Vehicle control method, electronic device and vehicle

Abstract

The present application provides a vehicle control method, an electronic device and a vehicle, which are applied to the field of vehicle intelligent control technology, wherein the method includes: obtaining the positions and driving directions of all vehicles in a fleet, and determining the leading vehicle and the following vehicle of the fleet based on the positions and driving directions; in response to determining that the vehicle is a leading vehicle, determining the pilot section according to the driving information of the leading vehicle, and sending the driving information and the pilot section to the following vehicle; in response to determining that the vehicle is a following vehicle, determining the target driving parameters according to the driving information sent by the leading vehicle, and controlling the following vehicle to pass through the pilot section based on the target driving parameters, wherein the target driving parameters are the minimum required driving parameters for allowing the following vehicle to pass through the pilot section. The present application improves the overall driving efficiency of the fleet and reduces the driving risk and failure rate of vehicles.

Description

Technical Field

[0001] The present application relates to the field of vehicle intelligent control technology, and in particular to a vehicle control method, electronic equipment and a vehicle. Background Art

[0002] The traditional off-road convoy driving mode usually relies on the pilot vehicle to lead and explore the route, and other vehicles follow the route of the pilot vehicle. However, due to the different driving experience, vehicle performance and vehicle conditions of each driver in the convoy, vehicles often drag and break down, resulting in different driving progress and falling behind in the convoy, affecting the overall driving efficiency of the convoy and increasing driving risks and failure rates. Summary of the invention

[0003] In view of this, the purpose of this application is to propose a vehicle control method, an electronic device and a vehicle to improve the overall driving efficiency of the fleet and reduce the driving risks and failure rates of the vehicles.

[0004] Based on the above objectives, the present application provides a vehicle control method, comprising:

[0005] Obtaining the positions and driving directions of all vehicles in the convoy, and determining the leading vehicle and the following vehicles of the leading vehicle in the convoy based on the positions and driving directions;

[0006] In response to determining that the vehicle is a pilot vehicle, determining a pilot section according to driving information of the pilot vehicle, and sending the driving information and the pilot section to a following vehicle;

[0007] In response to determining that the vehicle is a following vehicle, target driving parameters are determined according to driving information sent by the pilot vehicle, and the following vehicle is controlled to pass through the pilot section based on the target driving parameters, wherein the target driving parameters are the minimum required driving parameters for allowing the following vehicle to pass through the pilot section.

[0008] Based on the same inventive concept, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0009] Based on the same inventive concept, the present application also provides a vehicle, which includes the above-mentioned electronic device.

[0010] As can be seen from the above, the vehicle control method, electronic device and vehicle provided by the present application, wherein the method includes: obtaining the positions and driving directions of all vehicles in the fleet, and determining the leading vehicle and the following vehicle of the leading vehicle based on the positions and driving directions; therefore, when the leading vehicle fails or falls behind, the leading vehicle can be switched in time to improve the overall driving efficiency of the fleet; in response to determining that the vehicle is the leading vehicle, determining the leading section according to the driving information of the leading vehicle, and sending the driving information and the leading section to the following vehicle, so that subsequent following vehicles can obtain more comprehensive navigation prompt information; in response to determining that the vehicle is the following vehicle, determining the target driving parameters according to the driving information sent by the leading vehicle, and controlling the following vehicle to pass through the leading section based on the target driving parameters, wherein the target driving parameters are the minimum required driving parameters for allowing the following vehicle to pass through the leading section; when the following vehicle passes through certain complex sections, the following vehicle can be controlled according to the target driving parameters, thereby improving the passability of the following vehicle on complex sections and reducing vehicle failure and driving risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 The process diagram of the vehicle control method of the present application embodiment is as follows: Figure 1 ;

[0013] Figure 2 The process diagram of the vehicle control method of the present application embodiment is as follows: Figure 2 ;

[0014] Figure 3 A schematic diagram of a vehicle control device according to an embodiment of the present application;

