Truck formation way-giving overtaking control method and device, computer equipment and medium

Abstract

The invention relates to a method and a device for controlling avoidance and overtaking of a truck formation, computer equipment and a medium, the truck formation runs on a first lane of two-way lanes without obstruction in the middle, and the method comprises the following steps: collecting vehicle surrounding environment data in the running process of the truck formation; when it is determined that vehicles running in the same direction and vehicles running in the opposite direction with the overtaking intention exist on a second lane of the two-way lane, the current position information and speed information of the vehicles running in the same direction and the opposite direction and all vehicles in the truck formation are obtained; determining a target lane changing position from a plurality of lane changing positions of the first lane according to the position information and the speed information; and according to the target lane changing position, adjusting the driving speed of part of or all the vehicles of the truck formation so as to reserve a space for enabling the vehicles driving in the same direction to change lanes back to the first lane at the target lane changing position. Through the mode, three-party income maximization in a special driving scene is realized, and the overall road risk is reduced.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of autonomous driving technology, and more particularly to a method, device, computer equipment and medium for controlling the yielding and overtaking of a truck platoon. Background Art

[0002] Currently, Class II and Class III highways are local trunk roads in China's highway system, providing important transportation links between cities and villages. In most cases, these roads are two-way two-lane roads with no median strip in the middle (e.g. Figure 1 Therefore, when overtaking, the vehicle has to change lanes to the opposite lane and drive for a while until it returns to the original lane after completing the overtaking.

[0003] However, the inventors realized that in the existing research and development process of autonomous driving decision algorithms, the design concept adopted is generally to pursue the maximization of individual (such as a single truck) benefits. For a truck platoon with multiple trucks in a two-way two-lane driving scenario, the development of its driving decision algorithm generally adopts the method of instructing the truck platoon itself in the scenario to plan lane changes, but ignores how to control some or all of the trucks in the truck platoon to cooperate with the same-direction vehicle to complete the overtaking when a same-direction vehicle with the intention of overtaking appears on the side and rear of the truck platoon, thereby reducing the overall road risk. Summary of the invention

[0004] In view of the above-mentioned shortcomings or disadvantages, the present application provides a method, device, computer equipment and medium for controlling the yielding and overtaking of a truck formation. In view of the special scenario where a truck formation, vehicles traveling in the same direction and vehicles traveling in the opposite direction are traveling simultaneously on a two-way lane without an obstruction in the middle, the present application designs a solution for controlling some or all trucks in a truck formation to cooperate with the remaining vehicles to complete the lane change and overtaking of vehicles traveling in the same direction, thereby maximizing the benefits of the three parties in special driving scenarios and reducing the overall road risk.

[0005] According to a first aspect, the present application provides a method for controlling a truck formation to yield and overtake, wherein the truck formation is traveling on a first lane of a dual carriageway with no obstruction in the middle, and the method comprises:

[0006] Collect vehicle surrounding environment data while truck platooning;

[0007] When it is determined based on the vehicle surrounding environment data that there are vehicles traveling in the same direction and vehicles traveling in the opposite direction with the intention of overtaking on the second lane of the dual carriageway, the current position information and speed information of the vehicles traveling in the same direction, the vehicles traveling in the opposite direction, and each vehicle in the truck formation are obtained, wherein the vehicles traveling in the same direction are located behind the first truck in the truck formation, and the vehicles traveling in the opposite direction are located in front of the first truck;

[0008] The target lane-changing position is determined from a plurality of lane-changing positions located in the first lane according to the current position information and speed information of the same-direction-traveling vehicle, the opposite-direction-traveling vehicle and each vehicle in the truck formation; in the truck formation, for each partial truck located in front of the same-direction-traveling vehicle, each lane-changing position is located at a preset safety distance in front of the partial truck; the target lane-changing position is the lane-changing position that the same-direction-traveling vehicle can reach earlier than the opposite-direction-traveling vehicle and is closest to the first truck;

[0009] The speed of some or all vehicles in the truck platoon is adjusted according to the target lane change position to leave space at the target lane change position for vehicles traveling in the same direction to change lanes back to the first lane.

[0010] In some embodiments, determining a target lane change position from a plurality of lane change positions located in a first lane according to current position information and speed information of the same-direction traveling vehicle, the opposite-direction traveling vehicle, and each vehicle in the truck formation includes:

[0011] According to the current position information and speed information of the same-direction vehicles, the opposite-direction vehicles and the first truck in the truck formation, the time required for the same-direction vehicles and the opposite-direction vehicles to reach the lane change position corresponding to the first truck is calculated, and recorded as the first estimated time value and the second estimated time value;

[0012] When the first estimated time value is greater than or equal to the second estimated time value, all trucks in the truck formation that are located ahead of the vehicle traveling in the same direction are determined according to the current position information of the vehicle traveling in the same direction and each vehicle in the truck formation;

