Data processing method, device and equipment for team travel of self-driving vehicles and medium

Abstract

The invention provides a data processing method, device, equipment and medium for self-driving vehicle team trip, and the method comprises the steps: obtaining road traffic information transmitted by the navigation of a current vehicle central control system in a vehicle team, the road traffic information comprising vehicle service perception information and team positioning information of the vehicle team constructed by the navigation; generating brief report information and map control information according to the vehicle service perception information and the team positioning information; and issuing the brief report information and the map control information to navigators of central control systems of all teammate vehicles in the motorcade, so that the navigators carry out rendering and labeling on navigation map surfaces of all the teammate vehicles based on the brief report information and the map control information, and routes are optimized. According to the method, the map team formation scene and the vehicle perception information are combined and processed, the cooperative ability between teammates in the same-destination and multi-member self-driving scene can be effectively achieved, and the driving safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a data processing method, device, electronic device and computer-readable storage medium for self-driving vehicle team travel. Background Art

[0002] With the popularity of vehicles, self-driving travel has become the preferred mode of travel. Sometimes you need to travel together, and multiple users join the same team to go to the same destination together.

[0003] In related technologies, during team driving, the driver can see the real-time location, destination and route shared by teammates' vehicles on the map through "teaming", and can also initiate voice intercom, etc., but these are based on the existing data of the map and the active communication between teammates, and lack data fusion in real-time scenarios. That is to say, during team driving, teammates can only share real-time location, destination, route and intercom, and there is a lack of information collection and interaction in real-time scenarios. In particular, when encountering emergencies, they cannot be reflected in the map in time. Relying only on intercom, it is easy to cause the loss of key information, resulting in the problem that teammates cannot switch routes in time, thereby reducing driving safety and experience. Summary of the invention

[0004] The present invention provides a data processing method, device, electronic device and computer-readable storage medium for self-driving vehicle team travel, so as to at least solve the problem in the related art that due to the lack of real-time scene information collection and interaction between teammates during self-driving team travel, when encountering emergencies, they cannot be reflected in the map in time, and only through intercom, key information is easily lost, resulting in the inability to switch routes in time, reducing driving safety and experience. The technical solution of the present invention is as follows:

[0005] According to a first aspect of an embodiment of the present invention, a method for processing data of a self-driving vehicle team travel is provided, the method being applied to a cloud, comprising:

[0006] Obtaining road traffic information sent by the navigation system of the current vehicle in the fleet, the road traffic information including: vehicle service perception information, and team positioning information for the navigation system to form the fleet;

[0007] Generate briefing information and map control information according to the vehicle service perception information and the team positioning information;

[0008] The briefing information and map control information are sent to the navigation of the central control system of each teammate vehicle in the fleet, so that the navigation of the central control system of each teammate vehicle can render and mark on the corresponding navigation map surface based on the briefing information and map control information, and optimize the route.

[0009] Optionally, the sending of the briefing information and the map control information to the navigation of the central control system of each teammate vehicle in the team further includes:

[0010] The briefing information and map control information are sent to the navigation of the central control system of each teammate vehicle in the team, and the central control system that controls each teammate vehicle in the team is used to broadcast and display the briefing information through a voice broadcast system.

[0011] Optionally, the obtaining of vehicle service perception information sent by the navigation system of the current vehicle in the fleet includes at least one of the following:

[0012] When an accident occurs to the current vehicle in the fleet, the image information of the accident captured by the camera, the location information of the current vehicle and the lane information are obtained through the navigation of the current vehicle's central control system;

[0013] When the current vehicle in the convoy encounters a temporary roadblock or lane occupancy, the keyword of the temporary roadblock or lane occupancy announced by the voice broadcast system is obtained through the navigation of the current vehicle's central control system, as well as the location information of the temporary roadblock;

[0014] When there is congestion ahead of the current vehicle in the convoy and the vehicle is driving at a low speed or is stationary for a long time, the navigation of the current vehicle's central control system obtains the keywords of the road congestion and the location information of the road congestion through the voice broadcast system.

[0015] Optionally, the performing data processing on the vehicle service perception information and the team positioning information to generate briefing information and map control information includes:

[0016] Extracting key information from the vehicle service perception information and the team positioning information;

[0017] The key information is processed into corresponding briefing information and control instruction information for map control.

[0018] Optionally, the method further includes:

[0019] In the case where the vehicle service perception information indicates that a serious accident has occurred, generating a teammate rescue route when executing the generation of briefing information and map control information;

[0020] generating route selection or detour or rescue information when the vehicle service perception information indicates that the accident occurred is a non-serious accident;

[0021] While sending the briefing information and map control information to the navigation of the central control system of each teammate's vehicle in the team, the teammate's rescue route or the route selection or detour or rescue information is sent.

[0022] According to a second aspect of an embodiment of the present invention, a data processing method for self-driving vehicle convoy travel is provided, the method being applied to the navigation of a central control system of a current vehicle in a convoy, comprising:

[0023] Obtain vehicle service perception information of the current vehicles in the fleet, and team positioning information of the fleet formed by itself;

[0024] Combining the vehicle service perception information with the team positioning information to obtain combined road traffic information;

[0025] Sending the road traffic information to the cloud;

[0026] Receiving briefing information and map control information generated based on the vehicle service perception information and the team positioning information and sent by the cloud;

[0027] Rendering and marking are performed on the corresponding navigation map surface based on the briefing information and the map control information, and the route is optimized.

[0028] Optionally, when rendering and marking on the corresponding navigation map surface based on the briefing information and the map control information and optimizing the route, the method further includes:

[0029] The briefing information is broadcast and displayed through the voice broadcast system in the central control system of the current vehicle.