[0015] Figure 4 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0016] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0017] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0018] In the related technology, with the increasing popularity of off-road activities, more and more off-road enthusiasts choose to drive on unconventional roads such as grasslands and deserts. This off-road activity can not only bring exciting driving experience, but also allow participants to get close to nature. However, off-road driving in these complex and changeable environments often does not have a fixed route and a clear destination, which brings many challenges to the driving of the team. The traditional off-road team driving mode usually relies on the pilot car to navigate and explore the road, and other vehicles follow the driving route of the pilot car. However, due to the different driving experience, vehicle performance and vehicle conditions of each driver in the team, vehicle dragging and vehicle failure often occur, resulting in different driving progress and falling behind of vehicles in the team, affecting the overall driving progress and off-road experience. In addition, the traditional pilot mode lacks real-time road condition information and driving parameter sharing, and subsequent vehicles cannot respond in time when encountering complex sections, increasing driving risks and failure rates. However, the existing technical solutions have the following shortcomings when dealing with the above problems: the traditional pilot mode relies on the single navigation of the pilot car and cannot share road condition information in real time, resulting in the inability of subsequent vehicles to respond in time when encountering complex sections; due to the lack of real-time sharing of driving parameters and environmental information, subsequent vehicles cannot obtain effective driving suggestions when passing through certain complex sections, which can easily lead to vehicle failure and driving risks; the existing fleet management system lacks dynamic adjustment capabilities. When the pilot car fails or falls behind, it cannot be switched to the pilot car in time, affecting the overall driving efficiency of the fleet.

[0019] Based on the above problems, the applicant found that: the positions and driving directions of all vehicles in the fleet are obtained, and the leading vehicle and the following vehicle of the leading vehicle are determined based on the positions and driving directions; therefore, when the leading vehicle breaks down or falls behind, the leading vehicle can be switched in time to affect the overall driving efficiency of the fleet; in response to determining that the vehicle is the leading vehicle, the leading section is determined according to the driving information of the leading vehicle, and the driving information and the leading section are sent to the following vehicle, so that subsequent following vehicles can obtain more comprehensive navigation prompt information; in response to determining that the vehicle is the following vehicle, the target driving parameters are determined according to the driving information sent by the leading vehicle, and the following vehicle is controlled to pass through the pilot section based on the target driving parameters, and the target driving parameters are the minimum required driving parameters for allowing the following vehicle to pass through the pilot section; when the following vehicle passes through certain complex sections, the following vehicle can be controlled according to the target driving parameters, which improves the passability of the following vehicle on complex sections and reduces vehicle failure and driving risks.

[0020] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0021] The present application provides a vehicle control method, such as Figure 1 As shown, in some embodiments, the method is executed by a vehicle controller or a data processor independently provided by the vehicle controller. The subsequent embodiments are all illustrated by taking the vehicle controller as an example; the method includes:

[0022] S101, obtaining positions and driving directions of all vehicles in the convoy, and determining a leading vehicle and a following vehicle of the leading vehicle in the convoy based on the positions and driving directions;

[0023] In specific implementation, each vehicle is equipped with a positioning system to obtain the vehicle's position in real time; the driving direction can be obtained through the vehicle's inertial navigation system. According to the position and driving direction of all vehicles, the vehicle in the convoy that is driving towards the destination and closest to the destination is determined as the pilot vehicle, and the other vehicles in the convoy except the pilot vehicle are determined as follower vehicles; the pilot vehicle plays a role in guiding and exploring the way in the convoy, and its driving route and strategy will directly affect the movement of subsequent vehicles. After the pilot vehicle is determined, the other vehicles in the convoy except the pilot vehicle are determined as follower vehicles. The follower vehicles follow the pilot vehicle to ensure that the entire convoy can maintain a consistent direction and rhythm, realize effective management and control of the convoy, and ensure that the convoy can travel efficiently and safely in a complex and changeable off-road environment.

[0024] S102A, in response to determining that the vehicle is a pilot vehicle, determining a pilot section according to driving information of the pilot vehicle, and sending the driving information and the pilot section to a following vehicle;

[0025] In specific implementation, the pilot car will collect driving information in real time through its internal and external sensors, cameras and other equipment during driving. The driving information includes but is not limited to: the current position of the pilot car, driving route, driving speed, road slope, engine speed, torque, gear, chassis height and external environment image. According to the driving information of the pilot car, the pilot section that needs to be shared is determined. The pilot section refers to the part of the road that the pilot car has traveled and the following car needs to follow. Once the pilot section and driving information are determined, the driving information and the pilot section are packaged and sent to all following cars in the fleet through the wireless communication network. Ensure that all vehicles in the fleet can follow the route of the pilot car efficiently and safely. Not only does it improve the overall driving efficiency of the fleet, but it also reduces vehicle failures and driving risks caused by unclear road conditions, thereby improving the off-road driving experience.

[0026] S102B, in response to determining that the vehicle is a following vehicle, determining target driving parameters according to driving information sent by the pilot vehicle, and controlling the following vehicle to pass through the pilot section based on the target driving parameters, wherein the target driving parameters are minimum required driving parameters for allowing the following vehicle to pass through the pilot section.