[0013] According to the order of the truck positions from front to back, each truck in front of the vehicle traveling in the same direction is set as an overtaking object in turn, and it is judged in turn whether the overtaking object meets the preset overtaking conditions; the overtaking condition is that the vehicle traveling in the same direction can reach the lane changing position corresponding to the overtaking object earlier than the vehicle traveling in the opposite direction under the condition that the truck in front of the lane changing position corresponding to the overtaking object does not slow down and each truck behind the lane changing position corresponding to the overtaking object slows down; the lane changing position corresponding to the overtaking object refers to the preset safety distance in front of the overtaking object;

[0014] When the overtaking condition is met, the overtaking object is determined to be a candidate overtaking object, the lane change position corresponding to the candidate overtaking object is used as the target lane change position, and the operation of determining whether the overtaking condition is met is terminated;

[0015] If the overtaking conditions are not met, the next truck will be taken as the overtaking object.

[0016] In some embodiments, the time required for a vehicle traveling in the same direction to reach any lane change position refers to the time required for a vehicle traveling in the same direction to reach the lane change position after uniformly accelerating from a current speed to a preset speed and then maintaining a uniform speed;

[0017] The time required for an oncoming vehicle to reach any lane changing position refers to the time required for the oncoming vehicle to reach the lane changing position at a constant speed at its current speed.

[0018] In some embodiments, adjusting the driving speed of some or all vehicles in the truck formation according to the target lane change position includes:

[0019] Control each truck in the truck formation that is located in front of the target lane change position to accelerate at a preset acceleration or maintain the current speed to drive at a constant speed;

[0020] Each truck in the truck formation that is located behind the target lane change position is controlled to decelerate at a preset deceleration rate.

[0021] In some embodiments, after controlling each truck in the truck formation located behind the target lane change position to decelerate at a preset deceleration, the method further includes:

[0022] When any truck behind the target lane-changing position is controlled to decelerate, the current speed of the truck is monitored. When the current speed of the truck drops to a preset speed, the truck is controlled to maintain the current speed and travel at a constant speed.

[0023] In some embodiments, the method further comprises:

[0024] When the first estimated time consumption value is less than the second estimated time consumption value, or there is no oncoming vehicle on the second lane of the two-way carriageway, the truck formation is controlled to maintain the current speed as a whole and travel at a constant speed.

[0025] In some embodiments, the method further comprises:

[0026] When it is determined based on the vehicle surrounding environment data that there is a vehicle traveling in the same direction with the intention of overtaking in the second lane of the dual carriageway, and the vehicle traveling in the opposite direction has the intention of changing into the first lane, the entire truck formation is controlled to decelerate at a preset deceleration.

[0027] According to a second aspect, the present application provides a control device for yielding and overtaking a truck formation, wherein the truck formation is traveling on the first lane of a dual carriageway with no obstruction in the middle, and the synchronization device comprises:

[0028] Environmental data collection module, used to collect vehicle surrounding environment data during the truck platooning process;

[0029] A driving information acquisition module is used to acquire the current position information and speed information of the same-direction vehicles, the opposite-direction vehicles and each vehicle in the truck formation when it is determined based on the vehicle surrounding environment data that there are vehicles traveling in the same direction and vehicles traveling in the opposite direction with the intention of overtaking on the second lane of the dual-carriageway, wherein the same-direction vehicles are located behind the first truck in the truck formation and the opposite-direction vehicles are located in front of the first vehicle;

[0030] A lane change position determination module is used to determine a target lane change position from a plurality of lane change positions located in the first lane according to current position information and speed information of the same-direction traveling vehicle, the opposite-direction traveling vehicle and each vehicle in the truck formation; in the truck formation, for each partial truck located in front of the same-direction traveling vehicle, each lane change position is located at a preset safety distance in front of the partial truck; the target lane change position is a lane change position that the same-direction traveling vehicle can reach earlier than the opposite-direction traveling vehicle and is closest to the first truck;

[0031] The truck formation control module is used to adjust the driving speed of some or all vehicles in the truck formation according to the target lane change position, so as to leave space at the target lane change position for vehicles traveling in the same direction to change lanes back to the first lane.

[0032] According to a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-mentioned methods for controlling the yielding and overtaking of a truck formation.

[0033] According to a fourth aspect, the present application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above-mentioned methods for controlling the yielding and overtaking of a truck formation when executing the computer program.