[0030] Optionally, the acquiring of vehicle service perception information of the current vehicle in the fleet includes at least one of the following:

[0031] When an accident occurs to the current vehicle in the fleet, the camera is used to obtain and send the image information of the accident, the location information of the current vehicle, and the lane information;

[0032] When the current vehicle in the convoy encounters a temporary roadblock or lane occupancy, the keyword of the temporary roadblock or lane occupancy, as well as the location information of the temporary roadblock, is obtained through the voice broadcast system;

[0033] When there is congestion ahead of the current vehicle in the fleet, or the vehicle is traveling at a low speed or is stationary for a long time, keywords of the road congestion and location information of the road congestion are obtained through the voice broadcast system.

[0034] According to a third aspect of an embodiment of the present invention, a data processing device for self-driving vehicle platoon travel is provided, the device being applied to a cloud, comprising:

[0035] An acquisition module is used to acquire road traffic information sent by the navigation of the central control system of the current vehicle in the fleet, wherein the road traffic information includes: vehicle service perception information, and team positioning information for the navigation to form the fleet;

[0036] A generating module, configured to generate briefing information and map control information according to the vehicle service perception information and the team positioning information;

[0037] The sending module is used to send the briefing information and map control information to the navigation of the central control system of each teammate vehicle in the team, so that the navigation of the central control system of each teammate vehicle can render and mark on the corresponding navigation map surface based on the briefing information and map control information, and optimize the route.

[0038] Optionally, the sending module is also used to send the briefing information and map control information to the navigation of the central control system of each teammate vehicle in the fleet, and to control the central control system of each teammate vehicle in the fleet to broadcast and display the briefing information through a voice broadcast system.

[0039] Optionally, the acquisition module includes at least one of the following:

[0040] The first acquisition module is used to obtain the image information of the accident taken by the camera, the position information and the lane information of the current vehicle through the navigation of the central control system of the current vehicle when the current vehicle in the fleet has an accident;

[0041] The second acquisition module is used to obtain the keywords of the temporary roadblock or occupied lane announced by the voice broadcast system and the location information of the temporary roadblock through the navigation of the central control system of the current vehicle when the current vehicle in the fleet encounters a temporary roadblock or lane occupation;

[0042] The third acquisition module is used to obtain keywords and location information of road congestion through the navigation voice broadcast system of the current vehicle's central control system when there is congestion ahead of the current vehicle in the fleet and the vehicle has been driving at a low speed or stationary for a long time.

[0043] Optionally, the generating module includes:

[0044] An extraction module, used to extract key information from the vehicle service perception information and the team positioning information;

[0045] The processing module is used to process the key information into corresponding briefing information and control instruction information of map control.

[0046] Optionally, the device further comprises:

[0047] A first generating module is used to generate a teammate rescue route when executing the generation of briefing information and map control information when the vehicle service perception information indicates that a serious accident has occurred;

[0048] A second generating module is used to generate route selection or detour or rescue information when the vehicle service perception information indicates that the accident occurred is a non-serious accident;

[0049] The sending module is also used to send the briefing information and map control information to the navigation of the central control system of each teammate vehicle in the team, and at the same time send the teammate rescue route generated by the first generating module or the route selection or detour or rescue information generated by the second generating module.

[0050] According to a fourth aspect of an embodiment of the present invention, a data processing device for self-driving vehicle convoy travel is provided, wherein the device is applied to the navigation of the central control system of the current vehicle in the convoy, and comprises:

[0051] An acquisition module is used to acquire vehicle service perception information of the current vehicles in the fleet, and team positioning information of the fleet itself;

[0052] A combining module, used for combining the vehicle service perception information with the team positioning information to obtain combined road traffic information;

[0053] A sending module, used for sending the road traffic information to the cloud;

[0054] A receiving module, configured to receive briefing information and map control information generated based on the vehicle service perception information and the team positioning information and sent by the cloud;

[0055] The rendering and marking module is used to render and mark on the corresponding navigation map surface based on the briefing information and the map control information, and optimize the route.

[0056] Optionally, the device further comprises:

[0057] The control module is used to render and mark on the corresponding navigation map surface based on the briefing information and the map control information, and when optimizing the route, broadcast and display the briefing information through the voice broadcast system in the central control system of the current vehicle.

[0058] Optionally, the acquisition module includes at least one of the following:

[0059] The first acquisition module is used to acquire and send accident picture information, current vehicle position information and lane information through a camera when an accident occurs to the current vehicle in the fleet;

[0060] The second acquisition module is used to acquire the keywords of the temporary roadblock or the occupied lane and the location information of the temporary roadblock through the voice broadcast system when the current vehicle in the fleet encounters a temporary roadblock or the lane is occupied;

[0061] The third acquisition module is used to obtain keywords of road congestion and location information of road congestion through a voice broadcast system when there is congestion ahead of the current vehicle in the fleet and the vehicle is traveling at a low speed or is stationary for a long time.

[0062] According to a fifth aspect of an embodiment of the present invention, there is provided an electronic device, including:

[0063] processor;

[0064] a memory for storing instructions executable by the processor;

[0065] Wherein, the processor is configured to execute the instructions to implement the data processing method for self-driving vehicle platoon travel as described above.

[0066] According to a sixth aspect of an embodiment of the present invention, a computer-readable storage medium is provided. When instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the data processing method for self-driving vehicle convoy travel as described above.

[0067] According to a seventh aspect of an embodiment of the present invention, there is provided a computer program product, comprising a computer program or instructions, which, when executed by a processor of an electronic device, implements the data processing method for self-driving vehicle platoon travel as described above.