[0027] In specific implementation, the following vehicle receives the driving information and the pilot section sent by the pilot vehicle. The following vehicle analyzes and processes the received driving information to determine the target driving parameters. The target driving parameters are the minimum required driving parameters to ensure that the following vehicle can safely pass through the pilot section, including but not limited to the target driving speed, target driving torque, etc.; based on the target driving parameters, the following vehicle needs to be controlled to pass through the pilot section. The performance parameters of the following vehicle need to be determined first to ensure that the following vehicle can meet the requirements of the target driving parameters, including checking the maximum driving speed and maximum driving torque of the following vehicle. If the performance parameters of the following vehicle can meet the requirements of the target driving parameters, the driving parameters of the following vehicle are adjusted to meet the target driving parameters to ensure that the following vehicle can safely pass through the pilot section. If the performance parameters of the following vehicle cannot meet the requirements of the target driving parameters, it is determined that the following vehicle has failed to follow the vehicle, and it is determined whether there is a sub-convoy; wherein the sub-convoy is a fleet reorganized by other following vehicles in the fleet that have failed to follow the vehicle; if there is a sub-convoy, the following vehicle is controlled to pass through the pilot section sent by the pilot vehicle in the sub-convoy. It ensures that the following vehicle can accurately and safely follow the route of the lead vehicle in complex and changeable off-road environments, improves the overall driving efficiency of the fleet, reduces vehicle failures and driving risks caused by unclear road conditions, and thus enhances the off-road driving experience.

[0028] In this embodiment, by acquiring the position and driving direction of all vehicles in the convoy in real time, the most suitable vehicle to serve as the pilot vehicle can be dynamically determined. When the current pilot vehicle breaks down or falls behind, the pilot vehicle can be switched in time to ensure that the convoy's progress is not affected and maintain an efficient driving rhythm. The pilot vehicle collects and shares driving information and pilot sections in real time, so that the following vehicle can know the road conditions ahead in advance and make corresponding adjustments, avoiding stagnation or delay of the following vehicle in complex sections due to information asymmetry. It ensures that the following vehicle accurately and safely follows the route of the pilot vehicle in complex and changeable off-road environments, thereby improving the overall driving efficiency of the convoy.

[0029] In some embodiments, Figure 2 As shown, the method of controlling the following vehicle to pass through the pilot section based on the target driving parameter includes:

[0030] S201, determining whether the performance parameters of the following vehicle can meet the requirements of the target driving parameters;

[0031] In specific implementation, the performance parameters of the following vehicle are obtained, including but not limited to the maximum driving speed and the maximum driving torque, and the performance parameters of the following vehicle are compared with the target driving parameters to determine whether the performance parameters of the following vehicle can meet the requirements of the target driving parameters.

[0032] S202A, in response to determining that the performance parameters of the following vehicle can meet the requirements of the target driving parameters, adjusting the performance parameters of the following vehicle to the target driving parameters so that the following vehicle passes through the pilot section;

[0033] In specific implementation, if the performance parameters of the following vehicle can meet the requirements of the target driving parameters, and the following vehicle travels to the pilot section corresponding to the target driving parameters, the performance parameters of the following vehicle are adjusted to the target driving parameters. For example, if the maximum driving speed of the following vehicle is greater than or equal to the target driving speed, it is determined that the performance parameters of the following vehicle can meet the requirements of the target driving parameters, and the current driving speed of the following vehicle is lower than the target driving speed, the speed of the following vehicle is increased to the target driving speed. If the current driving speed is higher than the target driving speed, the speed of the following vehicle is reduced to the target driving speed, so that the following vehicle can safely and effectively pass the pilot section, thereby improving the driving efficiency and safety of the vehicle and ensuring that the convoy can maintain a consistent travel rhythm in a complex and changeable off-road environment.

[0034] S202B, in response to determining that the performance parameters of the following vehicle cannot meet the requirements of the target driving parameters, determining that the following vehicle has failed to follow the vehicle, and determining whether there is a sub-convoy; wherein the sub-convoy is a convoy formed by other following vehicles in the convoy that have failed to follow the vehicle;

[0035] In specific implementation, if it is determined that the performance parameters of the following vehicle cannot meet the requirements of the target driving parameters, it means that the following vehicle cannot pass the corresponding pilot section. At this time, it is necessary to determine whether there is a sub-convoy, and the sub-convoy is a convoy reorganized by other following vehicles in the convoy that failed to follow the vehicle. That is, if there are multiple following vehicles that failed to follow the vehicle, these following vehicles will be reorganized into a sub-convoy, and the pilot vehicle in the sub-convoy will re-determine a pilot section to lead the following vehicles in the sub-convoy through the pilot section; the principle of forming a sub-convoy is usually to group vehicles with similar performance parameters and encountering similar problems together to form a sub-convoy.

