Motorcade construction method, control method, equipment and storage medium

Abstract

The invention discloses a motorcade construction method, a motorcade control method, motorcade control equipment and a storage medium. The motorcade construction method comprises the following steps: acquiring driving data of each vehicle in a target area at the current moment; based on the driving data of each vehicle, determining a position relationship among different vehicles; and constructing a plurality of current motorcades corresponding to the current moment by using the position relationship. In this way, the flexibility of motorcade construction can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a fleet construction method, control method, device and storage medium. Background Art

[0002] The combination of autonomous driving and unified scheduling can improve vehicle traffic efficiency. In some scenarios, multiple vehicles will be grouped into a fleet and the entire fleet will be controlled as a whole. However, the existing fleet composition model is too simple. Generally, vehicles with the same mission destination are bound as a whole for collaborative operation, which limits the flexibility of each vehicle. Summary of the invention

[0003] The main technical problem solved by the present application is to provide a fleet construction method, control method, device and storage medium, which can improve the flexibility of fleet construction.

[0004] In order to solve the above technical problems, a technical solution adopted in this application is: to provide a fleet construction method, the method comprising: obtaining the driving data of each vehicle in the target area at the current moment; based on the driving data of each vehicle, determining the position relationship between different vehicles; and using the position relationship to construct several current fleets corresponding to the current moment.

[0005] In order to solve the above technical problems, another technical solution adopted in the present application is: to provide a fleet control method, including: obtaining driving data of each vehicle in several current fleets; several current fleets are constructed based on the driving data of each vehicle at the current moment; based on the driving data of each vehicle in several current fleets, controlling the driving of each current fleet.

[0006] To solve the above technical problems, another technical solution adopted in the present application is: to provide an electronic device, comprising a memory and a processor coupled to each other, the memory storing program instructions; the processor is used to execute the program instructions stored in the memory to implement the above method.

[0007] In order to solve the above technical problem, another technical solution adopted by the present application is: providing a computer-readable storage medium for storing program instructions, which can be executed to implement the above method.

[0008] The above scheme directly determines the positional relationship between different vehicles based on the driving data of each vehicle in the target area at the current moment, and then uses the positional relationship between different vehicles to construct several current fleets at the current moment. It can be seen that the present application can construct a fleet in real time based on the positional relationship between different vehicles at the current moment. The construction of the fleet has nothing to do with the destination of each vehicle. Compared with the method of constructing vehicles with the same destination into a fleet, the destinations of each vehicle in the fleet constructed based on the positional relationship between different vehicles in the present application can be different. The construction of the fleet does not affect the independence of each vehicle, which greatly improves the flexibility of the current fleet construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a flow chart of an embodiment of a fleet building method provided by the present application;

[0010] Figure 2 is a flowchart of an embodiment of selecting at least one second vehicle to be added to a target historical fleet provided by the present application;

[0011] Figure 3 A schematic diagram of a framework of an embodiment of adjusting a target historical fleet provided by the present application;

[0012] Figure 4 It is a flow chart of an embodiment of a fleet control method provided by the present application;

[0013] Figure 5 yes Figure 4 The flowchart of step S42 is shown as an embodiment;

[0014] Figure 6 It is a schematic diagram of the comparison of the paths to be traveled by the vehicle to be tested and the safety comparison vehicle provided in the present application;

[0015] Figure 7 It is a schematic diagram of the framework of an embodiment of a vehicle fleet building device provided by the present application;

[0016] Figure 8 This is a schematic diagram of a framework of an embodiment of a fleet control device provided by the present application.

[0017] Fig. 9 It is a schematic diagram of a framework of an embodiment of an electronic device provided by the present application;

[0018] Fig.10 It is a schematic diagram of the framework of the computer-readable storage medium provided by this application. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and effect of the present application clearer and more specific, the present application is further described in detail below with reference to the accompanying drawings and examples.

[0020] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0021] The vehicle described herein may be any type of autonomous driving vehicle, such as an AGV (Automated Guided Vehicle). The fleet construction method and fleet control method provided by this application will be briefly described below, taking the vehicle as an AGV as an example. Among them, for the AGV in the unmanned factory, it will travel in the map according to the specified task and route (path). If the driving of the vehicle in front (the front vehicle) is hindered, it will affect the path of the vehicle in the back (the rear vehicle), resulting in a delay in the path of the rear vehicle. When a long queue of vehicles asynchronously delays and drives in sequence according to the issued path instead of driving in coordination according to the issued path, a delay accumulation will occur, which seriously affects the operation efficiency of large unmanned factories. In addition, the existing fleet composition and disintegration mode is too single. Generally, vehicles with the same task endpoint are constructed as a fleet, and the real-time construction of the fleet cannot be realized. When controlling the coordinated driving of the fleet, the fleet is generally bound as a whole, and vehicles with the same task endpoint can only travel in coordination, which limits the flexibility of each vehicle.

[0022] The fleet construction method provided in this application is used to construct several current fleets at the current moment according to the positional relationship between different vehicles at the current moment. That is, the fleet in this application can be constructed in real time, and the construction of the fleet has nothing to do with the tasks to be performed by each vehicle and the task endpoint. The same vehicle may belong to different fleets at different times. The construction of the fleet does not affect the independence of each vehicle, which greatly improves the flexibility of the current fleet construction. In addition, since the fleet construction method of this application has nothing to do with the tasks performed by the vehicle, but only with the positional relationship between the vehicles, the tasks performed by different automatic guided vehicles in the same current fleet can be the same or different.

[0023] The fleet control method provided by the present application can control the driving of each current fleet based on the driving data of each vehicle in each current fleet after each current fleet is built. Since the fleet building method of the present application is independent of the tasks performed by the vehicles, the present application does not need to consider the tasks performed by each vehicle when controlling the driving of each current fleet, and can realize flexible control of each vehicle in the current fleet.

[0024] Furthermore, in order to avoid the problem of low operating efficiency of the unmanned factory caused by the accumulation of delays caused by the vehicles in the same fleet driving according to the issued path asynchronously instead of coordinatedly, all vehicles in the same fleet can be controlled to drive in a coordinated manner.

[0025] See also Figure 1 , Figure 1 is a flow chart of an embodiment of the fleet construction method provided by the present application. It should be noted that if there are substantially the same results, this embodiment does not Figure 1 The process sequence shown is limited. Figure 1 As shown, this embodiment includes:

[0026] S11: Acquire the driving data of each vehicle in the target area at the current moment.

[0027] This embodiment is used to determine the positional relationship between different vehicles based on the driving data of each vehicle in the target area at the current moment, and then use the positional relationship between different vehicles to construct a number of current vehicle fleets corresponding to the current moment.

[0028] The target area is the area where the scene in the fleet construction scene is located. The driving data may include, but is not limited to, the current path of the vehicle to be driven, and may also include the path of the vehicle to be driven in a preset time period in the future. Each path to be driven can be predicted based on at least some factors of the vehicle's current information (such as the vehicle's location, etc.), traffic conditions, and road conditions. Of course, the driving data may also be the vehicle's current location, driving speed, or driving direction, etc.

[0029] S12: Determine the positional relationship between different vehicles based on the driving data of each vehicle.

[0030] In this embodiment, the position relationship between different vehicles includes at least one of the distance relationship between the vehicles and the coverage relationship of the segment paths. The segment path is the predicted path to be traveled by the vehicle at the current moment.