[0068] The technical solution provided by the embodiments of the present invention brings at least the following beneficial effects:

[0069] In an embodiment of the present invention, the road traffic information sent by the navigation of the central control system of the current vehicle in the fleet is obtained, and the road traffic information includes: vehicle service perception information, and team positioning information of the navigation team; briefing information and map control information are generated according to the vehicle service perception information and the team positioning information; the briefing information and map control information are sent to the navigation of the central control system of each teammate vehicle in the fleet, so that the navigation renders and marks on the navigation map of each teammate vehicle based on the briefing information and map control information, and optimizes the route. That is to say, in an embodiment of the present invention, by real-time acquisition of the road traffic information sent by the navigation of the central control system of the current vehicle, the collection and sharing of real-time vehicle data is increased, the map team scene is combined with the vehicle perception information, and the combination of the two is used to enhance the collaboration ability between teammates in the team scene and improve driving safety. By processing the vehicle service perception data, the embodiment of the present invention can effectively solve the interactive experience between teammates in the same destination and multi-member self-driving scene.

[0070] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention, and are used together with the specification to explain the principles of the present invention, and do not constitute an improper limitation of the present invention. In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0072] Figure 1 It is a flow chart of a data processing method for self-driving vehicle platoon travel provided by an embodiment of the present invention.

[0073] Figure 2 It is another flow chart of a data processing method for self-driving vehicle platoon travel provided by an embodiment of the present invention.

[0074] Figure 3 It is a schematic diagram of a first cloud application example provided by an embodiment of the present invention.

[0075] Figure 4 It is a schematic diagram of a vehicle central control system provided by an embodiment of the present invention.

[0076] Figure 5 This is a flowchart of a first application example provided by an embodiment of the present invention.

[0077] Figure 6 This is a flow chart of a second application example provided by an embodiment of the present invention.

[0078] Figure 7 This is a flowchart of a third application example provided by an embodiment of the present invention.

[0079] Figure 8 It is a block diagram of a data processing device for self-driving vehicle platoon travel provided by an embodiment of the present invention.

[0080] Fig. 9 It is another block diagram of a data processing device for self-driving vehicle platoon travel provided by an embodiment of the present invention.

[0081] Fig.10 It is a block diagram of an electronic device provided by an embodiment of the present invention.

[0082] Fig.11 It is a block diagram of a device for data processing for self-driving vehicle platoon travel provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0083] In order to enable ordinary persons in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0084] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0085] Figure 1 is a flow chart of a data processing method for self-driving vehicle team travel provided by an embodiment of the present invention, the method is applied to the cloud, such as Figure 1 As shown, the method comprises the following steps:

[0086] Step 101: Obtain road traffic information sent by the navigation of the central control system of the current vehicle in the fleet, wherein the road traffic information includes: vehicle service perception information, and team positioning information for the navigation to form the fleet.

[0087] Step 102: Generate briefing information and map control information based on the vehicle service perception information and the team positioning information.

[0088] Step 103: Send the briefing information and map control information to the navigation of the central control system of each teammate vehicle in the team, so that the navigation of the central control system of each teammate vehicle can render and mark on the corresponding navigation map based on the briefing information and map control information, and optimize the route.

[0089] In the embodiment of the present invention, the cloud obtains the road traffic information captured by the camera of the central control system navigation of the current vehicle in the fleet, which increases the collection and sharing of real-time vehicle data, and generates briefing information and map control information based on the acquired road traffic information, and sends it to the navigation of the central control system of each teammate vehicle in the fleet, so that the navigation of the central control system of each teammate vehicle can render and mark on the corresponding navigation map surface based on the briefing information and map control information, and optimize the route. That is, dynamically respond to road changes during the fleet's journey. In other words, the embodiment of the present invention assists the team owner in safe driving and enhances the interactive experience between teammates by collecting sensory information such as cameras, collision perception, and wiper information of each teammate vehicle in the fleet.

[0090] The data processing method for self-driving vehicle team travel described in the present invention can be applied to the vehicle side, the cloud side, etc., the automatic lane change assistance system in intelligent driving, the automatic driving control system, etc., without limitation here. The vehicle-side implementation equipment can be an on-board terminal, a vehicle control platform, an industrial computer and other electronic equipment. The cloud side can be an independent server or a server cluster, or a server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, intermediate services, domain name services, security services, content distribution networks, or a big data and artificial intelligence platform, etc., without limitation here.

[0091] Combine the following Figure 1 , the specific implementation steps of a data processing method for self-driving vehicle platoon travel provided by an embodiment of the present invention are described in detail.

[0092] In step 101, the road traffic information sent by the navigation of the central control system of the current vehicle in the fleet is obtained, and the road traffic information includes: vehicle service perception information, and team positioning information of the navigation team.

[0093] In this step, in the central control system in the current vehicle, the central control system navigation is responsible for coordinating the vehicle service perception information and obtaining the team positioning information of the fleet formed by itself, and combining the vehicle service perception information with the team positioning information, and sending the combined road traffic information to the cloud, that is, the cloud obtains the road traffic information sent by the navigation of the central control system of the current vehicle in the fleet.

[0094] The vehicle service perception information may include: information such as collision of the current vehicle, camera information collection, camera photography, voice intercom, etc. And the team positioning information may include: team information, location information, route calculation guidance information, etc. It should be noted that the vehicle service perception information or team positioning information is not limited to this in actual application, and may also include other information according to actual needs, which is not limited in this embodiment.

[0095] The obtaining of vehicle service perception information sent by the navigation system of the current vehicle in the fleet includes at least one of the following:

[0096] When an accident occurs to the current vehicle in the fleet, the image information of the accident captured by the camera, the location information of the current vehicle and the lane information are obtained through the navigation of the current vehicle's central control system;

[0097] When the current vehicle in the convoy encounters a temporary roadblock or lane occupancy, the keyword of the temporary roadblock or lane occupancy announced by the voice broadcast system is obtained through the navigation of the current vehicle's central control system, as well as the location information of the temporary roadblock;

[0098] When there is congestion ahead of the current vehicle in the convoy and the vehicle is driving at a low speed or is stationary for a long time, the navigation of the current vehicle's central control system obtains the keywords of the road congestion and the location information of the road congestion through the voice broadcast system.