[0036] S203: In response to determining that there is a sub-convoy, controlling the following vehicle to pass through the pilot route segment sent by the pilot vehicle in the sub-convoy.

[0037] During specific implementation, if it is determined that there is a sub-convoy, and the pilot car of the sub-convoy also executes the steps of collecting driving information, determining the navigation section according to the driving information of the pilot car, and sending the driving information and the navigation section to the following car of the sub-convoy, the following car that failed to follow the vehicle, after receiving the driving information and the navigation section, determines the target driving parameters according to the driving information sent by the pilot car of the sub-convoy, and controls the following car that failed to follow the vehicle to pass through the navigation section sent by the pilot car in the sub-convoy based on the target driving parameters; ensuring that even vehicles that cannot meet the target driving parameters in the original fleet can safely pass through complex sections through the reorganization and guidance of the sub-convoy, which not only improves the overall driving efficiency and safety of the fleet, but also enhances the coordination ability between vehicles and improves the overall off-road driving experience.

[0038] In this embodiment, by evaluating the matching of the performance parameters of the following vehicle with the target driving parameters, the performance parameters of the following vehicle are adjusted to ensure that each vehicle can pass the pilot section in the best condition, thereby improving the overall driving efficiency and safety of the fleet. By reorganizing the following vehicles that cannot meet the target driving parameters into sub-teams, it is possible to flexibly cope with the performance differences of different vehicles and complex road conditions.

[0039] In some embodiments, determining whether a sub-convoy exists includes:

[0040] Send the information of the following vehicle's failure to follow the vehicle to other following vehicles in the convoy;

[0041] In specific implementation, the information on the following vehicle's failure to follow may include the status information of "following failure" and the specific reasons for the following vehicle's failure to follow, such as complex road conditions that cannot be coped with, such as maximum driving speed, maximum driving torque, chassis height, etc., and effectively transmit the information on the following vehicle's failure to other following vehicles in the fleet, ensuring that vehicles encountering similar problems can respond in a timely manner and form a new sub-fleet.

[0042] In response to receiving sub-convoy confirmation information sent by at least one vehicle in the sub-convoy, it is determined that the sub-convoy exists, and the driving information and the pilot route section of the pilot vehicle in the sub-convoy are obtained.

[0043] In specific implementation, after receiving sub-convoy confirmation information sent by at least one vehicle in the sub-convoy (that is, when any vehicle in the sub-convoy receives information that the following vehicle has failed to follow, it sends sub-convoy confirmation information to the following vehicle that has failed to follow), it indicates that a sub-convoy exists. At this time, the driving information and the pilot section of the lead vehicle in the sub-convoy are obtained, so as to determine the target driving parameters according to the driving information sent by the lead vehicle of the sub-convoy, and control the following vehicle that has failed to follow to pass the pilot section based on the target driving parameters.

[0044] In this embodiment, the information of the following vehicle failing to follow the vehicle is promptly transmitted to other following vehicles in the convoy, ensuring that all vehicles can keep up to date with the latest developments of the convoy. By determining whether a sub-convoy exists and dynamically forming a sub-convoy when necessary, the performance differences of different vehicles and complex road conditions can be flexibly responded to. By obtaining the driving information and pilot road section of the pilot vehicle of the sub-convoy, a safe and feasible driving route and parameters can be provided for the vehicle that failed to follow the vehicle, ensuring that it can safely pass through complex road sections.

[0045] In some embodiments, the target driving parameters include a target driving torque and a target driving speed; and determining whether the performance parameters of the following vehicle can meet the requirements of the target driving parameters includes:

[0046] In response to determining that the maximum driving torque of the following vehicle is greater than or equal to the target driving torque, determining that the performance parameter of the following vehicle can meet the requirement of the target driving parameter;

[0047] In specific implementation, the maximum driving torque of the following vehicle is compared with the target driving torque. If the maximum driving torque of the following vehicle is greater than or equal to the target driving torque, it indicates that the performance parameters of the following vehicle can meet the requirements of the target driving parameters, that is, the following vehicle has sufficient power output on the pilot section (such as a section with a slope) and can travel safely and effectively. If the maximum driving torque of the following vehicle is less than the target driving torque, it is determined that the performance parameters of the following vehicle cannot meet the requirements of the target driving parameters.

[0048] In response to determining that the maximum driving speed of the following vehicle is greater than or equal to the target driving speed, it is determined that the performance parameters of the following vehicle can meet the requirements of the target driving parameters.

