Methods, devices, computer equipment, and media for yielding and overtaking control in truck platooning

Abstract

This application relates to a method, device, computer equipment, and medium for controlling yielding and overtaking in truck platooning. The truck platoon is traveling in the first lane of a two-lane roadway without a median barrier. The method includes: collecting environmental data around the vehicles during platooning; when it is determined that there are vehicles traveling in the same direction and in the opposite direction with overtaking intentions in the second lane of the two-lane roadway, acquiring the current position and speed information of the vehicles traveling in the same direction and in the opposite direction, as well as each vehicle in the truck platoon; determining a target lane change position from multiple lane change positions located in the first lane based on this position and speed information; and adjusting the speed of some or all vehicles in the truck platoon 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. In this way, the benefits to all three parties in this special driving scenario are maximized, and the overall road risk is reduced.

Description

TECHNICAL FIELD

[0001] The embodiment of the application relates to the technical field of automatic driving, in particular to a truck platoon yielding and overtaking control method and device, computer equipment and a medium. BACKGROUND

[0002] At present, secondary and tertiary highways belong to local trunk highways in the highway system in China, which provide important traffic connections between cities and rural areas. In most cases, such highways are two-lane bidirectional roads without a median strip (as shown in Figure 1 When overtaking, vehicles have to change lanes to the opposite lane and drive for a period of time until the overtaking is completed and the original lane is returned.

[0003] However, the inventors realize that in the development of existing automatic driving decision algorithms, the design concept generally adopted is to maximize the benefits of individuals (such as a single truck), and for a truck platoon in a two-lane bidirectional driving scenario, the driving decision algorithm development generally adopts a design concept that instructs the truck platoon itself to plan lane changes, and ignores how to control part or all of the trucks in the truck platoon to cooperate with the same-direction driving vehicle to complete the overtaking when a same-direction driving vehicle with an overtaking intention appears behind the truck platoon, thereby reducing the overall road risk. SUMMARY

[0004] The present application provides a truck platoon yielding and overtaking control method and device, computer equipment and a medium to address the above-mentioned deficiencies or shortcomings. The present application designs a scheme for controlling part or all of the trucks in the truck platoon to cooperate with the remaining vehicles to complete the lane change overtaking of the same-direction driving vehicle for the special scenario of simultaneously driving a truck platoon, a same-direction driving vehicle and an opposite-direction driving vehicle on a two-lane road without a median strip, thereby maximizing the benefits of the three parties in the special driving scenario and reducing the overall road risk.

[0005] According to the first aspect, the present application provides a truck platoon yielding and overtaking control method, wherein the truck platoon drives on a first lane of a two-lane road without a median strip, and the method comprises:

[0006] Collecting vehicle surrounding environment data during the driving of the truck platoon;

[0007] When it is determined according to the vehicle surrounding environment data that there is a same-direction driving vehicle and an opposite-direction driving vehicle with an overtaking intention on a second lane of the two-lane road, obtaining the current position information and speed information of the same-direction driving vehicle, the opposite-direction driving vehicle and each vehicle in the truck platoon, wherein the same-direction driving vehicle is located behind the first truck of the truck platoon, and the opposite-direction driving vehicle is located before the first truck;

[0008] The target lane-changing position is determined from a plurality of lane-changing positions in the first lane according to current position information and speed information of the oncoming vehicle, the same-direction vehicle and each vehicle in the truck platoon; in the truck platoon, for each truck located in front of the same-direction vehicle, each lane-changing position is located at a preset safety distance in front of the truck; and the target lane-changing position is the lane-changing position closest to the first truck and reached by the same-direction vehicle earlier than the oncoming vehicle.

[0009] The driving speed of part or all of the trucks in the truck platoon is adjusted according to the target lane-changing position to leave a space for the same-direction vehicle to change lanes back to the first lane at the target lane-changing position.

[0010] In some embodiments, the target lane-changing position is determined from a plurality of lane-changing positions in the first lane according to current position information and speed information of the oncoming vehicle, the same-direction vehicle and each vehicle in the truck platoon, including:

[0011] The time required for the same-direction vehicle and the oncoming vehicle to reach the lane-changing position corresponding to the first truck is calculated according to current position information and speed information of the same-direction vehicle, the oncoming vehicle and the first truck in the truck platoon, and is recorded as a first time consumption estimation value and a second time consumption estimation value.

[0012] When the first time consumption estimation value is greater than or equal to the second time consumption estimation value, all trucks in the truck platoon located in front of the same-direction vehicle are determined according to current position information of the same-direction vehicle and each vehicle in the truck platoon.