[0031] Among them, if the driving data of each vehicle includes the path to be traveled by the vehicle at the current moment, the distance relationship between vehicles and / or the coverage relationship of the segment paths can be directly determined based on the path to be traveled; of course, if the driving data includes the position, driving speed or driving direction of the vehicle at the current moment, path planning can be performed based on the driving data of each vehicle to obtain the path to be traveled of the vehicle, and then the distance relationship between vehicles and / or the coverage relationship of the segment paths can be determined based on the path to be traveled.

[0032] S13: Using the position relationship, construct several current fleets corresponding to the current moment.

[0033] In this embodiment, the order of each vehicle in each current fleet is determined according to the arrangement order of the positions of the vehicles.

[0034] In a specific embodiment, the position relationship between vehicles includes a distance relationship and a segment path coverage relationship. The segment path of the adjacent rear vehicle in the current fleet covers the segment path of the front vehicle, and the distance between the rear vehicle and the front vehicle is less than or equal to the distance threshold. That is, in the process of constructing the current fleet, the segment path coverage relationship and distance relationship of the adjacent front and rear vehicles need to be considered. The specific distance threshold can be determined according to the control effect of the fleet.

[0035] Of course, in other embodiments, the positional relationship between vehicles includes the coverage relationship of segment paths, and the segment paths of the adjacent rear vehicles in the current vehicle fleet cover the segment paths of the front vehicles. That is, in this embodiment, only the coverage relationship of the segment paths of the adjacent front and rear vehicles needs to be considered in the process of constructing the current vehicle fleet.

[0036] In one embodiment, each historical convoy constructed at a historical moment may be adjusted based on the positional relationship between vehicles, and each adjusted historical convoy may be used as the current convoy. For example, a new convoy member may be added to each historical convoy, and / or an original historical convoy may be split into at least two historical convoys, and the adjusted historical convoy may be used as the current convoy.

[0037] Furthermore, in some implementation scenarios, there may be a third vehicle in the target area that does not currently belong to any convoy. In this case, at least two third vehicles may be selected to form a new current convoy based on the positional relationship between the third vehicles. Any convoy in this implementation scenario refers to a convoy containing at least two vehicles, that is, the third vehicle is a single vehicle in the current target area.

[0038] In summary, in this embodiment, using the position relationship between different vehicles to construct a number of current fleets corresponding to the current moment includes at least one of the following steps:

[0039] Step 1: Take each historical fleet as the target historical fleet in turn, adjust the target historical fleet based on the positional relationship between different vehicles, and take each adjusted target historical fleet as the current fleet.

[0040] The adjustment of the target historical fleet includes: adding a second vehicle that does not belong to the target historical fleet to the target historical fleet, and / or splitting the target historical fleet into at least two historical fleets. In this embodiment, the second vehicle that does not belong to the target historical fleet may be a vehicle that does not belong to all historical fleets in the target area, or may be a first vehicle that belongs to a certain historical fleet but does not belong to the target historical fleet to be adjusted.

[0041] In addition, in the process of taking each historical convoy as the target historical convoy in sequence, each historical convoy can be randomly selected as the target historical convoy in sequence, or can be taken as the target historical convoy in sequence according to the order of the positions of the historical convoys or the order of the driving priorities of the historical convoys. The priority order can be determined according to one or more of the number of vehicles causing traffic jams by the first vehicle in each historical convoy, the waiting time of the first vehicle at the original location, and the urgency of the task.

[0042] Step 2: In response to the presence of a third vehicle that does not currently belong to any vehicle fleet in the target area, at least two third vehicles are selected based on a position relationship to form a new current vehicle fleet.

[0043] Among them, step 2 is to form a new current fleet with at least part of the third vehicles that are left alone in the target area. When the position relationship is used to construct several current fleets corresponding to the current moment, including the above steps 1 and 2, step 2 can be performed before or after step 1. Among them, considering that new single vehicles may be generated after the fission of the original historical fleet, step 2 can be performed after step 1, so that all single vehicles are taken into account in the process of selecting at least two third vehicles to form a new current fleet.

[0044] In one embodiment, the step 1 of adjusting the target historical fleet based on the positional relationship between different vehicles includes at least one of the following steps:

[0045] First, based on the positional relationship between adjacent first vehicles in the target historical vehicle fleet, the target historical vehicle fleet is split into at least two historical vehicle fleets.

[0046] In this embodiment, fission conditions can be set in advance, and then adjacent first vehicle pairs whose position relationships meet the fission conditions are found from the target historical fleet, and the target historical fleet is split into at least two historical fleets based on the adjacent first vehicle pairs as splitting points, wherein the two first vehicles in the adjacent first vehicle pairs belong to the two historical fleets after fission respectively, that is, the two first vehicles in the adjacent first vehicle pairs after fission no longer belong to the same target historical fleet, wherein the historical fleet after fission may include only one first vehicle, or may include more than two first vehicles.

[0047] Preferably, the positional relationship between each adjacent first vehicle includes a distance relationship and a segment path coverage relationship, and the fission condition includes: the segment path of the rear vehicle of the adjacent first vehicle pair does not cover the segment path of the front vehicle, or the distance between the adjacent first vehicle pairs is greater than the distance threshold. That is, in this embodiment, the adjacent first vehicle pairs whose segment paths of the rear vehicles do not cover the segment paths of the front vehicles, or whose distances are greater than the distance threshold, can be found from the target historical vehicle fleet, and then the adjacent first vehicle pairs are used as splitting points to find all the fission points in the target historical vehicle fleet, and the target historical vehicle fleet is split into at least two historical vehicle fleets based on each splitting point. The specific distance threshold can be determined according to the vehicle fleet control effect.

[0048] Second, a first vehicle is selected from the target historical fleet as a first fleet reference vehicle, and based on the positional relationship between the first fleet reference vehicle and each second vehicle, and the positional relationship between different second vehicles, at least one second vehicle is selected to be added to the target historical fleet.

[0049] It should be noted that the purpose of constructing a fleet in real time in this embodiment is to facilitate the subsequent effective control of multiple vehicles belonging to the same fleet constructed in real time. Therefore, in order to facilitate the control of multiple vehicles belonging to the same fleet, it is necessary to control the number of vehicles in the fleet within a certain range. Otherwise, the excessive number of vehicles in a fleet will cause a situation that is not conducive to control. For example, when a fleet passes a traffic light intersection, although each vehicle in the fleet needs to pass the traffic light intersection, since the intersection generally has a passing time, if the vehicles that have not passed within the passing time are still traveling in coordination with other members of the same fleet, it is easy to violate traffic regulations, and it is easy to cause traffic accidents due to the passage of other fleets, or affect the smooth passage of other fleets with different driving directions from the current fleet.

[0050] This step is used to add a second vehicle that does not belong to the target historical fleet but meets the fleet conditions in the target area at the current moment to the target historical fleet when there is a target historical fleet whose number of vehicles does not reach the fleet vehicle upper limit.

[0051] In one specific embodiment, see Figure 2 , Figure 2 This is a flow chart of an embodiment of selecting at least one second vehicle to be added to a target historical fleet provided by the present application. This embodiment includes:

[0052] S21: Find a second vehicle whose positional relationship with the reference vehicle of the first vehicle fleet satisfies the team-joining condition, and add the found second vehicle to the target historical vehicle fleet.