[0049] In specific implementation, the maximum driving speed of the following vehicle is compared with the target driving speed. If the maximum driving speed of the following vehicle is greater than or equal to the target driving speed, it indicates that the performance parameters of the following vehicle can meet the requirements of the target driving parameters, that is, the following vehicle has sufficient power output in the pilot section (for example, a faster speed is required on a sandy section to avoid the vehicle sinking), and can drive safely and effectively. If the maximum driving speed of the following vehicle is less than the target driving speed, it is determined that the performance parameters of the following vehicle cannot meet the requirements of the target driving parameters.

[0050] In this embodiment, by comparing the maximum driving torque of the following vehicle with the target driving torque, it is ensured that the following vehicle has sufficient power output on the pilot section (e.g., a section with a slope) and can travel safely and efficiently. The risk of vehicle stagnation or landslide due to insufficient power is reduced. By comparing the maximum driving speed of the following vehicle with the target driving speed, it is ensured that the following vehicle has sufficient speed on a specific section (e.g., a sandy section) to avoid the vehicle sinking or getting stuck, thereby improving the vehicle's passability and safety under various complex road conditions.

[0051] In some embodiments, the driving information includes driving parameters of the pilot vehicle when passing through the pilot section; and determining the target driving parameters according to the driving information sent by the pilot vehicle includes:

[0052] Determine the mass difference between the lead vehicle and the following vehicle;

[0053] In specific implementation, the current mass of the pilot vehicle can be obtained from the electronic control unit of the pilot vehicle or other vehicle-mounted systems. The current mass of the following vehicle can be obtained from the electronic control unit of the following vehicle or other vehicle-mounted systems. The mass difference is calculated to provide reliable data support for the subsequent determination of the target driving parameters, ensuring that the following vehicle can safely and effectively follow the pilot vehicle through the pilot section according to its own mass, thereby improving the overall driving efficiency and safety of the fleet.

[0054] In response to determining that the mass difference is less than or equal to a preset difference, determining the driving parameter as a target driving parameter;

[0055] In specific implementation, the preset difference can be set according to the design parameters or driving performance requirements of the vehicle, and is used to determine whether the mass difference between the pilot vehicle and the following vehicle is within an acceptable range. If the mass difference is less than or equal to the preset difference (for example, the preset difference can be set to 5% of the mass of the pilot vehicle), it is determined that the mass difference is within the acceptable range, indicating that the mass difference between the pilot vehicle and the following vehicle will not significantly affect the driving performance of the following vehicle, and the driving parameters of the pilot vehicle can be determined as the target driving parameters. This ensures that the following vehicle can safely and effectively pass through the pilot section, thereby improving the overall driving efficiency and safety of the fleet.

[0056] In response to determining that the mass difference is greater than a preset difference, the driving parameter is adjusted based on the mass of the following vehicle, and the adjusted driving parameter is determined as the target driving parameter.

[0057] In specific implementation, if the mass difference is greater than the preset difference, it is determined that the mass difference is not within the acceptable range, indicating that the mass difference between the pilot vehicle and the following vehicle will significantly affect the driving performance of the following vehicle, and the adjusted driving parameters are determined as the target driving parameters so that the following vehicle can make corresponding adjustments and controls. The mass difference between the pilot vehicle and the following vehicle is accurately evaluated, and when the mass difference exceeds the preset range, the driving parameters are reasonably adjusted based on the mass of the following vehicle, ensuring that the following vehicle can safely and effectively pass through the pilot section according to its own quality conditions, thereby improving the overall driving efficiency and safety of the fleet.

[0058] In this embodiment, by evaluating the mass difference between the pilot vehicle and the following vehicle, the difference in vehicle load can be identified. When the mass difference is large, the driving parameters are adjusted to adapt to the load of the following vehicle to ensure that it can safely pass the pilot section and reduce the driving risk caused by the load difference.

[0059] In some embodiments, the driving parameters include driving torque and driving speed; and adjusting the driving parameters based on the mass of the following vehicle includes:

[0060] In response to determining that the mass of the following vehicle is less than the mass of the lead vehicle, reducing the driving torque and the driving vehicle speed;

[0061] In specific implementation, if it is determined that the mass of the following vehicle is less than the mass of the pilot vehicle, it indicates that the load of the following vehicle is lighter. The lighter load makes the form parameters required by the following vehicle in the pilot section smaller, so the driving torque and the driving speed are reduced, and the reduced driving torque and the driving speed are determined as the target driving parameters to better adapt to the light load condition of the following vehicle and ensure the driving performance and safety of the vehicle under complex road conditions.