[0013] In order, each truck located in front of the same-direction vehicle is set as an overtaking object according to the truck position from front to back, and it is judged in order whether the overtaking object meets a preset overtaking condition; the overtaking condition is that the same-direction vehicle can reach the lane-changing position corresponding to the overtaking object earlier than the oncoming vehicle under the condition that the truck in front of the lane-changing position corresponding to the overtaking object does not decelerate and each truck behind the lane-changing position corresponding to the overtaking object decelerates; and the lane-changing position corresponding to the overtaking object is a preset safety distance in front of the overtaking object.

[0014] When the overtaking condition is met, the overtaking object is determined as a candidate overtaking object, the lane-changing position corresponding to the candidate overtaking object is taken as the target lane-changing position, and the operation of judging whether the overtaking condition is met is ended.

[0015] If the overtaking condition is not met, the next truck is taken as the overtaking object.

[0016] In some embodiments, the time required for the same-direction vehicle to reach any lane-changing position refers to the time required for the same-direction vehicle to reach the lane-changing position after uniformly accelerated motion at a current speed to a preset speed and then uniform speed driving.

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

[0018] In some embodiments, the method further comprises adjusting the driving speed of the part or all of the vehicles in the truck platoon according to the target lane-changing position, comprising:

[0019] controlling each truck in the truck platoon in front of the target lane-changing position to accelerate at a preset acceleration or maintain the current speed at a constant speed;

[0020] controlling each truck in the truck platoon behind the target lane-changing position to decelerate at a preset deceleration.

[0021] In some embodiments, after controlling each truck in the truck platoon behind the target lane-changing position to decelerate at a preset deceleration, the method further comprises:

[0022] monitoring the current speed of any truck behind the target lane-changing position when controlling the truck to decelerate, and controlling the truck to maintain the current speed at a constant speed when the current speed of the truck drops to a preset speed.

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

[0024] controlling the entire truck platoon to maintain the current speed at a constant speed when the first time consumption estimate is less than the second time consumption estimate, or when there is no oncoming vehicle on the second lane of the double-lane road.

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

[0026] controlling the entire truck platoon to decelerate at a preset deceleration when it is determined according to the vehicle surrounding environment data that there is a same-direction vehicle with an overtaking intention on the second lane of the double-lane road, and the oncoming vehicle has an intention to change into the first lane.

[0027] The present application provides a truck platoon yielding and overtaking control device according to a second aspect, wherein the truck platoon travels on the first lane of a double-lane road without a middle barrier, and the synchronous device comprises:

[0028] an environment data acquisition module for acquiring vehicle surrounding environment data during the driving of the truck platoon;

[0029] The driving information acquisition module is configured to acquire current position information and speed information of the same-direction vehicle, the opposite-direction vehicle, and each vehicle in the truck platoon when it is determined according to the vehicle surrounding environment data that there is a same-direction vehicle and an opposite-direction vehicle with an overtaking intention on the second lane of the double-lane road, wherein the same-direction vehicle is located behind the first truck of the truck platoon, and the opposite-direction vehicle is located in front of the first truck.

[0030] The lane-changing position determination module is configured to determine a target lane-changing position from a plurality of lane-changing positions on the first lane according to the current position information and speed information of the same-direction vehicle, the opposite-direction vehicle, and each vehicle in the truck platoon; in the truck platoon, each lane-changing position is located at a preset safety distance in front of each truck located in front of the same-direction vehicle; and the target lane-changing position is the lane-changing position that can be reached by the same-direction vehicle earlier than the opposite-direction vehicle and is closest to the first truck.

[0031] The truck platoon control module is configured to adjust the driving speed of part or all of the vehicles in the truck platoon according to the target lane-changing position, so as to leave a space for the same-direction vehicle to change lanes back to the first lane at the target lane-changing position.

[0032] According to a third aspect, the present application provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of any of the truck platoon yielding and overtaking control methods.

[0033] According to a fourth aspect, the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the truck platoon yielding and overtaking control methods.

[0034] The method described in the above embodiment can be applied to a cloud platform for controlling truck platooning, which can use a combination of GIS (Geographic Information System) and Apache Kafka technology for real-time data stream processing to obtain the surrounding environment data of the truck platoon in real time, including the current position information and speed information of each vehicle, pedestrian or other obstacles on the current road. When it is known that the truck platoon is running on the first lane of a double-lane road without any separation in the middle, and when a same-direction vehicle and an opposite-direction vehicle with overtaking intention are detected on the second lane of the double-lane road according to the vehicle surrounding environment data, 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 of the truck platoon, and the opposite-direction vehicle is located in front of the first truck, and the speed of the same-direction vehicle will be accelerated to be greater than the truck platoon in order to complete overtaking. Then the cloud platform can determine a target lane-changing position from a plurality of lane-changing positions on the first lane according to the position information and speed information through Apache Kafka technology; wherein, for each part of the truck located in front of the same-direction vehicle in the truck platoon, each lane-changing position is located at a preset safety distance in front of the part of the truck, and the target lane-changing position is the lane-changing position that the same-direction vehicle can reach earlier than the opposite-direction vehicle and is closest to the first truck. Through such integrated calculation, the maximum benefit of three parties in the special driving scenario is realized. Finally, the cloud platform adjusts the driving speed of part or all of the vehicles of the truck platoon according to the target lane-changing position, so as to leave a space for the same-direction vehicle to change lanes back to the first lane at the target lane-changing position, thereby reducing the overall road risk. BRIEF DESCRIPTION OF DRAWINGS