[0034] The method described in the above embodiment can be applied to a cloud platform for controlling the driving of a truck platoon. The cloud platform can use GIS (Geographic Information System) combined with real-time data stream processing Apache Kafka technology to obtain the surrounding environment data of the truck platoon in real time. The surrounding environment data includes the current position information and speed information of each vehicle, pedestrian or other obstacle on the current road. It is known that the truck platoon is traveling on the first lane of a two-way lane with no obstruction in the middle. When the second lane of the two-way lane is monitored according to the vehicle surrounding environment data to have a same-direction vehicle and an opposite-direction vehicle with the intention of overtaking, the cloud platform can obtain the current position information and speed information of the same-direction vehicle, the opposite-direction vehicle and each vehicle in the truck platoon through GIS. Generally, the same-direction vehicle is located behind the first truck in the truck platoon, and the opposite-direction vehicle is located before the first vehicle, and in order to complete the overtaking, the same-direction vehicle will accelerate to a speed greater than the truck platoon. Then, the cloud platform can use Apache Kafka technology to determine the target lane change position from multiple lane change positions in the first lane based on these position information and speed information; in the truck formation, for each partial truck located in front of the same-direction vehicle, each lane change position is located at a preset safe distance in front of the partial truck, and the target lane change position is the lane change position that the same-direction vehicle can reach earlier than the opposite-direction vehicle and is closest to the first truck. Through such an integrated calculation method, the three-party benefits in special driving scenarios are maximized. Finally, the cloud platform adjusts the driving speed of some or all vehicles in the truck formation according to the target lane change position, so as to leave space at the target lane change position for the same-direction vehicle to change lanes back to the first lane, reducing the overall road risk. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of a two-way two-lane road without a separation strip in the middle in one or more embodiments of the present application;

[0036] Figure 2 A schematic flow chart of a method for controlling a truck platoon to yield or overtake in one or more embodiments of the present application;

[0037] Figure 3 This is an example diagram of a two-lane road with a truck formation having three trucks, vehicles traveling in the same direction, and vehicles traveling in the opposite direction simultaneously in one or more embodiments of the present application;

[0038] Figure 4 An example diagram of first to third lane change positions divided based on three trucks on the current dual carriageway in one or more embodiments of the present application;

[0039] Figure 5A flowchart of a method for determining a target lane change position according to position information and speed information in one or more embodiments of the present application;

[0040] Figure 6 This is an example diagram of a two-lane road with only a truck formation with three trucks and vehicles traveling in the same direction in one or more embodiments of the present application;

[0041] Figure 7 A schematic diagram of the structure of a truck formation yielding and overtaking control device in one or more embodiments of the present application;

[0042] Figure 8 A schematic diagram of the structure of a computer device in one or more embodiments of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] According to a first aspect, the present application provides a method for controlling a truck formation to yield and overtake, wherein the truck formation is traveling on the first lane of a two-lane road with no obstruction in the middle, such as Figure 2 As shown, the method can be applied on a cloud platform for monitoring and controlling truck platoons, including:

[0045] S110: Collecting vehicle surrounding environment data during the truck platoon driving process;

[0046] Specifically, the vehicle surrounding environment data may include the location and speed information of vehicles, pedestrians and other objects on the roads in front of, behind and to the side of the truck formation. Generally, the cloud platform can use GIS or GPS (Global Positioning System) to obtain the surrounding environment data of the truck formation in real time.

[0047] For example, Figure 3 As shown, in the truck formation including three trucks, the vehicle surrounding environment data includes the current position and speed information of the vehicles traveling in the same direction, and the current position and speed information of the vehicles traveling in the opposite direction.

[0048] S120: when it is determined according to the vehicle surrounding environment data that there are vehicles traveling in the same direction and vehicles traveling in the opposite direction with the intention of overtaking on the second lane of the dual carriageway, current position information and speed information of the vehicles traveling in the same direction, the vehicles traveling in the opposite direction, and each vehicle in the truck formation are obtained;

[0049] The vehicles travelling in the same direction are located behind the first truck in the truck formation, while the vehicles travelling in the opposite direction are located in front of the first truck.

[0050] Specifically, the cloud platform can determine whether the vehicle traveling in the same direction has the intention to overtake by the acceleration of the vehicle traveling in the same direction. Generally, when the acceleration a(t) of the vehicle traveling in the same direction is within the set single detection period t 1 Speed ​​increment within Greater than the set threshold ΔV 0 When , it is determined that the vehicle traveling in the same direction has the intention to overtake.

[0051] S130: determining a target lane changing position from a plurality of lane changing positions located in the first lane according to current position information and speed information of the same-direction traveling vehicle, the opposite-direction traveling vehicle, and each vehicle in the truck formation;

[0052] In a truck platoon, for each truck ahead of a vehicle traveling in the same direction, each lane change position is located at a preset safe distance ahead of the truck. The target lane change position is the lane change position that the vehicle traveling in the same direction can reach earlier than the vehicle traveling in the opposite direction and is closest to the first truck.

[0053] Specifically, the preset safety distance is a value that can be set according to the actual situation. Generally, the safety distance corresponding to each truck is equal. Each lane change position is a virtual vertical plane set in front of each truck in the same direction according to the real-time position information of the trucks in front of the vehicle. In addition, each lane change position will be relatively stationary with the corresponding truck and move forward with the corresponding truck. Figure 1 As shown in the figure, assuming that an "SL curve coordinate system" is established on the actual two-way lane, the above-mentioned preset safety distance refers to the distance in the s direction under the coordinate system, that is, the distance extending forward along the center line of the current lane. Each lane change position is a plurality of planes perpendicular to the plane where the "SL curve coordinate system" is located, and the intersection of each lane change position and the plane where the "SL curve coordinate system" is located is perpendicular to the center line of the two-way lane (that is, Figure 1 ).