[0099] In step 102, briefing information and map control information are generated according to the vehicle service perception information and the team positioning information.

[0100] In this step, the central control system navigation first extracts key information from the vehicle service perception information and the team positioning information; then, the key information is processed into corresponding accident briefing information and control instruction information for map control.

[0101] In other words, the cloud collects the camera, collision information, vehicle information, and voice intercom information of each car in the fleet, and processes the collected information to generate briefing information and map control information. After that, the briefing information and map control information are sent to each teammate in the team to render and mark the navigation map in the teammate's central control system and optimize the route.

[0102] In step 103, the briefing information and the map control information are sent to the navigation of the central control system of each teammate vehicle in the team, so that the navigation of the central control system of each teammate vehicle can render and mark on the corresponding navigation map based on the briefing information and the map control information, and optimize the route.

[0103] In this step, the cloud sends the briefing information and map control information to the navigation of the central control system of each teammate vehicle in the team. The navigation renders and marks on the navigation map of each teammate vehicle based on the briefing information and map control information, and optimizes the route. In other words, the cloud processes the data into corresponding briefings and control instructions, and returns them to the navigation in the central control system. The navigation renders and marks on the teammate map according to the briefing information and control instructions, and controls the recalculation of the route, etc.

[0104] In an embodiment of the present invention, the road traffic information sent by the navigation of the central control system of the current vehicle in the fleet is obtained, and the road traffic information includes: vehicle service perception information, and team positioning information of the navigation team; briefing information and map control information are generated according to the vehicle service perception information and the team positioning information; the briefing information and map control information are sent to the navigation of the central control system of each teammate vehicle in the fleet, so that the navigation renders and marks on the navigation map of each teammate vehicle based on the briefing information and map control information, and optimizes the route. That is to say, in an embodiment of the present invention, by real-time acquisition of the road traffic information sent by the navigation of the central control system of the current vehicle, the collection and sharing of real-time vehicle data is increased, the map team scene is combined with the vehicle perception information, and the combination of the two is used to enhance the collaboration ability between teammates in the team scene and improve driving safety. By processing the vehicle service perception data, the embodiment of the present invention can effectively solve the interactive experience between teammates in the same destination and multi-member self-driving scene.

[0105] Optionally, in another embodiment, based on the above embodiment, the method of sending the briefing information and map control information to the navigation of the central control system of each teammate vehicle in the fleet may also include: sending the briefing information and map control information to the navigation of the central control system of each teammate vehicle in the fleet, and controlling the central control system of each teammate vehicle in the fleet to broadcast and display the briefing information through a voice broadcast system.

[0106] Optionally, in another embodiment, based on the above embodiment, the method may also include: when the vehicle service perception information indicates that a serious accident has occurred, generating a teammate rescue route when executing the generation of briefing information and map control information; when the vehicle service perception information indicates that the accident occurred is a non-serious accident, generating route selection or detour or rescue information; and sending the briefing information and map control information to the navigation of the central control system of each teammate vehicle in the fleet, sending the teammate rescue route or the route selection or detour or rescue information.

[0107] That is to say, whether the accident is serious is determined based on the vehicle service perception information; if so, a teammate rescue route is generated while executing the generation of briefing information and map control information; otherwise, route selection or detour or rescue information is generated; while sending the briefing information and map control information to the navigation of the central control system of each teammate vehicle in the fleet, the teammate rescue route or the route selection or detour or rescue information is sent.

[0108] In an embodiment of the present invention, the cloud can also determine whether the accident is serious based on the vehicle service perception information. If it is serious, when executing the generation of briefing information and map control information, a rescue route for teammates is generated; otherwise, route selection or detour or rescue information is generated. For example, during team navigation, if a certain vehicle collides, the camera collects image information at the moment of the collision, and simultaneously uploads the location information and lane information to the cloud. After data processing in the cloud, the information is immediately sent to teammates in the form of briefing + details, so that teammates know the situation at the first time, and can consider detour and rescue according to the accident situation. For another example, when a certain vehicle is driving and a temporary roadblock or special situation is found, the location information can be shared with teammates through intercom related keywords (temporary roadblock, occupying a lane on one side), and the corresponding position on the map is marked to prompt teammates to avoid it when they arrive there.

[0109] See also Figure 2 , is another flow chart of a data processing method for a self-driving vehicle convoy provided by an embodiment of the present invention, wherein the method is applied to the navigation of the central control system of the current vehicle in the convoy, and comprises:

[0110] Step 201: obtaining vehicle service perception information of the current vehicles in the fleet, and team positioning information of the fleet formed by itself;

[0111] The vehicle service perception information may include: collision information of the current vehicle, information collected by the camera, camera photo information, voice intercom information, etc. And the team positioning information may include: team information, location information, route calculation guidance information, etc. It should be noted that the vehicle service perception information or team positioning information is not limited to this in actual application, and may also include other information according to actual needs, which is not limited in this embodiment.

[0112] This step specifically includes:

[0113] When an accident occurs to the current vehicle in the fleet, the camera is used to obtain and send picture information of the accident, the location information of the current vehicle, and the lane information; or

[0114] When the current vehicle in the convoy encounters a temporary roadblock or lane occupancy, the voice announcement system is used to obtain keywords of the temporary roadblock or lane occupancy, as well as location information of the temporary roadblock; or

[0115] When there is congestion ahead of the current vehicle in the fleet, or the vehicle is traveling at a low speed or is stationary for a long time, keywords of the road congestion and location information of the road congestion are obtained through the voice broadcast system.