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

[0036] Figure 2 A flowchart of a truck platooning yielding and overtaking control method for one or more embodiments of the present application;

[0037] Figure 3 A double-lane road example diagram in which a truck platoon with three trucks, a same-direction vehicle and an opposite-direction vehicle are running simultaneously for one or more embodiments of the present application;

[0038] Figure 4 A first to third lane-changing position example diagram based on three trucks on the current double-lane road for one or more embodiments of the present application;

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

[0040] Figure 6 An example diagram of a double-lane road where only truck platoons with three trucks and vehicles traveling in the same direction are traveling in one of the embodiments of the present application;

[0041] Figure 7 A structural diagram of a yielding and overtaking control device of a truck platoon in one of the embodiments of the present application;

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

[0043] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0044] The present application provides a yielding and overtaking control method of a truck platoon according to a first aspect. The truck platoon travels on a first lane of a double-lane road without any block in the middle, as shown in Figure 2 The method can be applied on a cloud platform for monitoring and controlling the truck platoon, and includes:

[0045] S110: collecting vehicle surrounding environment data during the travel of the truck platoon;

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

[0047] Exemplarily, as shown in Figure 3 In the truck platoon containing three trucks, the vehicle surrounding environment data includes current position and speed information of the vehicles traveling in the same direction and the vehicles traveling in the opposite direction.

[0048] S120: obtaining current position information and speed information of the vehicles traveling in the same direction, the vehicles traveling in the opposite direction and the vehicles in the truck platoon 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 overtaking intention on the second lane of the double-lane road;

[0049] The same direction driving vehicle is located behind the first truck in the truck platoon, and the opposite direction driving vehicle is located in front of the first truck.

[0050] Specifically, the cloud platform can determine whether the same direction driving vehicle has the overtaking intention through the acceleration condition of the same direction driving vehicle. Generally, when the speed increment of the acceleration a(t) of the same direction driving vehicle in a set single detection period t1 is greater than a set threshold value AV0, it is determined that the same direction driving vehicle has the overtaking intention.

[0051] S130: determining a target lane-changing position 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 driving vehicle, the opposite direction driving vehicle, and each vehicle in the truck platoon;

[0052] In the truck platoon, for each part of the truck located in front of the same direction driving vehicle, each lane-changing position is located at a preset safety distance in front of the part of the truck, and the target lane-changing position is the lane-changing position closest to the first truck and reached by the same direction driving vehicle earlier than the opposite direction driving vehicle.

[0053] Specifically, the preset safety distance is a value that can be set according to actual conditions, and generally, the safety distance corresponding to each truck is equal. Each lane-changing position is a virtual vertical plane set in front of each part of the truck in the cloud platform according to the real-time position information of the part of the truck in front of the same direction driving vehicle. Moreover, each lane-changing position is in a relatively static state with the corresponding truck and advances with the corresponding truck. Further, as shown in the drawings, assuming that an “SL curve coordinate system” is established on the actual double-lane road, the preset safety distance refers to the distance in the s direction in the coordinate system, that is, the distance extending forward along the center line of the current lane. Each lane-changing position is a plurality of planes perpendicular to the plane where the “SL curve coordinate system” is located, and the intersection line of each lane-changing position and the plane where the “SL curve coordinate system” is located is perpendicular to the middle line of the double-lane road (that is, the dashed line segment in the drawings). Figure 1 Figure 1

[0054] Exemplarily, as shown in the drawings, it is known that there are three trucks in front of the same direction driving vehicle, and the cloud platform can set a virtual vertical plane as the first to third lane-changing positions 50 meters in front of the three trucks, and the top view of the virtual vertical planes is a straight line. Figure 4 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 driving vehicle, the opposite direction driving vehicle, and each vehicle in the truck platoon, as shown in the drawings, the method comprises:

[0055] Figure 5

[0056] ​​​​​S210: according to the current position information and speed information of the same-direction traveling vehicle, the opposite-direction traveling vehicle and the first truck in the truck platoon, calculate the time required for the same-direction traveling vehicle and the opposite-direction traveling vehicle to reach the lane-changing position corresponding to the first truck, denoted as a first time consumption estimation value and a second time consumption estimation value;

[0057] Specifically, assuming that the driving direction of the truck platoon is the positive direction, the driving speed of the same-direction traveling vehicle is V1 and the acceleration a1(t) changes with time t, the driving speed of the opposite-direction traveling vehicle is -V2 and the acceleration a2(t) also changes with time t, the first truck in the truck platoon keeps uniform driving and the speed is V3, and it is known that the same-direction traveling vehicle is S1 away from the lane-changing position corresponding to the first truck, and the opposite-direction traveling vehicle is S2 away from the lane-changing position corresponding to the first truck.