[0053] S22: The found second vehicle is used as a new reference vehicle for the first fleet, and the steps of finding a second vehicle whose positional relationship with the reference vehicle of the first fleet satisfies the conditions for teaming and subsequent steps are re-executed until the number of vehicles in the target historical fleet is greater than the fleet vehicle upper limit or the second vehicle whose positional relationship with the current reference vehicle of the first fleet satisfies the conditions for teaming is not found.

[0054] In one embodiment, the first vehicle at the head of the target historical convoy may be used as the reference vehicle of the first convoy, and the joining conditions are set as follows: being located before the reference vehicle of the first convoy, being closest to the reference vehicle of the first convoy and the distance being less than or equal to a distance threshold, and having its segment path covered by the segment path of the reference vehicle of the first convoy.

[0055] In other embodiments, considering that the vehicles belonging to the same convoy need to be controlled to move forward in the future, the driving of the rear vehicle in the same convoy needs to take into account the driving conditions of the front vehicle, so the vehicle at the end of the target historical convoy can be used as the first convoy reference vehicle, and the second vehicle that meets the convoy conditions can be found in sequence. In summary, the first vehicle at the end of the target historical convoy can be used as the first convoy reference vehicle, and the convoy conditions are set as: located behind the first convoy reference vehicle, closest to the first convoy reference vehicle and the distance is less than or equal to the distance threshold, and the segment path covers the first convoy reference vehicle, so that the second vehicle that meets the above convoy conditions can be found.

[0056] In this embodiment, after the second vehicle that has just been found and meets the teaming conditions is added to the target historical team, if the number of vehicles in the target historical team has not reached the upper limit of team vehicles, a new second vehicle that meets the teaming conditions can continue to be added. At this time, the found second vehicle is used as the new reference vehicle for the first team, and the steps of finding the second vehicle whose positional relationship with the reference vehicle of the first team meets the teaming conditions and subsequent steps are re-executed until the number of vehicles in the target historical team is greater than the upper limit of team vehicles or the second vehicle whose positional relationship with the current reference vehicle of the first team meets the teaming conditions cannot be found.

[0057] For example, please combine Figure 3 , Figure 3This is a schematic diagram of a framework of an embodiment of adjusting the target historical fleet provided by the present application. Taking the first fleet reference vehicle as the first vehicle at the end of the corresponding target historical fleet as an example, each vehicle is adjusted according to Figure 3 Driving in the direction indicated by the arrow shown, vehicle C and vehicle D belong to the same target historical fleet 1, and vehicle C is the first vehicle at the end of the target historical fleet 1. Vehicle C is used as the reference vehicle of the target historical fleet 1, and the first vehicle that meets the teaming condition is recursively searched backward. Among them, vehicle B is the vehicle that is located after the reference vehicle (vehicle C), closest to the reference vehicle (vehicle C) and the distance is less than or equal to the distance threshold, and the segment path of vehicle B covers the path of the reference vehicle (vehicle C). Therefore, vehicle B meets the teaming condition and vehicle B can be added to the target historical fleet 1. If the number of vehicles in the target historical fleet 1 does not reach the fleet vehicle upper limit at this time, vehicle B is used as the new reference vehicle of the target historical fleet 1, and the first vehicle that meets the teaming condition is recursively searched backward. Among them, vehicle A is located after the new reference vehicle (vehicle B), closest to the reference vehicle (vehicle B) and the distance is less than or equal to the distance threshold, but the distance between vehicle A and vehicle B is greater than the distance threshold, and the segment path of vehicle A covers the path of the reference vehicle (vehicle B). Vehicle A meets the teaming condition, so vehicle A is added to the target historical fleet 1.

[0058] In one embodiment, the above-mentioned step 2 "in response to the presence of a third vehicle that does not currently belong to any vehicle fleet in the target area, based on the positional relationship between the third vehicles, selecting at least two third vehicles to form a new current vehicle fleet" includes: first selecting a third vehicle as a reference vehicle for the second vehicle fleet, and then, based on the positional relationship between the reference vehicle for the second vehicle fleet and each of the remaining third vehicles, and the positional relationship between the remaining different third vehicles, selecting at least one remaining third vehicle and the reference vehicle for the second vehicle fleet to form a new current vehicle fleet.

[0059] In a specific embodiment, based on the positional relationship between the second fleet reference vehicle and each remaining third vehicle, and the positional relationship between the remaining different third vehicles, selecting at least one remaining third vehicle and the second fleet reference vehicle to form a new current fleet includes:

[0060] First, a third vehicle whose positional relationship with the reference vehicle of the second vehicle team satisfies the team-forming condition is found, and the found third vehicle and the reference vehicle of the second vehicle team form a new current vehicle team.

[0061] Second, use the found third vehicle as a new reference vehicle for the second fleet, find a third vehicle whose positional relationship with the new reference vehicle for the second fleet meets the conditions for teaming, and add the newly found third vehicle to the new current fleet; repeat this step until the number of vehicles in the new current fleet is greater than the fleet vehicle upper limit or a third vehicle whose positional relationship with the current reference vehicle for the second fleet meets the conditions for teaming is not found.

[0062] When selecting the reference vehicle for the second fleet, the third vehicle located at the front or the back of all the third vehicles can be used as the reference vehicle for the second fleet. Based on the reference vehicle, a third vehicle that can form a new current fleet with the reference vehicle for the second fleet is selected from the remaining third vehicles.

[0063] In one embodiment, considering that the driving of the rear vehicles belonging to the same motorcade depends on the driving conditions of the front vehicles, the third vehicle located at the rear of all the third vehicles can be used as a reference vehicle for the second motorcade, and the third vehicle that can form a new current motorcade with the reference vehicle for the second motorcade is selected from the remaining third vehicles.

[0064] It should be noted that the teaming condition in this embodiment is the same as the teaming condition used in the above “finding a second vehicle whose positional relationship with the first team reference vehicle satisfies the teaming condition”. For example, both of them set the teaming condition as: being behind the corresponding team reference vehicle, being closest to the corresponding team reference vehicle and the distance is less than or equal to the distance threshold, and the segment path covers the corresponding team reference vehicle. Please refer to the above description of the teaming condition for details, and no further elaboration will be given here.

[0065] It should also be noted that the at least one second vehicle selected to join the target historical vehicle fleet and / or the at least one remaining third vehicle selected to form a new current vehicle fleet with the second vehicle fleet reference vehicle is a static vehicle or a dynamic vehicle. A static vehicle is a vehicle that is currently stationary, and a dynamic vehicle is a vehicle that is currently moving.

[0066] In some implementation scenarios, such as when passing through a traffic light intersection, there are currently multiple vehicles waiting for the green light. At this time, the multiple vehicles waiting for the green light are all static vehicles, and the multiple vehicles may belong to different historical fleets. In this case, based on the position relationship between different vehicles (segment path coverage relationship and / or distance relationship), the multiple vehicles at the current moment can be regrouped to construct several current fleets, so that when the green light is on, vehicles belonging to the same fleet can start in coordination and pass through the intersection. Compared with the method of vehicles starting asynchronously one after another, the method of controlling the coordinated start of the same fleet in this application can speed up the vehicle passage efficiency.

[0067] Of course, it is also possible to not consider whether the vehicle is stationary, and directly determine the positional relationship between different vehicles based on the driving data of each vehicle at the current moment, and construct several current fleets based on the positional relationship between different vehicles.