[0054] For example, Figure 4 As shown, it is known that there are three trucks in front of the vehicle traveling in the same direction. The cloud platform can set a virtual vertical plane 50 meters in front of the three trucks as the first to third lane change positions, and the top view of these virtual vertical planes is a straight line.

[0055] In some embodiments, the target lane changing position is determined from a plurality of lane changing positions located in the first lane according to the current position information and speed information of the same-direction traveling vehicles, the opposite-direction traveling vehicles, and each vehicle in the truck formation, such as Figure 5 As shown, the method includes:

[0056] S210: Calculate the time required for the vehicles traveling in the same direction and the vehicles traveling in the opposite direction to reach the lane change position corresponding to the first truck according to the current position information and speed information of the vehicles traveling in the same direction, the vehicles traveling in the opposite direction, and the first truck in the truck formation, and record them as the first estimated time value and the second estimated time value;

[0057] Specifically, assuming that the driving direction of the truck formation is the positive direction, the driving speed of vehicles traveling in the same direction is V 1 And the acceleration a 1 (t) changes with time t, the speed of the oncoming vehicle is -V 2 And the acceleration a 2 (t) also changes with time t. The first truck in the truck formation maintains a constant speed and its speed is V 3 , and it is known that the lane change position of the vehicle traveling in the same direction is S away from the lane change position of the first truck 1 , the distance between the opposite vehicle and the lane change position corresponding to the first truck is S 2 .

[0058] Then the time T required for vehicles traveling in the same direction to reach the lane change position corresponding to the first truck can be calculated by the following equation 1 :

[0059]

[0060] Where, ΔV 1 (T) is the speed change of vehicles traveling in the same direction over time T.

[0061] Similarly, the time T required for vehicles traveling in the same direction to reach the lane change position corresponding to the first truck can be calculated by the following equation: 2 :

[0062]

[0063] Where, ΔV 2 (T) is the speed change of the oncoming vehicle over time T.

[0064] In some embodiments, the time required for vehicles traveling in the same direction to reach any lane changing position refers to the time required for vehicles traveling in the same direction to reach the lane changing position when the vehicles traveling in the same direction accelerate uniformly at the current speed to a preset speed and then maintain constant speed; the time required for vehicles traveling in the opposite direction to reach any lane changing position refers to the time required for vehicles traveling in the opposite direction to reach the lane changing position when they travel uniformly at the current speed.

[0065] Specifically, assuming that the speed of vehicles traveling in the same direction is V 1 And the acceleration is a 1 , the acceleration time is T 1, and it is known that the lane change position of the vehicle traveling in the same direction is S away from the lane change position of the first truck 1 , the time T required for vehicles traveling in the same direction to reach the lane-changing position corresponding to the first truck can be calculated by the following equation: ‘ 1 :

[0066]

[0067] Among them, V 1 is the speed of vehicles traveling in the same direction, V 3 is the speed of the first truck in the platoon.

[0068] Similarly, it is known that the oncoming vehicle is moving at a constant speed, and the speed is V 2 , the distance between the opposite vehicle and the lane change position corresponding to the first truck is S 2 , the time T required for the oncoming vehicle to reach the lane-changing position corresponding to the first truck can be calculated by the following equation: ‘ 2 :

[0069] S 2 =(V 2 +V 3 )·T ‘ 2 ;

[0070] S220: when the first estimated time consumption value is greater than or equal to the second estimated time consumption value, determine all trucks in the truck formation that are located ahead of the vehicle traveling in the same direction according to the current position information of the vehicle traveling in the same direction and each vehicle in the truck formation;

[0071] Specifically, when the first estimated time value is greater than or equal to the second estimated time value, it indicates that vehicles traveling in the same direction cannot reach the lane changing position corresponding to the first truck earlier than vehicles traveling in the opposite direction. In order to control the truck formation to allow vehicles traveling in the same direction to complete a safe lane change, the cloud platform needs to first determine all trucks in the truck formation that are ahead of the vehicles traveling in the same direction.

[0072] S230: setting each truck located in front of the vehicle traveling in the same direction as an overtaking object in order from the front to the back of the truck position, and determining whether the overtaking object meets the preset overtaking condition in turn;

[0073] The overtaking condition is that the truck in front of the lane change position corresponding to the overtaking object does not slow down (that is, the truck in front can accelerate or maintain the current speed) and the trucks behind the lane change position corresponding to the overtaking object slow down, so that the vehicles traveling in the same direction can reach the lane change position corresponding to the overtaking object earlier than the vehicles traveling in the opposite direction. The lane change position corresponding to the overtaking object refers to the preset safety distance in front of the overtaking object.