[0116] Step 202: combining the vehicle service perception information with the team positioning information to obtain combined road traffic information;

[0117] In this step, the vehicle service perception information obtained by the navigation system may include vehicle collision, camera information collection, camera photography, voice intercom and other information, which together with the navigation system's own team formation system, location information, route calculation and guidance information, form the corresponding road traffic information.

[0118] Step 203: Send the road traffic information to the cloud;

[0119] In this step, the navigation of the current vehicle's central control system will package the road traffic information and send it to the cloud. The cloud will generate briefing information and map control information based on the vehicle service perception information and the team positioning information, and send the briefing information and map control information to the navigation of the current vehicle's central control system.

[0120] Step 204: receiving briefing information and map control information generated based on the vehicle service perception information and the team positioning information and sent by the cloud;

[0121] In this step, the navigation of the current vehicle central control system receives the vehicle service perception information and the team positioning information sent from the cloud.

[0122] Step 205: Rendering and marking on the navigation map based on the briefing information and the map control information, and optimizing the route.

[0123] The navigation of the current vehicle central control system is rendered and marked on the corresponding navigation map based on the vehicle service perception information and the team positioning information, and the route is optimized.

[0124] In an embodiment of the present invention, vehicle service perception information of the current vehicle in the fleet and team positioning information of the team itself are obtained; the vehicle service perception information is combined with the team positioning information to obtain the combined road traffic information; the road traffic information is sent to the cloud; the briefing information and map control information generated based on the vehicle service perception information and the team positioning information sent by the cloud are received; based on the briefing information and map control information, the corresponding navigation map is rendered and marked, and the route is optimized. In other words, in an embodiment of the present invention, the obtained map team scene is combined with the vehicle service perception to improve the collaboration ability between teammates in the team scene, improve driving safety, and enhance the mutual experience between teammates.

[0125] Optionally, in another embodiment, based on the above embodiment, when rendering and marking on the corresponding navigation map surface based on the briefing information and map control information and optimizing the route, the method may also include: broadcasting and displaying the briefing information through the voice broadcast system in the central control system of the current vehicle. That is to say, in this embodiment, when rendering and marking on the navigation map surface in the central control system of the autonomous driving teammate and optimizing the route, the briefing information can also be broadcasted and displayed, so as to improve the collaboration ability between teammates in the team scene, improve driving safety, and enhance the mutual experience between teammates.

[0126] See also Figure 3 , which is a schematic diagram of a first cloud application example provided by an embodiment of the present invention, such as Figure 3 As shown, in the fleet formed in this embodiment, four teammates are taken as an example, namely, teammate 1, teammate 2, teammate 3 and teammate 4. During the driving process of each teammate's vehicle after the team is formed, the cloud can obtain the vehicle service perception information of each teammate and the team positioning information of the navigation itself to form the fleet, wherein the vehicle service perception information may include but is not limited to: position information, collision information, camera information and voice information, etc., so as to enable the position sharing, collision information sharing, camera information sharing, and voice sharing, etc. among each teammate. The team positioning information includes its own team information, position information, route calculation guidance information, etc. Afterwards, the cloud performs data processing on the vehicle service perception information and the team positioning information of the navigation itself to form the fleet, and can generate obstacle information, map control information (referred to as map control information), optimized route information, accident information, etc., wherein the obstacle information, optimized route information, accident information, etc. can be referred to as briefing information. Finally, the cloud sends the generated briefing information and map control information to the central control system of each teammate's vehicle in the fleet, and broadcasts and displays them in the central control system of each teammate. The embodiments of the present invention improve the safety and experience of group travel by applying the on-board map and comprehensively processing the collected vehicle perception data.

[0127] See also Figure 4 , is a schematic diagram of a vehicle central control system provided by an embodiment of the present invention. Figure 4 As shown, the vehicle central control system includes vehicle service perception information and navigation as an example, where the vehicle service perception information includes: collision system, camera system, voice service system, and navigation includes: team formation, positioning system, route calculation / guidance, and layer rendering. However, in actual reference, it is not limited to this. The cloud includes briefing generation, data collection, intercom system, and information distribution as an example.

[0128] like Figure 4As shown, in the central control system in the car, the navigation is responsible for coordinating all vehicle services. Vehicle services include the vehicle's collision system, information collection of the camera system, camera photography, voice intercom of the voice service system, etc., which are all collected by the navigation. After that, the navigation, through its own team formation, the position of the positioning system, route guidance and layer rendering, etc., forms the corresponding information and packages it to the cloud. The cloud will process the received large information into corresponding briefing information and map control information, and return it to the navigation in the central control system. The navigation will render and mark on the teammate map according to the briefing information and map control information, and control the recalculation of the route, etc.

[0129] based on Figure 3 and Figure 4 The embodiment of the present invention is described using the following scenario as an example, but in actual applications, it is not limited to this.

[0130] The first embodiment takes an accident scenario occurring in a motorcade as an example.

[0131] During the convoy navigation process, if an autonomous driving vehicle in the convoy collides, at the moment of the collision, the central control system of the current vehicle collects image information through the camera, and simultaneously uploads the location information and lane information to the cloud. After the cloud processes the data, the information is immediately sent to teammates in the form of a briefing + details, so that teammates can know the situation at the first time and consider detours and rescue according to the accident situation. Figure 5 As shown, Figure 5 The flowchart of the first application example provided by the embodiment of the present invention specifically includes:

[0132] Step 500: Start.

[0133] Step 501: Complete team formation.

[0134] In this step, a team can be formed through the navigation of the current vehicle central control system. The team formation process is already a well-known technology for those skilled in the art and will not be described in detail here.

[0135] Step 502: An accident occurs.

[0136] Step 503: Collision warning message.