[0058] Then the time T1 required for the same-direction traveling vehicle to reach the lane-changing position corresponding to the first truck can be calculated by the following equation:

[0059]

[0060] Wherein, ΔV1(T) is the speed change of the same-direction traveling vehicle with time T.

[0061] Similarly, the time T2 required for the same-direction traveling vehicle to reach the lane-changing position corresponding to the first truck can be calculated by the following equation:

[0062]

[0063] Wherein, ΔV2(T) is the speed change of the opposite-direction traveling vehicle with time T.

[0064] In some embodiments, the time required for the same-direction traveling vehicle to reach any lane-changing position refers to the time required for the same-direction traveling vehicle to reach the lane-changing position after uniform acceleration to a preset speed at the current speed and then uniform driving; the time required for the opposite-direction traveling vehicle to reach any lane-changing position refers to the time required for the opposite-direction traveling vehicle to reach the lane-changing position at the current speed and then uniform driving.

[0065] Specifically, assuming that the driving speed of the same-direction traveling vehicle is V1 and the acceleration is a1, the acceleration time is T1, and it is known that the same-direction traveling vehicle is S1 away from the lane-changing position corresponding to the first truck, the time T required for the same-direction traveling vehicle to reach the lane-changing position corresponding to the first truck can be calculated by the following equation: ‘ 1:

[0066]

[0067] Wherein, V1 is the driving speed of the same-direction traveling vehicle, and V3 is the driving speed of the first truck in the truck platoon.

[0068] Similarly, it is known that the opposite driving vehicle travels at a constant speed V2, and the opposite driving vehicle is S2 away from the lane-changing position corresponding to the first truck, then the time T required for the opposite driving vehicle to reach the lane-changing position corresponding to the first truck can be calculated by the following equation ‘ 2:

[0069] S2 = (V2 + V3) · T ‘ 2;

[0070] S220: When the first time consumption estimation value is greater than or equal to the second time consumption estimation value, all trucks in the truck platoon in front of the same direction driving vehicle are determined according to the current position information of the same direction driving vehicle and each vehicle in the truck platoon;

[0071] Specifically, when the first time consumption estimation value is greater than or equal to the second time consumption estimation value, it indicates that the same direction driving vehicle cannot reach the lane-changing position corresponding to the first truck earlier than the opposite driving vehicle, and then the cloud platform needs to determine all trucks in the truck platoon in front of the same direction driving vehicle in order to control the truck platoon to let the same direction driving vehicle complete safe lane changing.

[0072] S230: In the order of truck positions from front to back, each truck in front of the same direction driving vehicle is set as a passing object in turn, and whether the passing object meets the preset passing condition is judged in turn;

[0073] The passing condition is that the same direction driving vehicle can reach the lane-changing position corresponding to the passing object earlier than the opposite driving vehicle under the condition that the truck in front of the lane-changing position corresponding to the passing object does not decelerate (i.e., the truck in front can accelerate or travel at a constant speed) and each truck behind the lane-changing position corresponding to the passing object decelerates, and the lane-changing position corresponding to the passing object refers to a preset safety distance in front of the passing object.

[0074] Specifically, the cloud platform can assume each truck in front of the same direction driving vehicle as a passing object in turn, and judge whether the passing object meets the preset passing condition in turn.

[0075] Exemplarily, as Figure 4As shown, the cloud platform first takes the first truck of the truck platoon as the overtaking object, and then judges whether the truck behind the first lane-changing position, i.e., the truck platoon as a whole, can reach the first lane-changing position earlier than the oncoming vehicle if it decelerates at the preset comfortable deceleration-a0. If so, the cloud platform controls the truck platoon as a whole to decelerate at the deceleration-a0 to help the same-direction vehicle complete overtaking in advance. If the truck platoon as a whole cannot reach the first lane-changing position earlier than the oncoming vehicle if it decelerates at the deceleration-a0, the second truck is taken as the overtaking object, and it is judged whether the truck in front of the second lane-changing position, i.e., the first truck in the truck platoon, can reach the second lane-changing position earlier than the oncoming vehicle if it maintains the current speed, and the trucks behind the second lane-changing position, i.e., the second and third trucks in the truck platoon, decelerate at the deceleration-a0. If so, the first truck is controlled to maintain the current speed, and the second and third trucks are controlled to decelerate at the deceleration-a0. If not, the third truck is taken as the overtaking object, and it is judged whether the truck in front of the third lane-changing position, i.e., the first and second trucks in the truck platoon, can reach the third lane-changing position earlier than the oncoming vehicle if it maintains the current speed, and the truck behind the third lane-changing position, i.e., the third truck in the truck platoon, decelerates at the deceleration-a0. If so, the first and second trucks are controlled to maintain the current speed, and the third truck is controlled to decelerate at the deceleration-a0.