[0068] It should also be noted that, in one embodiment, the current fleet may not be constructed by adjusting each historical fleet in the above manner, but a number of current fleets at the current moment may be constructed directly according to the positional relationship between different vehicles at the current moment. For example, the vehicle at the front position in the target area is used as the reference vehicle, the closest vehicle to the reference vehicle is searched, and it is determined whether the positional relationship between the closest vehicle and the reference vehicle meets the fleet combination condition. If so, the reference vehicle and the closest vehicle are merged into a fleet. If not, it is determined that the reference vehicle and the closest vehicle cannot be combined into the same fleet, and the closest vehicle is used as a new reference vehicle, and the steps of searching for the closest vehicle to the reference vehicle and determining whether the positional relationship between the closest vehicle and the reference vehicle meets the fleet combination condition are continued. If so, the reference vehicle and the closest vehicle are combined into a fleet. If not, it is determined that the reference vehicle and the closest vehicle cannot be combined into the same fleet, until there is no closest vehicle to the reference vehicle. In the process of executing the above steps, if the number of vehicles in a composite team reaches the upper limit of the team vehicles, the vehicle closest to the last vehicle in the composite team is used as a new reference vehicle, and the new reference vehicle is the first vehicle in another composite team or a vehicle that does not belong to any team. If the closest vehicle to the new reference vehicle meets the teaming condition, the new reference vehicle is the first vehicle in another composite team; if the teaming condition is not met, the new reference vehicle is a vehicle that does not belong to any team. For the teaming condition, please refer to the description of the teaming condition in the previous text.

[0069] The above scheme directly determines the positional relationship between different vehicles based on the driving data of each vehicle in the target area at the current moment, and then uses the positional relationship between different vehicles to construct several current fleets at the current moment. It can be seen that the present application can construct a fleet in real time based on the positional relationship between different vehicles at the current moment. The construction of the fleet has nothing to do with the destination of each vehicle. Compared with the method of constructing vehicles with the same destination into a fleet, the destinations of each vehicle in the fleet constructed based on the positional relationship between different vehicles in the present application can be different. The construction of the fleet does not affect the independence of each vehicle, which greatly improves the flexibility of the current fleet construction.

[0070] It should be noted that in some implementation scenarios, the purpose of building a fleet is to facilitate the subsequent flexible control of each fleet. For example, the coordinated control of different vehicles belonging to the same fleet is to control different vehicles belonging to the same fleet to drive according to their respective target driving data (target driving path).

[0071] See also Figure 4 , Figure 4 is a flow chart of an embodiment of the fleet control method provided by the present application. It should be noted that if there are substantially the same results, this embodiment does not necessarily Figure 4 The process sequence shown is limited. Figure 4 As shown, this embodiment includes:

[0072] S41: Acquire driving data of each vehicle in a number of current fleets; the number of current fleets is constructed based on the positional relationship between different vehicles at the current moment, and the positional relationship between different vehicles is determined based on the driving data of each vehicle.

[0073] The specific method of building a fleet can be found in the above description and will not be elaborated here.

[0074] S42: Based on the driving data of each vehicle in a number of current vehicle fleets, control the driving of each current vehicle fleet.

[0075] In this embodiment, in order to ensure the safety of each vehicle in the same current fleet while controlling the driving of each current fleet, a safety check can be performed on each vehicle in each current fleet to detect the safety between different vehicles in the same current fleet and between different vehicles in different fleets, and the driving of each current fleet can be controlled based on the safety check results between different vehicles.

[0076] Specifically, see Figure 5 , Figure 5 yes Figure 4 The flowchart of step S42 of an embodiment is shown. In this embodiment, based on the driving data of each vehicle in a plurality of current vehicle fleets, the driving of each current vehicle fleet is controlled, including:

[0077] S51: taking each vehicle in each current fleet as a to-be-detected vehicle in turn, and determining a safety comparison vehicle for the to-be-detected vehicle from a number of current fleets.

[0078] This embodiment is used to detect the safety between different vehicles before controlling the driving of each current fleet, and then control the driving of each current fleet based on the safety detection results between different vehicles. Among them, the safety comparison vehicle and the vehicle to be detected may belong to the same current fleet or to different current fleets. In the two cases where the vehicle to be detected and the safety comparison vehicle belong to the same current fleet or different current fleets, the detection strategies adopted are different. Please refer to the description of the relevant part below for details.

[0079] In this embodiment, each vehicle in each current fleet can be selected as a vehicle to be detected in turn according to the priority order of different current fleets and the priority order of different vehicles in the same fleet. The priority order of different current fleets can be determined based on at least some factors including the waiting time of the first vehicle in the current fleet, the number of congested vehicles behind due to the stationary first vehicle, and the urgency of the task of each vehicle. The priority order in the same current fleet can be determined based on the position order of each vehicle. For example, the first vehicle in the same current fleet has the highest priority, and the priority of the vehicles is reduced from the front to the back based on the first vehicle.

[0080] S52: Based on the driving data corresponding to the vehicle to be detected and the safety comparison vehicle respectively, detect the safety between the vehicle to be detected and the safety comparison vehicle, and obtain corresponding safety detection results.

[0081] In this embodiment, before detecting the safety between the vehicle to be detected and the safety comparison vehicle, it is necessary to first determine the first paths to be traveled corresponding to the vehicle to be detected and the safety comparison vehicle at the current moment based on the driving data corresponding to the vehicle to be detected and the safety comparison vehicle respectively, and / or determine the second paths to be traveled and the third paths to be traveled corresponding to the vehicle to be detected and the safety comparison vehicle in a preset time period in the future. The first path to be traveled of each vehicle at the current moment is used to represent the path to be traveled that the corresponding vehicle is about to travel at the current moment, and the second path to be traveled and the third path to be traveled are respectively the paths to be traveled that the vehicle to be detected and the safety comparison vehicle are about to travel in the preset time period in the future.

[0082] In one embodiment, the driving data itself includes the first to-be-traveled path of the vehicle at the current moment and the to-be-traveled path in a preset time period in the future. In another embodiment, the driving data includes at least part of the data such as the position, driving direction, and speed of the vehicle at the current moment, and the first to-be-traveled path of each vehicle at the current moment and the to-be-traveled path in a preset time period in the future can be predicted based on the driving data of each vehicle.

[0083] In this embodiment, detecting the safety between the vehicle to be detected and the safety comparison vehicle includes: detecting a first safety between the vehicle to be detected and the safety comparison vehicle, and / or detecting a second safety between the vehicle to be detected and the safety comparison vehicle.

[0084] In summary, in this embodiment, based on the driving data corresponding to the vehicle to be detected and the safety comparison vehicle respectively, the safety between the vehicle to be detected and the safety comparison vehicle is detected, and the corresponding safety detection result is obtained, including: based on the first to-be-driven paths corresponding to the vehicle to be detected and the safety comparison vehicle respectively, the first safety between the vehicle to be detected and the safety comparison vehicle is detected, and the first safety detection result is obtained; and / or, based on at least two of the first to-be-driven path of the safety comparison vehicle, the first to-be-driven path of the vehicle to be detected, the second to-be-driven path, and the third to-be-driven path, the second safety between the vehicle to be detected and the safety comparison vehicle is detected, and the second safety detection result is obtained. Among them, the first to-be-driven path, the second to-be-driven path, and the third to-be-driven path are determined based on the driving data of the corresponding vehicles at the current moment.