[0137] Step 504: Trigger the camera to take a photo.

[0138] Step 505: Collision information integration.

[0139] Step 506: Upload the integrated information to the cloud.

[0140] Step 507: Generate accident briefing information in the cloud.

[0141] Step 508: The cloud determines whether the accident is serious. If so, execute step 509; otherwise, execute step 510.

[0142] Step 509: When the cloud generates the accident briefing information and map control information, it generates a teammate rescue route, sends it to each teammate, and automatically issues an alarm.

[0143] Step 510: When the cloud generates the accident briefing information and map control information, it generates teammate route selection or detour or rescue information and sends it to each teammate.

[0144] In this step, let teammates know the situation immediately and consider detours and rescue according to the accident situation.

[0145] The second embodiment takes the scenario of encountering a temporary roadblock or lane occupancy as an example.

[0146] In this embodiment, during the team navigation process, if a certain autonomous driving vehicle in the team finds a temporary roadblock or special situation, the autonomous driving vehicle can send relevant keywords (such as temporary roadblock, occupying a lane, etc.) and shared location information to the cloud through the intercom system. The cloud generates briefing information and map control information based on the information and sends it to other teammates, and marks the corresponding position on the map to prompt teammates to avoid it when they arrive. Figure 6 As shown, Figure 6 Flow chart of the second application example provided by the embodiment of the present invention. Figure 6 As shown, including:

[0147] Step 600: Start.

[0148] Step 601: Complete team formation.

[0149] Step 602: Identify obstacles and fleet occupancy status.

[0150] Step 603: Start the intercom system.

[0151] Step 604: trigger the keyword "obstacle" or "road occupation".

[0152] Step 605: Automatically trigger the camera to take a photo.

[0153] Step 606: Upload the current latitude and longitude, photos, and corresponding roadblock or road occupation information to the cloud.

[0154] Step 607: The cloud generates briefing information and map control information (ie, instruction information for controlling the location marking of the map surface).

[0155] Step 608: The cloud sends the briefing information and map control information (i.e., command information for controlling the location of the map surface) to each teammate.

[0156] In this step, mark the corresponding position on the map to remind teammates to avoid it when they arrive there.

[0157] The third embodiment takes the scenario of re-planning a route in congestion as an example.

[0158] In this embodiment, when a certain autonomous driving vehicle encounters congestion ahead and drives at a low speed or is stationary for a long time while the convoy is driving, and after sharing its location and briefing through the intercom "congestion" keyword, a better route can be prompted in the navigation of the following vehicle, and the route can be recalculated and detoured. If it is determined that the detour is not possible, a prompt can be given to the teammates in the following vehicle. Figure 7 As shown, Figure 7 Schematic diagram of the third application example provided by the embodiment of the present invention. Figure 7 As shown, including:

[0159] Step 700: Start.

[0160] Step 701: Complete team formation.

[0161] Step 702: An autonomous driving vehicle in the fleet is slow or stationary for more than five minutes.

[0162] Step 703: Identify "congestion instruction".

[0163] Step 704: Upload the current vehicle longitude and latitude information, photos, and corresponding congestion duration to the cloud.

[0164] Step 705: The cloud generates congestion briefing information and route switching instructions (a type of map control information).

[0165] Step 706: The cloud sends the congestion briefing information and route switching instructions to the central control system of each teammate's vehicle.

[0166] Step 707: The central control system of the teammate's vehicle displays the marked location and briefing information on the map interface.

[0167] Step 708: The central control system of the teammate's vehicle determines whether it can be circumvented; if yes, execute step 709; if no, execute step 712:

[0168] Step 709: The central control system of the teammate's vehicle prompts a selection box for "taking a better route".

[0169] Step 710: The central control system of the teammate's vehicle determines whether to detour. If so, execute step 711; otherwise, execute step 712.

[0170] Step 711: The teammate's vehicle re-plans the route.

[0171] Step 712: The central control system of the teammate's vehicle prompts "No longer able to evade".

[0172] In the embodiment of the present invention, the map teaming scenario is combined with the vehicle perception information. The combination of the two can enhance the collaboration ability between teammates in the teaming scenario and improve driving safety.

[0173] In the embodiment of the present invention, the user experience in the self-driving scenario of multiple members to the same destination can be effectively solved by processing the perception data in the cloud.

[0174] It should be noted that, for the method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that this implementation disclosure is not limited by the order of the actions described, because according to the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the present invention.

[0175] See also Figure 8 , is a block diagram of a data processing device for self-driving vehicle platoon travel provided by an embodiment of the present invention. The device is applied to the cloud, and the device includes: an acquisition module 801, a generation module 802 and a sending module 803, wherein:

[0176] The acquisition module 801 is used to acquire the road traffic information sent by the navigation of the central control system of the current vehicle in the fleet, and the road traffic information includes: vehicle service perception information, and team positioning information of the navigation team;

[0177] A generating module 802, configured to generate briefing information and map control information according to the vehicle service perception information and the team positioning information;

[0178] The sending module 803 is used to send the briefing information and the map control information to the navigation of the central control system of each teammate vehicle in the team, so that the navigation of the central control system of each teammate vehicle can render and mark on the corresponding navigation map surface based on the briefing information and the map control information, and optimize the route.

[0179] Optionally, in another embodiment, based on the above embodiment, the sending module is also used to send the briefing information and map control information to the navigation of the central control system of each teammate vehicle in the fleet, and control the central control system of each teammate vehicle in the fleet to broadcast and display the briefing information through a voice broadcast system.