[0062] In response to determining that the mass of the following vehicle is greater than the mass of the lead vehicle, the driving torque and the driving vehicle speed are increased.

[0063] In specific implementation, if it is determined that the mass of the following vehicle is greater than the mass of the leading vehicle, it indicates that the following vehicle has a heavier load. A heavier load may cause the following vehicle to exhibit lower acceleration capability and response speed at the same driving torque and speed as the leading vehicle. Therefore, the driving torque and driving speed are increased to determine the increased driving torque and driving speed as target driving parameters, so as to better adapt to the heavy load condition of the following vehicle and ensure the driving performance and safety of the vehicle under complex road conditions.

[0064] In this embodiment, the driving torque and speed of the following vehicle are adjusted to adapt to its load conditions to ensure the driving performance and safety of the vehicle under complex road conditions. Vehicles with lighter loads can avoid over-acceleration and loss of control by reducing the driving torque and speed, while vehicles with heavier loads can ensure sufficient power output and response speed by increasing the driving torque and speed. The driving efficiency and safety of the fleet in complex off-road environments are significantly improved, the vehicle performance utilization is optimized, the vehicle failure and driving risks are reduced, the overall off-road driving experience is improved, and the burden on the driver is reduced.

[0065] In some embodiments, the driving information includes a driving route of the pilot vehicle and an image of the external environment of the vehicle; and determining the pilot route section according to the driving information of the pilot vehicle includes:

[0066] Determining a collection position of the pilot vehicle for collecting the image of the vehicle's external environment;

[0067] In specific implementation, the pilot car is usually equipped with a vehicle-mounted camera or other image acquisition devices, which can capture images of the environment outside the car in real time. During the driving process of the pilot car, the image acquisition device will continue to capture images of the environment outside the car. The images include road conditions, surrounding buildings, pedestrians, traffic signs, etc. At the same time, the pilot car is equipped with a global positioning system module, which can obtain the geographic location information of the vehicle in real time. When the pilot car captures the image of the environment outside the car, it will also record the acquisition location of the image of the environment outside the car.

[0068] The vehicle exterior environment image is superimposed on a corresponding position of the driving route based on the acquisition position to generate a navigation section including the vehicle exterior environment image.

[0069] In specific implementation, each external environment image is superimposed with the corresponding position on the driving route. The superimposed external environment image and the driving route are fused to ensure the seamless combination of the external environment image and the driving route, and to generate a complete pilot section. The pilot section data includes the driving route, the external environment image of each position, etc. The following vehicle can visualize the generated pilot section, including displaying the driving route on the map and superimposing the external environment image at the corresponding position. The driver or vehicle control system of the following vehicle can intuitively see the driving route and the environmental conditions along the way, providing detailed environmental information and navigation guidance for the following vehicle, ensuring that the vehicle can safely and efficiently pass through complex sections, and improving the overall driving efficiency and safety of the fleet.

[0070] In this embodiment, by superimposing the image of the external environment on the driving route, the following vehicle can intuitively see the actual environmental conditions of the road ahead, including road conditions, surrounding buildings, pedestrians, traffic signs, etc. This helps the driver to identify potential dangers and obstacles in advance, make corresponding adjustments, and improve driving safety.

[0071] In some embodiments, the determining of the lead vehicle and the following vehicles of the lead vehicle of the convoy based on the position and the driving direction includes:

[0072] The vehicle in the convoy that is traveling toward the destination and closest to the destination is determined as the lead vehicle, and the other vehicles in the convoy except the lead vehicle are determined as follower vehicles.

[0073] In the specific implementation, the position and driving direction of all vehicles in the fleet are first determined, and the location of the fleet's destination needs to be determined at the same time; the driving direction of each vehicle is evaluated to determine whether it is heading towards the destination. The driving direction can be calculated by comparing the angle between the vehicle's heading angle and the destination direction, and the angle between the driving direction of each vehicle and the destination direction. If the angle is within the preset tolerance range (for example, ±10 degrees), the vehicle is considered to be heading towards the destination. Among the vehicles heading towards the destination, the vehicle closest to the destination is determined, and this vehicle is the lead vehicle. At the same time, the other vehicles in the fleet except the lead vehicle are determined as follower vehicles. Accurately determine the lead vehicle of the fleet and the follower vehicles of the lead vehicle to ensure that each vehicle in the fleet can travel according to the predetermined route and sequence, improve the overall driving efficiency and safety of the fleet, and ensure that the vehicles can reach the destination safely and efficiently.