[0074] Specifically, the cloud platform may sequentially assume each truck located in front of the vehicle traveling in the same direction as an overtaking object, and sequentially determine whether the overtaking object meets the preset overtaking conditions.

[0075] For example, Figure 4 As shown in the figure, the cloud platform first takes the first truck in the truck formation as the overtaking target, and then determines if the truck behind the first lane change position, that is, the entire truck formation, is overtaking at the preset comfortable deceleration -a 0 Decelerate, can the vehicles traveling in the same direction reach the first lane change position earlier than the vehicles traveling in the opposite direction? If so, the cloud platform controls the truck formation as a whole to decelerate at -a 0 Perform deceleration to help vehicles traveling in the same direction to overtake in advance. 0 If deceleration cannot make the same-direction vehicle reach the first lane-changing position earlier than the opposite-direction vehicle, the second truck is taken as the overtaking object. If the truck in front of the second lane-changing position (i.e. the first truck in the truck formation) maintains the current uniform speed, the trucks behind the second lane-changing position (i.e. the second and third trucks in the truck formation) will overtake at a deceleration of -a. 0 Slow down, can the vehicles traveling in the same direction reach the second lane change position earlier than the vehicles traveling in the opposite direction? If so, control the first truck to maintain the current speed and drive at a constant speed, and the second and third trucks to move at a deceleration of -a. 0 If the truck in front of the third lane-changing position (i.e. the first and second trucks in the truck formation) maintains the current uniform speed, the truck behind the third lane-changing position (i.e. the third truck in the truck formation) will overtake at a deceleration of -a. 0 Slow down, can the vehicles traveling in the same direction reach the third lane change position earlier than the vehicles traveling in the opposite direction? If so, control the first and second trucks to maintain the current speed and drive at a constant speed, and the third truck to change lanes at a speed of deceleration - a. 0 slow down.

[0076] S240: When the overtaking condition is met, the overtaking object is determined to be a candidate overtaking object, the lane change position corresponding to the candidate overtaking object is used as the target lane change position, and the operation of determining whether the overtaking condition is met is terminated; alternatively, if the overtaking condition is not met, the next truck is used as the overtaking object.

[0077] Specifically, assuming that there are n (n is a natural number greater than 3) trucks ahead of the vehicle traveling in the same direction, the cloud platform will cyclically execute the above-mentioned overtaking object assumption operation and overtaking condition judgment operation until a k-th (n is a natural number greater than 3 and not more than n) truck and its k-th lane change position are found among the n trucks, satisfying the following assumption conditions:

[0078] If the first to k-2 trucks keep their speed, the rest of the trucks behind them will move at a deceleration of -a. 0 When decelerating, it is impossible to make the same-direction lane reach the k-1 lane-changing position earlier than the oncoming vehicle, but it is possible to make the same-direction lane reach the k-th lane-changing position earlier than the oncoming vehicle. Then the cloud platform controls the 1st to k-1st trucks in the truck formation to maintain the speed, and the remaining trucks behind them move at a deceleration of -a. 0 Slow down, so as to leave enough space at the kth lane change position for the same-direction vehicle to complete overtaking and return to the original lane in time. At this point, the overtaking condition has been met, and the cloud platform determines that the kth truck is a candidate for overtaking, and uses the kth lane change position corresponding to the kth truck as the target lane change position.

[0079] S140: Adjust the speed of some or all vehicles in the truck formation according to the target lane change position, so as to leave space at the target lane change position for vehicles traveling in the same direction to change lanes back to the first lane. Through the above method, the benefits of the three parties in special driving scenarios are maximized and the overall road risk is reduced.

[0080] In some embodiments, adjusting the driving speed of some or all vehicles in the truck formation according to the target lane change position includes:

[0081] Each truck in the truck formation that is located in front of the target lane change position is controlled to accelerate at a preset acceleration or maintain a current speed to travel at a constant speed; each truck in the truck formation that is located behind the target lane change position is controlled to decelerate at a preset deceleration.

[0082] Specifically, assuming that the cloud platform finds a k-th truck among the n trucks and its k-th lane-changing position satisfies the above overtaking condition, then the cloud platform can control the trucks in front of the k-th lane-changing position to maintain a constant speed and also control the trucks in front of the k-th lane-changing position to move at a preset acceleration a. 0 In this way, the distance between the trucks in front of the kth lane change position and the trucks behind can be lengthened, further increasing the space for vehicles traveling in the same direction to change lanes and return to the original lane, further reducing the overall road risk.

[0083] In some embodiments, after controlling each truck in the truck formation located behind the target lane change position to decelerate at a preset deceleration, the method further includes:

[0084] When any truck behind the target lane-changing position is controlled to decelerate, the current speed of the truck is monitored. When the current speed of the truck drops to a preset speed, the truck is controlled to maintain the current speed and travel at a constant speed.