[0180] Optionally, in another embodiment, based on the above embodiment, the acquisition module includes at least one of the following:

[0181] The first acquisition module is used to obtain the image information of the accident taken by the camera, the position information and the lane information of the current vehicle through the navigation of the central control system of the current vehicle when the current vehicle in the fleet has an accident;

[0182] The second acquisition module is used to obtain the keywords of the temporary roadblock or occupied lane announced by the voice broadcast system and the location information of the temporary roadblock through the navigation of the central control system of the current vehicle when the current vehicle in the fleet encounters a temporary roadblock or lane occupation;

[0183] The third acquisition module is used to obtain keywords and location information of road congestion through the navigation voice broadcast system of the current vehicle's central control system when there is congestion ahead of the current vehicle in the fleet and the vehicle has been driving at a low speed or stationary for a long time.

[0184] Optionally, in another embodiment, based on the above embodiment, the generating module includes:

[0185] An extraction module, used to extract key information from the vehicle service perception information and the team positioning information;

[0186] The processing module is used to process the key information into corresponding briefing information and control instruction information of map control.

[0187] Optionally, in another embodiment, based on the above embodiment, the device further includes:

[0188] A first generating module is used to generate a teammate rescue route when executing the generation of briefing information and map control information when the vehicle service perception information indicates that a serious accident has occurred;

[0189] A second generating module is used to generate route selection or detour or rescue information when the vehicle service perception information indicates that the accident occurred is a non-serious accident;

[0190] The sending module is also used to send the briefing information and map control information to the navigation of the central control system of each teammate vehicle in the team, and at the same time send the teammate rescue route generated by the first generating module or the route selection or detour or rescue information generated by the second generating module.

[0191] See also Fig. 9, is another device for processing data of a self-driving vehicle team travel provided by an embodiment of the present invention, the device is applied to the navigation of the central control system of the current vehicle in the team, including: an acquisition module 901, a combination module 902, a sending module 903, a receiving module 904 and a rendering module 905, wherein,

[0192] The acquisition module 901 is used to acquire vehicle service perception information of the current vehicles in the fleet and team positioning information of the fleet itself;

[0193] A combining module 902, configured to combine the vehicle service perception information with the team positioning information to obtain combined road traffic information;

[0194] A sending module 903, used to send the road traffic information to the cloud;

[0195] A receiving module 904 is used to receive briefing information and map control information generated based on the vehicle service perception information and the team positioning information sent by the cloud;

[0196] The rendering and marking module 905 is used to render and mark on the corresponding navigation map surface based on the briefing information and the map control information, and optimize the route.

[0197] Optionally, in another embodiment, based on the above embodiment, the device further includes:

[0198] The control module is used to render and mark on the corresponding navigation map surface based on the briefing information and the map control information, and when optimizing the route, broadcast and display the briefing information through the voice broadcast system in the central control system of the current vehicle.

[0199] Optionally, in another embodiment, based on the above embodiment, the acquisition module includes at least one of the following:

[0200] The first acquisition module is used to acquire and send accident picture information, current vehicle position information and lane information through a camera when an accident occurs to the current vehicle in the fleet;

[0201] The second acquisition module is used to acquire the keywords of the temporary roadblock or the occupied lane and the location information of the temporary roadblock through the voice broadcast system when the current vehicle in the fleet encounters a temporary roadblock or the lane is occupied;

[0202] The third acquisition module is used to obtain keywords of road congestion and location information of road congestion through a voice broadcast system when there is congestion ahead of the current vehicle in the fleet and the vehicle is traveling at a low speed or is stationary for a long time.

[0203] Optionally, an embodiment of the present invention further provides an electronic device, including:

[0204] processor;

[0205] a memory for storing instructions executable by the processor;

[0206] Wherein, the processor is configured to execute the instructions to implement the data processing method for self-driving vehicle platoon travel as described above.

[0207] Optionally, an embodiment of the present invention further provides a computer-readable storage medium, which, when instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to execute the data processing method for self-driving vehicle convoy travel as described above.

[0208] Optionally, an embodiment of the present invention further provides a computer program product, including a computer program or instructions, which, when executed by a processor of an electronic device, implements the data processing method for self-driving vehicle platoon travel as described above.

[0209] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0210] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0211] See also Fig.10 , is a frame of an electronic device 1000 provided by an embodiment of the present invention Fig.10 As shown in the figure, it includes a processor 1001, a communication interface 1002, a memory 1003 and a communication bus 1004, wherein the processor 1001, the communication interface 1002, and the memory 1003 communicate with each other through the communication bus 1004;

[0212] Memory 1003, used to store the processor executable instructions;

[0213] The processor 1001 is used to implement the above method when executing the executable instructions in the memory 1003.

[0214] The communication bus in this embodiment may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0215] The communication interface is used for communication between the above electronic device and other devices.

[0216] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0217] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0218] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0219] In an embodiment, a computer-readable storage medium is also provided, and when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the data processing method for the self-driving vehicle platoon travel shown above. For example, the computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0220] In an embodiment, a computer program product is also provided, including a computer program or instructions. When the computer program or instructions are executed by a processor of an electronic device, the electronic device executes the data processing method for self-driving vehicle convoy travel as described above.

[0221] See also Fig.11 , is a block diagram of a device 1100 for processing data of a self-driving vehicle platoon provided by an embodiment of the present invention. For example, the device 1100 may be provided as a server. Fig.11, the apparatus 1100 includes a processing component 1122, which further includes one or more processors, and a memory resource represented by a memory 1132 for storing instructions, such as applications, that can be executed by the processing component 1122. The application stored in the memory 1132 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 1122 is configured to execute instructions to perform the above method.

[0222] The device 1100 may also include a power supply component 1126 configured to perform power management of the device 1100, a wired or wireless network interface 1150 configured to connect the device 1100 to a network, and an input / output (I / O) interface 1158. The device 1100 may operate based on an operating system stored in the memory 1132, such as Windows Server™, MacOS X™, Unix™, Linux™, FreeBSD™, or the like.