[0074] In this embodiment, by evaluating the position and driving direction of each vehicle in real time, the vehicle closest to the destination and driving in the direction of the destination can be dynamically selected as the pilot vehicle, ensuring that the pilot vehicle can lead the convoy forward, improving the overall driving efficiency, and ensuring that the convoy can reach the destination efficiently. When the pilot vehicle breaks down or deviates from the scheduled route, a new pilot vehicle can be selected in real time to ensure that the convoy's progress is not affected.

[0075] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0076] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0077] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a vehicle control device.

[0078] refer to Figure 3 , the vehicle control device comprises:

[0079] An acquisition module 701 is configured to acquire the positions and driving directions of all vehicles in the convoy, and determine the leading vehicle and the following vehicles of the leading vehicle in the convoy based on the positions and driving directions;

[0080] A determination module 702 is configured to, in response to determining that the vehicle is a pilot vehicle, determine a pilot section according to driving information of the pilot vehicle, and send the driving information and the pilot section to a following vehicle;

[0081] In response to determining that the vehicle is a following vehicle, target driving parameters are determined according to driving information sent by the pilot vehicle, and the following vehicle is controlled to pass through the pilot section based on the target driving parameters, wherein the target driving parameters are the minimum required driving parameters for allowing the following vehicle to pass through the pilot section.

[0082] Further, the determination module 702 is specifically used for:

[0083] Determining whether the performance parameters of the following vehicle can meet the requirements of the target driving parameters;

[0084] In response to determining that the performance parameters of the following vehicle can meet the requirements of the target driving parameters, adjusting the performance parameters of the following vehicle to the target driving parameters so that the following vehicle passes through the pilot section;

[0085] In response to determining that the performance parameters of the following vehicle cannot meet the requirements of the target driving parameters, determining that the following vehicle has failed to follow the vehicle, and determining whether there is a sub-convoy; wherein the sub-convoy is a convoy formed by other following vehicles in the convoy that have failed to follow the vehicle;

[0086] In response to determining that there is a sub-convoy, the following vehicle is controlled to pass through the pilot route segment sent by the pilot vehicle in the sub-convoy.

[0087] Furthermore, the judging module 702 is further configured to:

[0088] Send the information of the following vehicle's failure to follow the vehicle to other following vehicles in the convoy;

[0089] In response to receiving sub-convoy confirmation information sent by at least one vehicle in the sub-convoy, it is determined that the sub-convoy exists, and the driving information and the pilot route section of the pilot vehicle in the sub-convoy are obtained.

[0090] Furthermore, the judging module 702 is further configured to:

[0091] In response to determining that the maximum driving torque of the following vehicle is greater than or equal to the target driving torque, determining that the performance parameters of the following vehicle can meet the requirements of the target driving parameters; or,

[0092] In response to determining that the maximum driving speed of the following vehicle is greater than or equal to the target driving speed, it is determined that the performance parameters of the following vehicle can meet the requirements of the target driving parameters.

[0093] Furthermore, the judging module 702 is further configured to:

[0094] Determine the mass difference between the lead vehicle and the following vehicle;

[0095] In response to determining that the mass difference is less than or equal to a preset difference, determining the driving parameter as a target driving parameter;

[0096] In response to determining that the mass difference is greater than a preset difference, the driving parameter is adjusted based on the mass of the following vehicle, and the adjusted driving parameter is determined as the target driving parameter.

[0097] Furthermore, the judging module 702 is further configured to:

[0098] In response to determining that the mass of the following vehicle is less than the mass of the lead vehicle, reducing the driving torque and the driving vehicle speed;

[0099] In response to determining that the mass of the following vehicle is greater than the mass of the lead vehicle, the driving torque and the driving vehicle speed are increased.

[0100] Furthermore, the judging module 702 is further configured to:

[0101] Determining a collection position of the pilot vehicle for collecting the image of the vehicle's external environment;

[0102] The vehicle exterior environment image is superimposed on a corresponding position of the driving route based on the acquisition position to generate a navigation section including the vehicle exterior environment image.

[0103] Further, the acquisition module 701 is specifically used for:

[0104] The vehicle in the convoy that is traveling toward the destination and closest to the destination is determined as the lead vehicle, and the other vehicles in the convoy except the lead vehicle are determined as follower vehicles.

[0105] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0106] The device of the above embodiment is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0107] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle control method described in any of the above embodiments is implemented.

[0108] Figure 4 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0109] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0110] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0111] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0112] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0113] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0114] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0115] The electronic device of the above embodiment is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0116] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle control method described in any of the above embodiments.