[0076] S240: When the overtaking condition is met, determine the overtaking object as a candidate overtaking object, take the lane-changing position corresponding to the candidate overtaking object as the target lane-changing position, and end the operation of judging whether the overtaking condition is met; or if the overtaking condition is not met, take the next truck as the overtaking object.

[0077] Specifically, assuming that there are n (n is a natural number greater than 3) trucks in front of the same-direction vehicle, the cloud platform will repeatedly perform the above-mentioned overtaking object assumption operation and overtaking condition judgment operation until a kth (n is a natural number greater than 3 and not more than n) truck and its kth lane-changing position are found in the n trucks, which meet the following assumption conditions:

[0078] If the first to k-2 trucks maintain a constant speed, and the rest of the trucks behind them decelerate at a deceleration of -a0, the k-1th lane-changing position of the oncoming vehicle cannot be reached earlier than the kth lane-changing position of the oncoming vehicle, the cloud platform controls the first to k-1 trucks in the truck platoon to maintain a constant speed, and the rest of the trucks behind them to decelerate at a deceleration of -a0, so as to leave enough space for the oncoming vehicle to complete the overtaking and return to the original lane at the kth lane-changing position. At this time, the overtaking condition is met, the cloud platform determines the kth truck as the candidate overtaking object, and the kth lane-changing position corresponding to the kth truck is taken as the target lane-changing position.

[0079] S140: Adjust the driving speed of part or all of the vehicles in the truck platoon according to the target lane-changing position, so as to leave enough space for the oncoming vehicle to change lanes back to the first lane at the target lane-changing position. In the above manner, the maximum benefit of the three parties in the special driving scenario is realized, and the overall road risk is reduced.

[0080] In some embodiments, adjusting the driving speed of part or all of the vehicles in the truck platoon according to the target lane-changing position comprises:

[0081] Controlling each truck in the truck platoon in front of the target lane-changing position to accelerate at a preset acceleration or maintain a constant speed; controlling each truck in the truck platoon behind the target lane-changing position to decelerate at a preset deceleration.

[0082] Specifically, assuming that the cloud platform finds a kth truck in the n trucks and its kth lane-changing position meet the above-mentioned overtaking condition, the cloud platform can control each truck in front of the kth lane-changing position to accelerate at a preset acceleration a0 in addition to maintaining a constant speed. In this way, the distance between each truck in front of the kth lane-changing position and the trucks behind them can be lengthened, further increasing the space for the oncoming vehicle to change lanes and return to the original lane, and further reducing the overall road risk.

[0083] In some embodiments, after controlling each truck in the truck platoon behind the target lane-changing position to decelerate at a preset deceleration, the method further comprises:

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

[0085] Specifically, assuming that the cloud platform has determined the kth lane-changing position as the target lane-changing position, when any k+1th to nth truck located behind the kth lane-changing position is controlled to decelerate at a deceleration of -a0, the current speed of any k+1th to nth truck is monitored. When the current speed of any k+1th to nth truck drops to a preset speed, the cloud platform stops performing the deceleration operation on the truck. In this way, the risk of some trucks in the truck platoon being stalled is avoided, and the overall road risk is reduced.

[0086] In some embodiments, the method further includes: when the first time consumption estimate value is less than the second time consumption estimate value, or there is no oncoming vehicle on the second lane of the double-lane road, controlling the truck platoon as a whole to maintain the current speed for uniform speed driving.

[0087] Specifically, when the first time consumption estimate value is less than the second time consumption estimate value, it indicates that the same-direction vehicle can reach the lane-changing position corresponding to the first truck earlier than the oncoming vehicle, and the cloud platform does not issue a deceleration instruction, allowing the truck platoon as a whole to maintain the current speed for uniform speed driving. In this way, the maximum benefit of the three parties in the special driving scenario is realized, and the overall road risk is reduced.

[0088] For example, as shown in Figure 6 If there is no oncoming vehicle on the second lane of the double-lane road, the cloud platform also does not issue a deceleration instruction, allowing the truck platoon as a whole to maintain the current speed for uniform speed driving.

[0089] In some embodiments, the method further includes: when it is determined according to the vehicle surrounding environment data that there is a same-direction vehicle with an overtaking intention on the second lane of the double-lane road, and the oncoming vehicle has an intention to change into the first lane, controlling the truck platoon as a whole to decelerate at a preset deceleration.