[0085] Specifically, assuming that the cloud platform has determined the kth lane-changing position as the target lane-changing position, any k+1 to nth trucks behind the kth lane-changing position are controlled to decelerate at -a 0 When decelerating, the current speed of any truck from k+1 to n is monitored. When the current speed of any truck from k+1 to n drops to the preset speed, the cloud platform stops decelerating the truck. In this way, the risk of some trucks in the truck formation being stagnant is avoided, reducing the overall road risk.

[0086] In some embodiments, the method further includes: when the first estimated time consumption value is less than the second estimated time consumption value, or there is no oncoming vehicle on the second lane of the two-way carriageway, controlling the truck formation as a whole to maintain the current speed and travel at a constant speed.

[0087] Specifically, when the first estimated time is less than the second estimated time, it means that the vehicles traveling in the same direction can reach the lane change position corresponding to the first truck earlier than the vehicles traveling in the opposite direction. Then the cloud platform does not issue a deceleration command, and the truck formation as a whole maintains the current speed and drives at a constant speed. In this way, the benefits of the three parties in special driving scenarios are maximized and the overall road risk is reduced.

[0088] For example, Figure 6 As shown, in the two-lane road, if there is no oncoming vehicle in the second lane on the side of the truck formation, the cloud platform will not issue a deceleration command, so that the truck formation as a whole maintains the current speed and travels at a constant speed.

[0089] In some embodiments, the method further includes: when it is determined based on vehicle surrounding environment data that there is a vehicle traveling in the same direction with the intention of overtaking on the second lane of a two-way carriageway, and a vehicle traveling in the opposite direction has the intention of changing into the first lane, controlling the entire truck formation to decelerate at a preset deceleration.

[0090] For example, if the cloud platform determines that a vehicle traveling in the same direction has the intention to overtake based on its acceleration, and determines that the vehicle traveling in the opposite direction has deviated from the direction of the second lane and has the intention to change into the first lane based on the speed vector of the vehicle traveling in the opposite direction, the cloud platform controls the entire truck formation to accelerate at a deceleration of -a. 0 In this way, the overall road risk caused by malicious lane changes by oncoming vehicles or wrong lane changes caused by haste is avoided.

[0091] According to a second aspect, the present application provides a control device for yielding and overtaking a truck formation, wherein the truck formation is traveling on the first lane of a dual carriageway with no obstruction in the middle, such as Figure 8 As shown, the synchronization device includes:

[0092] The environmental data collection module 110 is used to collect environmental data around the vehicles during the driving of the truck platoon;

[0093] The vehicle information acquisition module 120 is used to acquire the current position information and speed information of the same-direction vehicles, the opposite-direction vehicles and each vehicle in the truck formation when it is determined based on the vehicle surrounding environment data that there are vehicles traveling in the same direction and vehicles traveling in the opposite direction with the intention of overtaking on the second lane of the dual-carriageway, wherein the same-direction vehicles are located behind the first truck in the truck formation and the opposite-direction vehicles are located in front of the first truck;

[0094] The lane change position determination module 130 is used to determine a target lane change position from a plurality of lane change positions located in the first lane according to the current position information and speed information of the same-direction traveling vehicle, the opposite-direction traveling vehicle and each vehicle in the truck formation; in the truck formation, for each partial truck located in front of the same-direction traveling vehicle, each lane change position is located at a preset safety distance in front of the partial truck; the target lane change position is a lane change position that the same-direction traveling vehicle can reach earlier than the opposite-direction traveling vehicle and is closest to the first truck;

[0095] The truck formation control module 140 is used to adjust the driving speed of some or all vehicles in the truck formation according to the target lane change position, so as to leave space at the target lane change position for vehicles traveling in the same direction to change lanes back to the first lane.

[0096] In some embodiments, the lane change position determination module 130 is further used to calculate the time required for the same-direction traveling vehicle and the oncoming traveling vehicle to reach the lane change position corresponding to the first truck according to the current position information and speed information of the same-direction traveling vehicle, the oncoming traveling vehicle and the first truck in the truck formation, and record it as a first estimated time value and a second estimated time value;

[0097] When the first estimated time value is greater than or equal to the second estimated time value, all trucks in the truck formation that are located ahead of the vehicle traveling in the same direction are determined according to the current position information of the vehicle traveling in the same direction and each vehicle in the truck formation;

[0098] According to the order of the truck positions from front to back, each truck in front of the vehicle traveling in the same direction is set as an overtaking object in turn, and it is judged in turn whether the overtaking object meets the preset overtaking conditions; the overtaking condition is that the vehicle traveling in the same direction can reach the lane changing position corresponding to the overtaking object earlier than the vehicle traveling in the opposite direction under the condition that the truck in front of the lane changing position corresponding to the overtaking object does not slow down and each truck behind the lane changing position corresponding to the overtaking object slows down; the lane changing position corresponding to the overtaking object refers to the preset safety distance in front of the overtaking object;

[0099] When the overtaking condition is met, the overtaking object is determined as a candidate overtaking object, the lane change position corresponding to the candidate overtaking object is used as the target lane change position, and the operation of determining whether the overtaking condition is met is ended; alternatively, if the overtaking condition is not met, the next truck is used as the overtaking object.