[0085] The vehicle to be detected and the safety comparison vehicle are adjacent vehicles in a number of current fleets. Based on the first to-be-traveled paths corresponding to the vehicle to be detected and the safety comparison vehicle, respectively, the first safety between the vehicle to be detected and the safety comparison vehicle is detected to obtain the first safety detection result, including the following two detection strategies:

[0086] Strategy 1: In response to the safety comparison vehicle and the vehicle to be detected belonging to the same current fleet, and the vehicle to be detected is the preceding vehicle of the safety comparison vehicle, determining whether the first end point of the first path to be driven by the safety comparison vehicle reaches the first preset position of the first path to be driven by the vehicle to be detected; wherein, if the first end point reaches the first preset position, determining that a first danger exists between the safety comparison vehicle and the vehicle to be detected, otherwise, determining that a first safety exists between the safety comparison vehicle and the vehicle to be detected.

[0087] Wherein, the distance between the first preset position and the end point of the first to-be-traveled path of the to-be-detected vehicle is greater than or equal to the body length of the to-be-detected vehicle.

[0088] In short, if the adjacent safety comparison vehicle and the vehicle to be detected belong to the same current fleet, and the vehicle to be detected is the front vehicle of the safety comparison vehicle, during the detection process, if it is detected that the end point of the first path to be driven by the rear safety comparison vehicle reaches the first preset position of the first path to be driven by the front vehicle to be detected, it is determined that the safety comparison vehicle will rear-end the vehicle to be detected, that is, it is determined that there is a risk of collision between the safety comparison vehicle and the vehicle to be detected; otherwise, it is determined that the safety comparison vehicle and the vehicle to be detected are safe.

[0089] Strategy 2: In response to the safety comparison vehicle and the vehicle to be detected belonging to different current fleets, and the vehicle to be detected is the rear vehicle of the safety comparison vehicle, determine whether the second end point of the first to-be-traveled path of the vehicle to be detected is in contact with the safety comparison vehicle; wherein, if the second end point is in contact with the safety comparison vehicle, it is determined that a second danger exists between the safety comparison vehicle and the vehicle to be detected; otherwise, it is determined that a second safety exists between the safety comparison vehicle and the vehicle to be detected.

[0090] In short, if the safety comparison vehicle and the vehicle to be tested belong to different current fleets, and the safety test vehicle is the rear vehicle of the safety comparison vehicle, during the detection process, if it is detected that the end point of the first to-be-traveled path of the rear vehicle to be tested is in contact with the safety comparison vehicle, it is determined that there is a risk of collision between the full comparison vehicle and the vehicle to be tested; otherwise, it is determined that the safety comparison vehicle and the vehicle to be tested are safe.

[0091] To understand the above detection process, please refer to Figure 6 , Figure 6 It is a schematic diagram of the comparison of the paths to be traveled by the vehicle to be tested and the safety comparison vehicle provided in this application. Figure 6 The vehicle to be detected is B, and A and C are both safety comparison vehicles of the vehicle to be detected B, wherein the safety comparison vehicle A and the vehicle to be detected B belong to the same current fleet, and the safety comparison vehicle C and the vehicle to be detected B belong to different current fleets. Wherein, if the end point of the first to-be-traveled path 2 of the safety comparison vehicle A reaches the first preset position 5 of the first to-be-traveled path 3 of the vehicle to be detected B, it is determined that the safety comparison vehicle A will rear-end the vehicle to be detected B. Wherein, the distance between the first preset position 5 and the end point of the first to-be-traveled path 3 of the vehicle to be detected B is equal to the body length of the vehicle to be detected B, that is, when the end point of the first to-be-traveled path 2 of the safety comparison vehicle A reaches the first preset position 5, the safety comparison vehicle A contacts the vehicle to be detected B, in which case, the safety comparison vehicle A will rear-end the vehicle to be detected B; it should be noted that, in order to improve the safety between vehicles, the distance between the first preset position and the end point of the first to-be-traveled path of the vehicle to be detected can be set to be slightly larger than the body length of the vehicle to be detected.

[0092] Please continue reading Figure 6 If it is detected that the end point of the first to-be-traveled path 3 of the vehicle B to be detected behind is in contact with the safety comparison vehicle C, it is determined that there is a collision risk between the full comparison vehicle C and the vehicle B to be detected; otherwise, it is determined that the safety comparison vehicle C and the vehicle B to be detected are safe.

[0093] from Figure 6It can be seen that when safety inspection is performed on the safety comparison vehicle A and the vehicle to be inspected B that belong to the same current fleet, it is detected whether the end point of the first to-be-traveled path 2 of the safety comparison vehicle A reaches the first preset position 5 of the first to-be-traveled path 3 of the vehicle to be inspected B; and when safety inspection is performed on the safety comparison vehicle C and the vehicle to be inspected B that do not belong to the same current fleet, it is detected whether the end point of the first to-be-traveled path 3 of the vehicle to be inspected B contacts the safety comparison vehicle C, rather than detecting the positional relationship between the end point of the first to-be-traveled path 3 of the vehicle to be inspected B and the first to-be-traveled path 4 of the safety comparison vehicle C. That is, in this embodiment, different inspection strategies are adopted in the two cases where the vehicle to be inspected and the safety comparison vehicle belong to the same current fleet and different current fleets.

[0094] Further, in some embodiments, the second safety between the vehicle to be detected and the safety comparison vehicle is detected based on at least two of the first to-be-traveled path of the safety comparison vehicle, the first to-be-traveled path of the vehicle to be detected, the second to-be-traveled path, and the third to-be-traveled path, to obtain a second safety detection result, including:

[0095] First, detect whether the third end point of the third path to be driven of the safety comparison vehicle reaches the first preset position of the first path to be driven of the vehicle to be detected; wherein, if the third end point reaches the first preset position, it is determined that a third danger exists between the safety comparison vehicle and the vehicle to be detected; the distance between the first preset position and the end point of the first path to be driven of the vehicle to be detected is greater than or equal to the body length of the vehicle to be detected.

[0096] Second, in response to the existence of a third danger between the safety comparison vehicle and the vehicle to be detected, detect whether the fourth end point of the second path to be driven by the vehicle to be detected reaches the second preset position of the first path to be driven by the safety comparison vehicle; wherein, if the fourth end point reaches the second preset position, it is determined that there is a fourth danger between the safety comparison vehicle and the vehicle to be detected; the distance between the second preset position and the end point of the first path to be driven by the safety comparison vehicle is greater than or equal to the body length of the safety comparison vehicle.

[0097] The second safety detection of this embodiment is to use the path to be driven of each vehicle in the future preset time period for safety detection, wherein it is necessary to first detect whether the third end point of the third path to be driven of the safety comparison vehicle reaches the first preset position of the first path to be driven of the vehicle to be detected. If the third end point reaches the first preset position, it is determined that there is a third danger between the safety comparison vehicle and the vehicle to be detected. It should be noted that in the case of the existence of the third danger, it cannot be said that there is a danger between the safety comparison vehicle and the vehicle to be detected. In the case of the existence of the third danger, the third path to be driven of the safety comparison vehicle behind can be cut off. However, if it is detected that there is a third danger between the safety comparison vehicle and the vehicle to be detected, and at the same time that it is detected that there is a fourth danger between the safety comparison vehicle and the vehicle to be detected, it is determined that there is a real danger between the safety comparison vehicle and the vehicle to be detected. In the subsequent case where it is detected that there is both a third danger and a fourth danger between the safety comparison vehicle and the vehicle to be detected, the vehicle to be detected or the safety comparison vehicle should be controlled to be stationary to prevent the safety comparison vehicle from colliding with the vehicle to be detected.