[0223] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0224] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A data processing method for self-driving vehicle team travel, characterized in that: The method is applied in the cloud, and includes: Obtaining road traffic information sent by the navigation system of the current vehicle in the fleet, the road traffic information including: vehicle service perception information, and team positioning information for the navigation system to form the fleet; Generate briefing information and map control information according to the vehicle service perception information and the team positioning information; The briefing information and map control information are sent to the navigation of the central control system of each teammate vehicle in the fleet, so that the navigation of the central control system of each teammate vehicle can render and mark on the corresponding navigation map surface based on the briefing information and map control information, and optimize the route.

2. The data processing method for self-driving vehicle platoon travel according to claim 1, characterized in that: The sending of the briefing information and the map control information to the navigation of the central control system of each teammate vehicle in the team also includes: The briefing information and map control information are sent to the navigation of the central control system of each teammate vehicle in the team, and the central control system that controls each teammate vehicle in the team is used to broadcast and display the briefing information through a voice broadcast system.

3. The data processing method for self-driving vehicle platoon travel according to claim 1 or 2, characterized in that: The obtaining of the vehicle service perception information sent by the navigation system of the current vehicle in the fleet includes at least one of the following: When an accident occurs to the current vehicle in the fleet, the image information of the accident captured by the camera, the location information of the current vehicle and the lane information are obtained through the navigation of the current vehicle's central control system; When the current vehicle in the convoy encounters a temporary roadblock or lane occupancy, the keyword of the temporary roadblock or lane occupancy announced by the voice broadcast system is obtained through the navigation of the current vehicle's central control system, as well as the location information of the temporary roadblock; When there is congestion ahead of the current vehicle in the convoy and the vehicle is driving at a low speed or is stationary for a long time, the navigation of the current vehicle's central control system obtains the keywords of the road congestion and the location information of the road congestion through the voice broadcast system.

4. The data processing method for self-driving vehicle platoon travel according to claim 1 or 2, characterized in that: The data processing of the vehicle service perception information and the team positioning information to generate briefing information and map control information includes: Extracting key information from the vehicle service perception information and the team positioning information; The key information is processed into corresponding briefing information and control instruction information for map control.

5. The data processing method for self-driving vehicle platoon travel according to claim 1 or 2, characterized in that: The method further comprises: In the case where the vehicle service perception information indicates that a serious accident has occurred, generating a teammate rescue route when executing the generation of briefing information and map control information; generating route selection or detour or rescue information when the vehicle service perception information indicates that the accident occurred is a non-serious accident; While sending the briefing information and map control information to the navigation of the central control system of each teammate's vehicle in the team, the teammate's rescue route or the route selection or detour or rescue information is sent.

6. A data processing method for self-driving vehicle team travel, characterized in that: The method is applied to the navigation of the central control system of the current vehicle in the fleet, and comprises: Obtain vehicle service perception information of the current vehicles in the fleet, and team positioning information of the fleet formed by itself; Combining the vehicle service perception information with the team positioning information to obtain combined road traffic information; Sending the road traffic information to the cloud; Receiving briefing information and map control information generated based on the vehicle service perception information and the team positioning information and sent by the cloud; Rendering and marking are performed on the corresponding navigation map surface based on the briefing information and the map control information, and the route is optimized.

7. The data processing method for self-driving vehicle platoon travel according to claim 6, characterized in that: When rendering and marking on the corresponding navigation map surface based on the briefing information and the map control information and optimizing the route, the method further includes: The briefing information is broadcast and displayed through the voice broadcast system in the central control system of the current vehicle.

8. The data processing method for self-driving vehicle platoon travel according to claim 6 or 7, characterized in that: The obtaining of vehicle service perception information of the current vehicle in the fleet includes: When an accident occurs to the current vehicle in the fleet, the camera is used to obtain and send picture information of the accident, the location information of the current vehicle, and the lane information; or When the current vehicle in the convoy encounters a temporary roadblock or lane occupancy, the voice announcement system is used to obtain keywords of the temporary roadblock or lane occupancy, as well as location information of the temporary roadblock; or When there is congestion ahead of the current vehicle in the fleet, or the vehicle is traveling at a low speed or is stationary for a long time, keywords of the road congestion and location information of the road congestion are obtained through the voice broadcast system.

9. A data processing device for self-driving vehicle platoon travel, characterized in that: The device is applied in the cloud, and includes: An acquisition module is used to acquire road traffic information sent by the navigation of the central control system of the current vehicle in the fleet, wherein the road traffic information includes: vehicle service perception information, and team positioning information for the navigation to form the fleet; A generating module, configured to generate briefing information and map control information according to the vehicle service perception information and the team positioning information; The sending module is used to send the briefing information and map control information to the navigation of the central control system of each teammate vehicle in the team, so that the navigation of the central control system of each teammate vehicle can render and mark on the corresponding navigation map surface based on the briefing information and map control information, and optimize the route.

10. A data processing device for self-driving vehicle platoon travel, characterized in that: The device is applied to the navigation of the central control system of the current vehicle in the fleet, and comprises: An acquisition module, used to acquire vehicle service perception information of the current vehicles in the fleet, and team positioning information of the fleet formed by itself; A combining module, used for combining the vehicle service perception information with the team positioning information to obtain combined road traffic information; A sending module, used for sending the road traffic information to the cloud; A receiving module, used for receiving briefing information and map control information generated based on the vehicle service perception information and the team positioning information and sent by the cloud; The rendering and marking module is used to render and mark on the corresponding navigation map surface based on the briefing information and the map control information, and optimize the route.

11. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the data processing method for self-driving vehicle platoon travel as described in any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the data processing method for self-driving vehicle platoon travel as described in any one of claims 1 to 8.

Images