting mode and the subsequent sub-convoy is regarded as the new second sub-convoy to enter the red light waiting time until the new second sub-convoy catches up with the new first sub-convoy; When the subsequent sub-convoys simultaneously catch up with the first sub-convoy or the new second sub-convoy catches up with the new first sub-convoy, the multi-vehicle formation reassembles and travels normally after the first sub-convoy or the new first sub-convoy is set to speed up again.

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