[0090] For example, if the cloud platform determines that the same-direction vehicle has an overtaking intention according to the acceleration of the same-direction vehicle, and determines that the oncoming vehicle has an intention to change into the first lane according to the speed vector of the oncoming vehicle, the cloud platform controls the truck platoon as a whole to decelerate at a deceleration of -a0. In this way, the overall road risk caused by malicious lane-changing of the oncoming vehicle or mistaken lane-changing operation due to haste is avoided.

[0091] The present application provides, according to a second aspect, a yielding and overtaking control device for a truck platoon, the truck platoon driving on a first lane of a double-lane road without separation in the middle, as shown in Figure 8 The synchronization device includes:

[0092] The environment data acquisition module 110 is configured to acquire vehicle surrounding environment data during driving of the truck platoon.

[0093] The driving information acquisition module 120 is configured to acquire current position information and speed information of the same-direction vehicle, the opposite-direction vehicle and each vehicle in the truck platoon when it is determined according to the vehicle surrounding environment data that there is a same-direction vehicle and an opposite-direction vehicle with overtaking intention on the second lane of the double-lane road, wherein the same-direction vehicle is located behind the first truck of the truck platoon, and the opposite-direction vehicle is located in front of the first truck.

[0094] The lane-changing position determination module 130 is configured to determine a target lane-changing position from a plurality of lane-changing positions on the first lane according to the current position information and speed information of the same-direction vehicle, the opposite-direction vehicle and each vehicle in the truck platoon; in the truck platoon, each lane-changing position is located at a preset safety distance in front of each truck located in front of the same-direction vehicle; and the target lane-changing position is the lane-changing position closest to the first truck and reached by the same-direction vehicle earlier than the opposite-direction vehicle.

[0095] The truck platoon control module 140 is configured to adjust the driving speed of part or all of the vehicles in the truck platoon according to the target lane-changing position, so as to leave a space for the same-direction vehicle to change lanes back to the first lane at the target lane-changing position.

[0096] In some embodiments, the lane-changing position determination module 130 is further configured to calculate a time required for the same-direction vehicle and the opposite-direction vehicle to reach the lane-changing position corresponding to the first truck according to the current position information and speed information of the same-direction vehicle, the opposite-direction vehicle and the first truck in the truck platoon, and the time is recorded as a first time consumption estimation value and a second time consumption estimation value.

[0097] When the first time consumption estimation value is greater than or equal to the second time consumption estimation value, all the trucks in the truck platoon located in front of the same-direction vehicle are determined according to the current position information of the same-direction vehicle and each vehicle in the truck platoon.

[0098] In order, the trucks located in front of the same-direction vehicle are set as overtaking objects in the order of truck positions from front to back, and it is judged whether the overtaking objects meet a preset overtaking condition; the overtaking condition is that the same-direction vehicle can reach the lane-changing position corresponding to the overtaking object earlier than the opposite-direction vehicle 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; and the lane-changing position corresponding to the overtaking object is 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-changing position corresponding to the candidate overtaking object is determined as the target lane-changing position, and the operation of judging whether the overtaking condition is met is ended; or if the overtaking condition is not met, the next truck is set as the overtaking object.

[0100] In some embodiments, the truck platoon control module 140 is further configured to control each truck in the truck platoon ahead of the target lane-changing position to accelerate at a preset acceleration or maintain a current speed for constant speed driving, and control each truck in the truck platoon behind the target lane-changing position to decelerate at a preset deceleration.

[0101] In some embodiments, after the truck platoon control module 140 controls each truck behind the target lane-changing position to decelerate at a preset deceleration, the truck platoon control module 140 is further configured to, when controlling any truck behind the target lane-changing position to decelerate, monitor a current speed of the truck by the driving information acquisition module 120, and when the current speed of the truck drops to a preset speed, control the truck to maintain the current speed for constant speed driving.

[0102] In some embodiments, the truck platoon control module 140 is further configured to, when the first time consumption estimation value is less than the second time consumption estimation value, or there is no oncoming vehicle on the second lane of the double-lane road, control the truck platoon as a whole to maintain a current speed for constant speed driving.

[0103] In some embodiments, the truck platoon control module 140 is further configured to, when it is determined according to the vehicle surrounding environment data that there is a same-direction vehicle with an overtaking intention on the second lane of the double-lane road, and the oncoming vehicle has an intention to change into the first lane, control the truck platoon as a whole to decelerate at a preset deceleration.