[0100] In some embodiments, the truck formation control module 140 is also used to: control each truck in the truck formation located in front of the target lane change position to accelerate at a preset acceleration or maintain the current speed for constant speed driving; control each truck in the truck formation located behind the target lane change position to decelerate at a preset deceleration.

[0101] In some embodiments, after the truck platoon control module 140 controls each truck in the truck platoon located behind the target lane change position to decelerate at a preset deceleration, the truck platoon control module 140 is further used to: when controlling any truck located behind the target lane change position to decelerate, monitor the current speed of the truck through the driving information acquisition module 120, and when the current speed of the truck drops to the preset speed, control the truck to maintain the current speed and travel at a constant speed.

[0102] In some embodiments, the truck platoon control module 140 is further used to control the truck platoon as a whole to maintain the current speed and travel at a constant speed when the first estimated time is less than the second estimated time, or there is no oncoming vehicle on the second lane of the two-way carriageway.

[0103] In some embodiments, the truck platoon control module 140 is also used to: when it is determined based on the vehicle surrounding environment data that there is a vehicle traveling in the same direction with the intention of overtaking on the second lane of the two-way carriageway, and the vehicle traveling in the opposite direction has the intention of changing into the first lane, control the entire truck platoon to decelerate at a preset deceleration.

[0104] Finally, in one embodiment, the cloud platform can use GIS combined with Apache Kafka technology to obtain the surrounding environment data of the truck formation in real time, and the surrounding environment data includes the current position information and speed information of each vehicle, pedestrian or other obstacle on the current road. It is known that the truck formation is traveling on the first lane of a two-way lane with no obstruction in the middle. When the vehicle surrounding environment data monitors that there are vehicles traveling in the same direction and vehicles traveling in the opposite direction with the intention of overtaking on the second lane of the two-way lane, the cloud platform can obtain the current position information and speed information of the vehicles traveling in the same direction, the vehicles traveling in the opposite direction and each vehicle in the truck formation through GIS. Then the cloud platform can use Apache Kafka technology to determine the target lane change position from multiple lane change positions located in the first lane based on these position information and speed information. Through such an integrated calculation method, the three-party benefits in special driving scenarios are maximized. Finally, the cloud platform adjusts the driving speed of some or all vehicles in the truck formation according to the target lane change position, so as to leave space at the target lane change position for vehicles traveling in the same direction to change lanes back to the first lane, thereby reducing the overall road risk.

[0105] For the specific definition of the yielding and overtaking control device applicable to truck formations, please refer to the definition of the yielding and overtaking control method applicable to truck formations above, which will not be repeated here. Each module in the above-mentioned yielding and overtaking control device applicable to truck formations can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0106] According to a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-mentioned methods for controlling the yielding and overtaking of a truck formation.

[0107] According to a fourth aspect, the present application provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of any one of the above-mentioned methods for controlling the yielding and overtaking of a truck formation are implemented.

[0108] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 8As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data related to the yielding and overtaking control of the truck formation. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, any of the above-mentioned yielding and overtaking control methods for the truck formation is implemented.

[0109] Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (RamCUs), direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0110] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0112] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for controlling the yielding and overtaking of a truck platoon, characterized in that: The truck formation is traveling on the first lane of a dual carriageway with no central obstruction, and the method comprises: Collecting vehicle surrounding environment data during the driving of the truck convoy; When it is determined according to the vehicle surrounding environment data that there are a same-direction vehicle and an oncoming vehicle with overtaking intention on the second lane of the dual carriageway, current position information and speed information of the same-direction vehicle, the oncoming vehicle and each vehicle in the truck formation are obtained, wherein the same-direction vehicle is located behind the first truck of the truck formation, and the oncoming vehicle is located in front of the first vehicle; Determine a target lane-changing position from a plurality of lane-changing positions located in the first lane according to current position information and speed information of the same-direction-traveling vehicle, the oncoming-direction-traveling vehicle, and each vehicle in the truck formation; in the truck formation, for each partial truck located in front of the same-direction-traveling vehicle, each lane-changing position is located at a preset safety distance in front of the partial truck; the target lane-changing position is a lane-changing position that the same-direction-traveling vehicle can reach earlier than the oncoming-direction-traveling vehicle and is closest to the first truck; The driving speeds of some or all vehicles in the truck formation are adjusted according to the target lane-changing position, so as to leave space at the target lane-changing position for the vehicles traveling in the same direction to change lanes back to the first lane.