[0117] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0118] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the vehicle control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0119] Based on the same concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the method described in any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0120] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0121] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0122] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0123] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0124] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0125] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power / ground connections to the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device may be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present application are to be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or with changes in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0126] Although the present application has been described in conjunction with specific embodiments of the present application, many alternatives, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the discussed embodiments.

[0127] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle control method, wherein the vehicle is any vehicle in a fleet, characterized in that: include: Obtaining the positions and driving directions of all vehicles in the convoy, and determining the leading vehicle and the following vehicles of the leading vehicle in the convoy based on the positions and driving directions; In response to determining that the vehicle is a pilot vehicle, determining a pilot section according to driving information of the pilot vehicle, and sending the driving information and the pilot section to a following vehicle; In response to determining that the vehicle is a following vehicle, determining a target driving parameter according to the driving information sent by the pilot vehicle, and controlling the following vehicle to pass through the pilot section based on the target driving parameter, wherein the target driving parameter is a minimum required driving parameter for allowing the following vehicle to pass through the pilot section; Wherein, controlling the following vehicle to pass through the pilot section based on the target driving parameter includes: Determining whether the performance parameters of the following vehicle can meet the requirements of the target driving parameters; In response to determining that the performance parameters of the following vehicle can meet the requirements of the target driving parameters, adjusting the performance parameters of the following vehicle to the target driving parameters so that the following vehicle passes through the pilot section; In response to determining that the performance parameters of the following vehicle cannot meet the requirements of the target driving parameters, determining that the following vehicle has failed to follow the vehicle, and determining whether there is a sub-convoy; wherein the sub-convoy is a convoy formed by other following vehicles in the convoy that have failed to follow the vehicle; In response to determining that there is a sub-convoy, controlling the following vehicle to pass through the pilot route segment sent by the pilot vehicle in the sub-convoy; The target driving parameters include a target driving torque and a target driving speed; and determining whether the performance parameters of the following vehicle can meet the requirements of the target driving parameters includes: In response to determining that the maximum driving torque of the following vehicle is greater than or equal to the target driving torque, determining that the performance parameters of the following vehicle can meet the requirements of the target driving parameters; or, In response to determining that the maximum driving speed of the following vehicle is greater than or equal to the target driving speed, it is determined that the performance parameters of the following vehicle can meet the requirements of the target driving parameters.

2. The vehicle control method according to claim 1, characterized in that: The determining whether a sub-convoy exists includes: Send the information of the following vehicle's failure to follow the vehicle to other following vehicles in the convoy; In response to receiving sub-convoy confirmation information sent by at least one vehicle in the sub-convoy, it is determined that the sub-convoy exists, and the driving information and the pilot route section of the pilot vehicle in the sub-convoy are obtained.

3. The vehicle control method according to claim 1, characterized in that: The driving information includes driving parameters of the pilot vehicle when passing through the pilot section; and determining the target driving parameters according to the driving information sent by the pilot vehicle includes: Determine the mass difference between the lead vehicle and the following vehicle; In response to determining that the mass difference is less than or equal to a preset difference, determining the driving parameter as a target driving parameter; In response to determining that the mass difference is greater than a preset difference, the driving parameter is adjusted based on the mass of the following vehicle, and the adjusted driving parameter is determined as the target driving parameter.

4. The vehicle control method according to claim 3, characterized in that: The driving parameters include driving torque and driving speed; and adjusting the driving parameters based on the mass of the following vehicle includes: In response to determining that the mass of the following vehicle is less than the mass of the lead vehicle, reducing the driving torque and the driving vehicle speed; In response to determining that the mass of the following vehicle is greater than the mass of the lead vehicle, the driving torque and the driving vehicle speed are increased.

5. The vehicle control method according to claim 1, characterized in that: The driving information includes the driving route of the pilot vehicle and an image of the external environment of the vehicle; and determining the pilot route section according to the driving information of the pilot vehicle includes: Determining a collection position of the pilot vehicle for collecting the image of the vehicle's external environment; The vehicle exterior environment image is superimposed on a corresponding position of the driving route based on the acquisition position to generate a navigation section including the vehicle exterior environment image.

6. The vehicle control method according to claim 1, characterized in that: The determining of the lead vehicle and the following vehicles of the lead vehicle of the convoy based on the position and the driving direction includes: The vehicle in the convoy that is traveling toward the destination and closest to the destination is determined as the lead vehicle, and the other vehicles in the convoy except the lead vehicle are determined as follower vehicles.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

8. A vehicle, characterized in that: The vehicle comprises the electronic device as claimed in claim 7.

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