[0104] Finally, in an embodiment, the cloud platform can use a combination of GIS and Apache Kafka technology to obtain real-time surrounding environment data of the truck platoon, which includes current position information and speed information of each vehicle, pedestrian or other obstacle on the current road. Given that the truck platoon is driving on the first lane of the double-lane road without any obstruction in the middle, when it is monitored according to the vehicle surrounding environment data that there is a same-direction vehicle with an overtaking intention and an oncoming vehicle on the second lane of the double-lane road, the cloud platform can obtain the current position information and speed information of the same-direction vehicle, the oncoming vehicle and each vehicle in the truck platoon by GIS. Then the cloud platform can determine a target lane-changing position from a plurality of lane-changing positions on the first lane according to these position information and speed information by Apache Kafka technology. Through such an integrated computing method, the maximum benefit of the three parties in the special driving scenario is realized. Finally, the cloud platform adjusts the driving speed of part or all of the vehicles in the truck platoon according to the target lane-changing position, so as to leave a space for the same-direction vehicle to change lanes back to the first lane at the target lane-changing position, thereby reducing the overall road risk.

[0105] The specific definitions of the yielding and overtaking control device suitable for truck platooning can be referred to the definitions of the yielding and overtaking control method suitable for truck platooning, which will not be repeated here. Each module in the yielding and overtaking control device suitable for truck platooning can be realized by software, hardware and combinations thereof, in whole or in part. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to each module.

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

[0107] According to a fourth aspect, the present application provides a computer device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the yielding and overtaking control methods of truck platooning when executing the computer program.

[0108] In an embodiment, a computer device is provided, which can be a server, and its internal structure diagram can be as shown in Figure 8 The computer device comprises a processor, a memory, a network interface and a database connected through a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises 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 operating system and the computer program in the non-volatile storage medium to run. The database of the computer device is used to store data related to the yielding and overtaking control of truck platooning. The network interface of the computer device is used to communicate with external terminals through network connection. The computer program is executed by the processor to implement any of the yielding and overtaking control methods of truck platooning.

[0109] Any reference to storage, memory or a database herein can include any suitable volatile, non-volatile, removable, non-removable media implemented in any technology for the purpose of storage and / or retrieval of information. Non-limiting examples of volatile memory include random access memory (RAM), dynamic random access memory (DRAM), or static random access memory (SRAM). Non-limiting examples of non-volatile memory include read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, or compact disk read only memory (CD-ROM). Non-limiting examples of removable media include a floppy disk, a magnetic tape, a floppy disk drive, a magnetic tape drive, or a removable memory card. Non-limiting examples of non-removable media include a RAM, a ROM, or a Blu-ray disk. Non-limiting examples of a database include a relational database management system (RDBMS), a distributed database management system (DDBMS), or a distributed relational database management system (DRDBMS).

[0110] Any of the technical features of the above embodiments can be combined, and for brevity, not all possible combinations of the above technical features are described, but it is to be understood that any combination of the above technical features is within the scope of the present specification.

[0111] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be noted that, for those skilled in the art, some modifications and improvements can be made without departing from the concept of the present application, and these are within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

[0112] Finally, it should be noted that, in this document, the relationship terms such as first and second 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 the entities or operations. Moreover, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

Claims

1. A method of yielding overtake control for a truck platoon, characterized by, The truck platoon travels on a first lane of a double-lane road without separation in the middle, and the method comprises: collecting vehicle surrounding environment data during the truck platoon travels; when it is determined according to the vehicle surrounding environment data that there is a same-direction traveling vehicle and an opposite-direction traveling vehicle with overtaking intention on a second lane of the double-lane road, acquiring current position information and speed information of the same-direction traveling vehicle, the opposite-direction traveling vehicle and each vehicle in the truck platoon, wherein the same-direction traveling vehicle is located behind the first truck of the truck platoon, and the opposite-direction traveling vehicle is located in front of the first truck; determining a target lane-changing position from a plurality of lane-changing positions on 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 platoon; for each part of the truck in front of the same-direction traveling vehicle in the truck platoon, each of the lane-changing positions is located at a preset safety distance in front of the part of the truck; and the target lane-changing position is the lane-changing position closest to the first truck and reached by the same-direction traveling vehicle earlier than the opposite-direction traveling vehicle; adjusting the traveling speed of part or all of the vehicles in the truck platoon according to the target lane-changing position, so as to leave a space for the same-direction traveling vehicle to change lanes back to the first lane at the target lane-changing position; determining a target lane-changing position from a plurality of lane-changing positions on 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 platoon, comprises: calculating the time required for the same-direction traveling vehicle and the opposite-direction traveling vehicle to reach the lane-changing position corresponding to the first truck according to the current position information and speed information of the same-direction traveling vehicle, the opposite-direction traveling vehicle and the first truck of the truck platoon, and denoted as a first time consumption estimation value and a second time consumption estimation value; when the first time consumption estimation value is greater than or equal to the second time consumption estimation value, determining all the trucks in the truck platoon in front of the same-direction traveling vehicle according to the current position information of the same-direction traveling vehicle and each vehicle in the truck platoon; in order, setting each truck in front of the same-direction traveling vehicle as an overtaking object, and judging whether the overtaking object meets a preset overtaking condition; the overtaking condition is that the same-direction traveling vehicle can reach the lane-changing position corresponding to the overtaking object earlier than the opposite-direction traveling vehicle under the condition that the truck in front of the lane-changing position corresponding to the overtaking object does not decelerate and each truck behind the lane-changing position corresponding to the overtaking object decelerates; and the lane-changing position corresponding to the overtaking object refers to the lane-changing position at a preset safety distance in front of the overtaking object; when the overtaking condition is met, determining the overtaking object as a candidate overtaking object, taking the lane-changing position corresponding to the candidate overtaking object as the target lane-changing position, and ending the operation of judging whether the overtaking condition is met; if the overtaking condition is not met, taking the next truck as the overtaking object.