2. The method according to claim 1, characterized in that Determining a target lane-changing position from a plurality of lane-changing positions located in the first lane according to current position information and speed information of the same-direction-traveling vehicle, the opposite-direction-traveling vehicle, and each vehicle in the truck formation includes: According to the current position information and speed information of the same-direction traveling vehicle, the oncoming traveling vehicle and the first truck in the truck formation, the time required for the same-direction traveling vehicle and the oncoming traveling vehicle to reach the lane changing position corresponding to the first truck is calculated, and recorded as a first estimated time consumption value and a second estimated time consumption value; When the first estimated time value is greater than or equal to the second estimated time value, determining all trucks in the truck formation that are located ahead of the vehicle traveling in the same direction according to the current position information of the vehicle traveling in the same direction and each vehicle in the truck formation; According to the order of the truck positions from front to back, each truck located in front of the vehicle traveling in the same direction is set as an overtaking object in turn, and it is judged in turn whether the overtaking object meets the preset overtaking condition; the overtaking condition is that the vehicle traveling in the same direction can reach the lane changing position corresponding to the overtaking object earlier than the vehicle traveling in the opposite direction under the condition that the truck in front of the lane changing position corresponding to the overtaking object does not slow down and each truck behind the lane changing position corresponding to the overtaking object slows down; the lane changing position corresponding to the overtaking object refers to the preset safety distance in front of the overtaking object; When the overtaking condition is satisfied, determining the overtaking object as a candidate overtaking object, taking the lane change position corresponding to the candidate overtaking object as a target lane change position, and ending the operation of determining whether the overtaking condition is satisfied; If the overtaking condition is not satisfied, the next truck is used as the overtaking object.

3. The method according to claim 2, characterized in that The time required for the same-direction vehicle to reach any of the lane-changing positions refers to the time required for the same-direction vehicle to reach the lane-changing position when the same-direction vehicle accelerates uniformly at the current speed to a preset speed and then maintains a uniform speed; The time required for the oncoming vehicle to reach any of the lane changing positions refers to the time required for the oncoming vehicle to reach the lane changing position when traveling at a constant speed at the current speed.

4. The method according to claim 2, characterized in that: Adjusting the driving speed of some or all vehicles of the truck formation according to the target lane change position includes: Controlling each truck in the truck formation that is located in front of the target lane change position to accelerate at a preset acceleration or maintain a current speed to travel at a constant speed; Each truck in the truck formation located behind the target lane change position is controlled to decelerate at a preset deceleration.

5. The method according to claim 4, characterized in that After controlling each truck in the truck formation located behind the target lane change position to decelerate at a preset deceleration, the method further includes: When any truck located behind the target lane-changing position is controlled to decelerate, the current speed of the truck is monitored, and when the current speed of the truck drops to a preset speed, the truck is controlled to maintain the current speed and travel at a constant speed.

6. The method according to claim 2, characterized in that The method further comprises: When the first estimated time consumption value is less than the second estimated time consumption value, or there is no oncoming vehicle on the second lane of the two-way carriageway, the truck convoy is controlled to maintain the current speed as a whole and travel at a constant speed.

7. The method according to claim 1, characterized in that The method further comprises: When it is determined based on the vehicle surrounding environment data that there is a vehicle traveling in the same direction with the intention of overtaking on the second lane of the dual carriageway, and the vehicle traveling in the opposite direction has the intention of changing into the first lane, the entire truck convoy is controlled to decelerate at a preset deceleration.

8. A truck formation yielding and overtaking control device, characterized in that: The truck formation is traveling on the first lane of a dual carriageway with no central obstruction, and the synchronization device comprises: An environmental data collection module, used to collect environmental data surrounding the vehicles during the driving of the truck convoy; a vehicle information acquisition module, for acquiring current position information and speed information of the same-direction vehicle, the opposite-direction vehicle, and each vehicle in the truck formation when it is determined according to the vehicle surrounding environment data that there are a same-direction vehicle and an opposite-direction vehicle with overtaking intention on the second lane of the dual-carriageway, wherein the same-direction vehicle is located behind the first truck of the truck formation, and the opposite-direction vehicle is located in front of the first vehicle; a lane-changing position determination module, configured to determine a target lane-changing position from a plurality of lane-changing positions located in the first lane according to current position information and speed information of the same-direction-traveling vehicle, the oncoming-direction-traveling vehicle, and each vehicle in the truck formation; in the truck formation, for each partial truck located in front of the same-direction-traveling vehicle, each lane-changing position is located at a preset safety distance in front of the partial truck; the target lane-changing position is a lane-changing position that the same-direction-traveling vehicle can reach earlier than the oncoming-direction-traveling vehicle and is closest to the first truck; The truck formation control module is used to adjust the driving speed of some or all vehicles in the truck formation according to the target lane change position, so as to leave space at the target lane change position for the vehicles traveling in the same direction to change lanes back to the first lane.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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