[0098] S53: Based on the safety detection results, control the driving of each current fleet.

[0099] In this embodiment, based on each safety detection result, controlling each current fleet to travel includes at least one of the following steps:

[0100] First, based on the safety test results, the target driving paths of the vehicles to be tested and the safety comparison vehicles are determined, and the vehicles in the current fleet are controlled to drive according to the target driving paths.

[0101] The target travel path of each vehicle to be inspected and the vehicle for safety comparison is obtained by adjusting the first travel path of the vehicle to be inspected and the vehicle for safety comparison based on the corresponding first safety inspection result.

[0102] It should be noted that, after obtaining the first safety detection result between the vehicle to be detected and the safety comparison vehicle based on the first paths to be driven corresponding to the vehicle to be detected and the safety comparison vehicle respectively, if the first safety detection result is that there is a first danger between the safety comparison vehicle behind and the vehicle to be detected in front, the first path to be driven of the safety comparison vehicle behind is cut to obtain a first cutting path, and the first cutting path is used as the target path to be driven by the safety comparison vehicle, and the first path to be driven of the vehicle to be detected is used as the target path to be driven by the vehicle to be detected; wherein, the end point of the first cutting path does not reach the first preset position of the first path to be driven of the vehicle to be detected, and the distance between the end point of the first cutting path and the first preset position is greater than the first distance threshold.

[0103] However, if the result of the first safety detection is that there is a second danger between the safety comparison vehicle and the vehicle to be detected, the first path to be driven of the vehicle to be detected is cut to obtain a second cut path, and the second cut path is used as the target path to be driven of the vehicle to be detected, and the first path to be driven of the safety comparison vehicle is used as the target path to be driven of the safety comparison vehicle; wherein the distance between the end point of the second cut path and the safety comparison vehicle is greater than the second distance threshold. The specific first distance threshold and the second distance threshold can be determined according to actual needs.

[0104] In short, when a danger is detected between a safety comparison vehicle behind and a vehicle to be detected ahead that belong to the same current fleet, in order to prevent the vehicle behind from colliding with the vehicle ahead, the first path to be driven by the safety comparison vehicle behind can be cut so that the end point of the first cut path obtained after cutting is before the first preset position of the first path to be driven by the vehicle to be detected. Figure 6 As shown, by cutting and shortening the length of the first travel path 2 of the safety comparison vehicle A, the end point of the cut first travel path 2 of the safety comparison vehicle A is before the first preset position 5, which can avoid the safety comparison vehicle A from rear-ending the vehicle B to be detected.

[0105] However, if a danger is detected between the following vehicle to be detected and the preceding safety comparison vehicle that belongs to a different current fleet, in order to prevent the following vehicle from colliding with the preceding vehicle, the first path to be driven by the following vehicle to be detected may be cut so that the end point of the second cut path obtained after cutting is before the current position of the safety comparison vehicle. Figure 6 , by cutting the length of the first to-be-traveled path 3 of the to-be-detected vehicle B, the end point of the cut first to-be-traveled path 3 of the to-be-detected vehicle B is before the current position of the safety comparison vehicle C. The target to-be-traveled path finally determined is at least a part of the first to-be-traveled path of the corresponding vehicle.

[0106] It can be understood that in order to prevent the rear vehicles in several current fleets from colliding with the front vehicles and to reduce repeated safety inspections on each vehicle and / or repeated cutting of the first driving path of the vehicle to be inspected or the safety comparison vehicle, the vehicles to be inspected can be selected in sequence according to the position of each vehicle in several current fleets from front to back.

[0107] In one embodiment, after the target travel paths of each to-be-detected vehicle and each safety comparison vehicle are determined, each vehicle in the current fleet may be directly controlled to travel along the corresponding target travel paths.

[0108] In another embodiment, after determining the target to-be-traveled paths of each to-be-detected vehicle and each safety comparison vehicle, it is also necessary to determine the second safety detection result between the to-be-detected vehicle and the safety comparison vehicle, and based on the second safety detection result, control each vehicle in each current fleet to travel along the corresponding target to-be-traveled path. That is, in this embodiment, controlling each to-be-detected vehicle and the safety comparison vehicle to travel along the target to-be-traveled path is triggered based on the corresponding second safety detection result.

[0109] If the second safety test result shows that there is no third danger or fourth danger between the safety comparison vehicle and the vehicle to be tested, the vehicle to be tested or the safety comparison vehicle is controlled to travel along the target travel path. However, if the second safety test result shows that there is a third danger or a fourth danger between the safety comparison vehicle and the vehicle to be tested, the vehicle to be tested or the safety comparison vehicle is controlled to be stationary to avoid a collision between the vehicle to be tested and the safety comparison vehicle.

[0110] Second, for each current fleet, in response to at least one of the first safety detection result and the second safety detection result of each vehicle in the current fleet being safe, each vehicle in the current fleet is controlled to travel in coordination.

[0111] Among them, controlling the coordinated driving of the vehicles in the current fleet can be understood as controlling the vehicles in the current fleet to drive together according to the corresponding target driving path.

[0112] It should be noted that since there may be multiple current fleets constructed in the target area, in the process of controlling each vehicle in each current fleet to travel together according to the corresponding target to-be-traveled path, each current fleet can be controlled to travel in coordination according to the priority order of each current fleet. The specific method for determining the priority order of each current fleet can be determined by referring to the method described above, and no further elaboration is given here.

[0113] See also Figure 7 , Figure 7 : is a schematic diagram of a framework of an embodiment of a fleet construction device provided by the present application. In this embodiment, the fleet construction device 70 includes a first acquisition module 71, a determination module 72 and a construction module 73. Among them, the first acquisition module 71 is used to obtain the driving data of each vehicle in the target area at the current moment; the determination module 72 is used to determine the position relationship between different vehicles based on the driving data of each vehicle; the construction module 73 is used to use the position relationship to construct a number of current fleets corresponding to the current moment.

[0114] In some embodiments, the position relationship determined by the determination module 72 includes at least one of a distance relationship and an inclusion relationship of segment paths.

[0115] In some embodiments, the position relationship determined by the determination module 72 includes a distance relationship and a segment path coverage relationship. The order of each vehicle in the current fleet is determined according to the arrangement order of the vehicle positions. The segment paths of adjacent rear vehicles in the current fleet cover the segment paths of the front vehicles, and the distance between the rear vehicle and the front vehicle is less than or equal to a distance threshold.

[0116] In some embodiments, each vehicle in the target area includes a first vehicle belonging to each historical fleet corresponding to a historical moment; the construction module 73 uses the position relationship to construct a number of current fleets, including at least one of the following steps: taking each historical fleet as a target historical fleet in turn, adjusting the target historical fleet based on the position relationship, and taking each adjusted target historical fleet as a current fleet; the adjustment of the target historical fleet includes at least one of the following: adding a second vehicle that does not belong to the target historical fleet to the target historical fleet, splitting the target historical fleet into at least two historical fleets; in response to the presence of a third vehicle that does not currently belong to any fleet in the target area, selecting at least two third vehicles to form a new current fleet based on the position relationship.