2. The method of claim 1, wherein, The time required for the same-direction vehicle to reach any of the lane-changing positions is the time required for the same-direction vehicle to reach the lane-changing position at a preset speed after uniformly accelerating at a current speed; The time required for the opposite-direction vehicle to reach any of the lane-changing positions is the time required for the opposite-direction vehicle to reach the lane-changing position at a current speed.

3. The method of claim 1, wherein, The method further comprises: controlling each truck in the truck platoon ahead of the target lane-changing position to accelerate at a preset acceleration or maintain a current speed; controlling each truck in the truck platoon behind the target lane-changing position to decelerate at a preset deceleration.

4. The method of claim 3, wherein, The method further comprises: monitoring the current speed of any truck behind the target lane-changing position when controlling the truck to decelerate, and controlling the truck to maintain a current speed when the current speed of the truck drops to a preset speed.

5. The method of claim 1, wherein, The method further comprises: controlling the truck platoon as a whole to maintain a current speed when the first time estimate is less than the second time estimate or no opposite-direction vehicle exists on the second lane of the double-lane road.

6. The method of claim 1, wherein, The method further comprises: controlling the truck platoon as a whole to decelerate at a preset deceleration when the same-direction vehicle on the second lane of the double-lane road has an overtaking intention and the opposite-direction vehicle has an intention to change into the first lane.

7. A yielding overtake control device for a truck platoon, characterised in that, The truck platoon travels on the first lane of a double-lane road without a partition in the middle, and the device comprises: an environmental data acquisition module configured to acquire vehicle surrounding environmental data during travel of the truck platoon; a driving information acquisition module configured to acquire current position information and speed information of the same-direction vehicle, the opposite-direction vehicle, and each truck in the truck platoon when it is determined according to the vehicle surrounding environmental data that the same-direction vehicle and the opposite-direction vehicle exist on the second lane of the double-lane road and have an overtaking intention, wherein the same-direction vehicle is located behind the first truck of the truck platoon, and the opposite-direction vehicle is located ahead of the first truck; a lane-changing position determination module configured to determine a target lane-changing position from a plurality of lane-changing positions on the first lane according to the current position information and speed information of the same-direction vehicle, the opposite-direction vehicle, and each truck in the truck platoon, wherein each of the lane-changing positions is located at a preset safety distance ahead of each truck in the truck platoon ahead of the same-direction vehicle, and the target lane-changing position is the lane-changing position closest to the first truck and reached by the same-direction vehicle earlier than the opposite-direction vehicle. The truck platoon control module is configured to adjust a driving speed of part or all of the vehicles in the truck platoon according to the target lane-changing position, so as to leave a space for the oncoming vehicle to change lane back to the first lane at the target lane-changing position. The lane-changing position determination module is further configured to: calculate a time required for the oncoming vehicle and the oncoming vehicle to reach the lane-changing position corresponding to the first vehicle according to the current position information and speed information of the oncoming vehicle, the oncoming vehicle and the first vehicle, and record the time as a first time consumption estimation value and a second time consumption estimation value; when the first time consumption estimation value is greater than or equal to the second time consumption estimation value, determine all the trucks in front of the oncoming vehicle in the truck platoon according to the current position information of the oncoming vehicle and each vehicle in the truck platoon; in order from front to back, sequentially set each truck in front of the oncoming vehicle as an overtaking object, and sequentially determine whether the overtaking object meets a preset overtaking condition; the overtaking condition is that the oncoming vehicle can reach the lane-changing position corresponding to the overtaking object earlier than the oncoming vehicle under the condition that the truck in front of the lane-changing position corresponding to the overtaking object does not decelerate and each truck behind the lane-changing position corresponding to the overtaking object decelerates; the lane-changing position corresponding to the overtaking object refers to a preset safety distance in front of the overtaking object; when the overtaking condition is met, determine the overtaking object as a candidate overtaking object, take the lane-changing position corresponding to the candidate overtaking object as the target lane-changing position, and end the operation of determining whether the overtaking condition is met; if the overtaking condition is not met, take the next truck as the overtaking object.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method in any one of claims 1 to 6.

9. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the steps of the method in any one of claims 1 to 6.

Images