[0117] In some embodiments, adjusting the target historical fleet based on the position relationship includes at least one of the following steps: splitting the target historical fleet into at least two historical fleets based on the position relationship between each adjacent first vehicle in the target historical fleet; selecting a first vehicle from the target historical fleet as a reference vehicle for the first fleet, and selecting at least one second vehicle to add to the target historical fleet based on the position relationship between the reference vehicle of the first fleet and each second vehicle, and the position relationship between different second vehicles; selecting at least two third vehicles to form a current fleet based on the position relationship, including: selecting a third vehicle as a reference vehicle for the second fleet, and selecting at least one remaining third vehicle and the reference vehicle of the second fleet to form a new current fleet based on the position relationship between the reference vehicle of the second fleet and each remaining third vehicle, and the position relationship between different remaining third vehicles.

[0118] In some embodiments, based on the positional relationship between each adjacent first vehicle in the target historical fleet, the target historical fleet is split into at least two historical fleets, including: finding adjacent first vehicle pairs whose positional relationship meets the fission condition from the target historical fleet, taking the adjacent first vehicle pairs as splitting points of the target historical fleet, and splitting the target historical fleet into at least two historical fleets based on each splitting point, wherein the two first vehicles in the adjacent first vehicle pairs belong to the two historical fleets after the fission respectively; based on the positional relationship between the reference vehicle of the first fleet and each second vehicle, and the positional relationship between different second vehicles, at least one second vehicle is selected to join the target historical fleet, including: finding a second vehicle whose positional relationship with the reference vehicle of the first fleet meets the teaming condition, and adding the found second vehicle to the target historical fleet; using the found second vehicle as a new reference vehicle of the first fleet, and re-executing the process of finding the second vehicle whose positional relationship with the reference vehicle of the first fleet meets the teaming condition and its Subsequent steps, until the number of vehicles in the target historical fleet is greater than the fleet vehicle upper limit or a second vehicle whose positional relationship with the current first fleet reference vehicle satisfies the team-forming condition is not found; based on the positional relationship between the second fleet reference vehicle and each remaining third vehicle, and the positional relationship between the remaining different third vehicles, at least one remaining third vehicle is selected to form the current fleet with the second fleet reference vehicle, including: finding a third vehicle whose positional relationship with the second fleet reference vehicle satisfies the team-forming condition, and forming a new current fleet with the found third vehicle and the second fleet reference vehicle; using the found third vehicle as a new second fleet reference vehicle, finding a third vehicle whose positional relationship with the new second fleet reference vehicle satisfies the team-forming condition, and adding the newly found third vehicle to the new current fleet; repeating this step until the number of vehicles in the new current fleet is greater than the fleet vehicle upper limit or a third vehicle whose positional relationship with the current second fleet reference vehicle satisfies the team-forming condition is not found.

[0119] In some embodiments, the position relationship includes a distance relationship and a segment path coverage relationship, wherein the fission condition includes: the segment path of the rear vehicle of the adjacent first vehicle pair does not cover the segment path of the front vehicle, or the distance between the adjacent first vehicle pairs is greater than a distance threshold; and / or the teaming condition includes: being located behind the corresponding fleet reference vehicle, being closest to the corresponding fleet reference vehicle and the distance is less than or equal to the distance threshold, and the segment path covers the corresponding fleet reference vehicle.

[0120] In some embodiments, the first fleet reference vehicle is the first vehicle at the end of the corresponding target historical fleet; and / or, the second fleet reference vehicle is the third vehicle at the front of all third vehicles; and / or, at least one second vehicle added to the target historical fleet is selected as a static vehicle; and / or, at least one remaining third vehicle that forms a new current fleet with the second fleet reference vehicle is selected as a static vehicle.

[0121] See also Figure 8 , Figure 8 Schematic diagram of a framework of an embodiment of a fleet control device provided by the present application. In this embodiment, the fleet control device 80 includes a second acquisition module 81 and a control module 82. The second acquisition module 81 is used to acquire the driving data of each vehicle in a number of current fleets; the number of current fleets is constructed based on the positional relationship between different vehicles at the current moment, and the positional relationship between different vehicles is determined based on the driving data of each vehicle; the control module 82 is used to control the driving of each current fleet based on the driving data of each vehicle in the number of current fleets.

[0122] In some embodiments, the control module 82 controls the driving of each current fleet based on the driving data of each vehicle in the current fleets, including: taking each vehicle in each current fleet as a vehicle to be detected in turn, and determining a safety comparison vehicle for the vehicle to be detected from the current fleets; detecting the safety between the vehicle to be detected and the safety comparison vehicle based on the driving data corresponding to the vehicle to be detected and the safety comparison vehicle, and obtaining corresponding safety detection results; wherein the safety comparison vehicle and the vehicle to be detected belong to the same current fleet or different current fleets, and in the two cases where the vehicle to be detected and the safety comparison vehicle belong to the same current fleet and different current fleets, the detection strategies adopted are different; based on each safety detection result, controlling the driving of each current fleet.

[0123] In some embodiments, based on the driving data corresponding to the vehicle to be detected and the safety comparison vehicle respectively, the safety between the vehicle to be detected and the safety comparison vehicle is detected to obtain corresponding safety detection results, including: based on the first to-be-driven paths corresponding to the vehicle to be detected and the safety comparison vehicle respectively, the first safety between the vehicle to be detected and the safety comparison vehicle is detected to obtain a first safety detection result; and / or, based on the first to-be-driven path of the safety comparison vehicle, the first to-be-driven path of the vehicle to be detected, the second to-be-driven path and the third to-be-driven path, the second safety between the vehicle to be detected and the safety comparison vehicle is detected to obtain a second safety detection result; wherein the first to-be-driven path, the second to-be-driven path and the third to-be-driven path are determined based on the driving data of the corresponding vehicle at the current moment, the first to-be-driven path is the to-be-driven path of the corresponding vehicle at the current moment ... vehicle to be detected and the The driving paths are respectively the paths to be driven by the vehicles to be detected and the safety comparison vehicles in a preset time period in the future; based on the results of each safety detection, the driving of each current fleet is controlled, including at least one of the following steps: based on each safety detection, the target path to be driven of each vehicle to be detected and each safety comparison vehicle is determined, and each vehicle in each current fleet is controlled to drive according to the target path to be driven, wherein the target path to be driven of each vehicle to be detected and the safety comparison vehicle is obtained by adjusting the first path to be driven of the vehicle to be detected and the safety comparison vehicle based on the corresponding first safety detection result, and / or, controlling each vehicle to be detected and the safety comparison vehicle to drive according to the target path to be driven is triggered by the corresponding second safety detection result; for each current fleet, in response to at least one of the first safety detection result and the second safety detection result of each vehicle in the current fleet being safe, the vehicles in the current fleet are controlled to drive in a coordinated manner.

[0124] In some embodiments, the vehicle to be detected and the safety comparison vehicle are adjacent vehicles in several current fleets; based on the first to-be-traveled paths respectively corresponding to the vehicle to be detected and the safety comparison vehicle, the first safety between the vehicle to be detected and the safety comparison vehicle is detected to obtain a first safety detection result, including: in response to the safety comparison vehicle and the vehicle to be detected belonging to the same current fleet, and the vehicle to be detected is the front vehicle of the safety comparison vehicle, determining whether the first end point of the first to-be-traveled path of the safety comparison vehicle reaches the first preset position of the first to-be-traveled path of the vehicle to be detected; wherein, if the first end point reaches the first preset position, it is determined that there is a first danger between the safety comparison vehicle and the vehicle to be detected, otherwise, it is determined that there is a first safety between the safety comparison vehicle and the vehicle to be detected; in response to the safety comparison vehicle and the vehicle to be detected belonging to different current fleets, and the vehicle to be detected is the rear vehicle of the safety comparison vehicle, determining whether the second end point of the first to-be-traveled path of the vehicle to be detected is in contact with the safety comparison vehicle; wherein, if the second end point is in contact with the safety comparison vehicle, it is determined that there is a second danger between the safety comparison vehicle and the vehicle to be detected, otherwise, it is determined that there is a second safety between the safety comparison vehicle and the vehicle to be detected.

[0125] In some embodiments, determining the target travel path of each vehicle to be detected and each safety comparison vehicle includes: in response to a first safety detection result indicating that there is a first danger between the safety comparison vehicle and the vehicle to be detected, cutting the first travel path of the safety comparison vehicle to obtain a first cutting path, using the first cutting path as the target travel path of the safety comparison vehicle, and using the first travel path of the vehicle to be detected as the target travel path of the vehicle to be detected; wherein the end point of the first cutting path does not reach a first preset position of the first travel path of the vehicle to be detected, and the distance between the end point of the first cutting path and the first preset position is greater than a first distance threshold, and the distance between the first preset position and the end point of the first travel path of the vehicle to be detected is greater than a first distance threshold. The distance between the end point of the second cutting path and the safety comparison vehicle is greater than or equal to the body length of the vehicle to be detected; in response to the first safety detection result that there is a second danger between the safety comparison vehicle and the vehicle to be detected, the first path to be driven of the vehicle to be detected is cut to obtain a second cutting path, and the second cutting path is used as the target path to be driven of the vehicle to be detected, and the first path to be driven of the safety comparison vehicle is used as the target path to be driven of the safety comparison vehicle; wherein, the distance between the end point of the second cutting path and the safety comparison vehicle is greater than a second distance threshold; in response to the first safety detection result that there is a first safety or a second safety between the safety comparison vehicle and the vehicle to be detected, the first path to be driven of the safety comparison vehicle and the vehicle to be detected is used as the corresponding target path to be driven.

[0126] In some embodiments, based on the first path to be driven by the safety comparison vehicle, the first path to be driven by the vehicle to be detected, the second path to be driven and the third path to be driven, a second safety between the vehicle to be detected and the safety comparison vehicle is detected to obtain a second safety detection result, including: detecting whether the third end point of the third path to be driven by the safety comparison vehicle reaches the first preset position of the first path to be driven by the vehicle to be detected; wherein, if the third end point reaches the first preset position, it is determined that there is a third danger between the safety comparison vehicle and the vehicle to be detected; the distance between the first preset position and the end point of the first path to be driven by the vehicle to be detected is greater than or equal to the body length of the vehicle to be detected; in response to the presence of the third danger between the safety comparison vehicle and the vehicle to be detected, detecting the third end point of the second path to be driven by the vehicle to be detected whether the fourth end point reaches the second preset position of the first path to be traveled by the safety comparison vehicle; wherein, if the fourth end point reaches the second preset position, it is determined that there is a fourth danger between the safety comparison vehicle and the vehicle to be detected; the distance between the second preset position and the end point of the first path to be traveled by the safety comparison vehicle is greater than or equal to the body length of the safety comparison vehicle; each vehicle in each current fleet is controlled to travel according to the target path to be traveled, including: in response to the second safety detection result that there is no third danger or fourth danger between the safety comparison vehicle and the vehicle to be detected, controlling the vehicle to be detected or the safety comparison vehicle to travel according to the target path to be traveled; the method also includes: in response to the second safety detection result that there is a third danger and a fourth danger between the safety comparison vehicle and the vehicle to be detected, controlling the vehicle to be detected or the safety comparison vehicle to be stationary.

[0127] In some embodiments, the step of detecting a second safety between the vehicle to be detected and the safety comparison vehicle is performed after detecting a first safety between the vehicle to be detected and the safety comparison vehicle.

[0128] See also Fig. 9 , Fig. 9 1 is a schematic diagram of a framework of an electronic device according to an embodiment of the present application. In this embodiment, the electronic device 90 includes a memory 91 and a processor 92 coupled to each other.

[0129] The memory 91 stores program instructions, and the processor 92 is used to execute the program instructions stored in the memory 91 to implement the steps of any of the above-mentioned method implementation methods. In a specific implementation scenario, the electronic device 90 may include, but is not limited to: a microcomputer, a server, and in addition, the electronic device 90 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0130] Specifically, the processor 92 is used to control itself and the memory 91 to implement the steps of any of the above-mentioned embodiments. The processor 92 can also be called a CPU (Central Processing Unit). The processor 92 may be an integrated circuit chip with signal processing capabilities. The processor 92 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 92 can be implemented by an integrated circuit chip.

[0131] See also Fig.10 , Fig.10 It is a schematic diagram of the framework of the computer-readable storage medium provided by the present application. The computer-readable storage medium 100 of the embodiment of the present application stores a program instruction 101, and the program instruction 101 is executed to implement the method provided by any embodiment of the above method and any non-conflicting combination. Among them, the program instruction 101 can form a program file and be stored in the above-mentioned computer-readable storage medium 100 in the form of a software product, so that a computer device (which can be a personal computer, a server, or a network device, etc.) executes all or part of the steps of each implementation method of the present application. The aforementioned computer-readable storage medium 100 includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, or a terminal device such as a computer, a server, a mobile phone, and a tablet.

[0132] The above scheme directly determines the positional relationship between different vehicles based on the driving data of each vehicle in the target area at the current moment, and then uses the positional relationship between different vehicles to construct several current fleets at the current moment. It can be seen that the present application can construct a fleet in real time based on the positional relationship between different vehicles at the current moment. The construction of the fleet has nothing to do with the destination of each vehicle. Compared with the method of constructing vehicles with the same destination into a fleet, the destinations of each vehicle in the fleet constructed based on the positional relationship between different vehicles in the present application can be different. The construction of the fleet does not affect the independence of each vehicle, which greatly improves the flexibility of the current fleet construction.

[0133] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0134] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A fleet construction method, characterized in that: The method comprises: Obtain the driving data of each vehicle in the target area at the current moment; Determining the positional relationship between different vehicles based on the driving data of each vehicle; Using the position relationship, several current fleets corresponding to the current moment are constructed.

2. The method according to claim 1, characterized in that The positional relationship includes at least one of a distance relationship and an inclusion relationship of segment paths.

3. The method according to claim 2, characterized in that The position relationship includes a distance relationship and a segment path coverage relationship. The order of each vehicle in the current fleet is determined according to the arrangement order of the vehicle positions. The segment path of the adjacent rear vehicle in the current fleet covers the segment path of the front vehicle, and the distance between the rear vehicle and the front vehicle is less than or equal to a distance threshold.

4. The method according to claim 1, characterized in that: Each vehicle in the target area includes a first vehicle belonging to each historical vehicle fleet corresponding to a historical moment; The step of constructing a plurality of current fleets by using the position relationship includes at least one of the following steps: Taking each of the historical convoys as a target historical convoy in turn, adjusting the target historical convoy based on the position relationship, and taking each of the adjusted target historical convoys as the current convoy respectively; the adjustment of the target historical convoy includes at least one of the following: adding a second vehicle that does not belong to the target historical convoy to the target historical convoy, splitting the target historical convoy into at least two historical convoys; In response to the presence of a third vehicle that does not currently belong to any vehicle fleet in the target area, at least two of the third vehicles are selected based on the positional relationship to form a new current vehicle fleet.

5. The method according to claim 4, characterized in that The step of adjusting the target historical fleet based on the position relationship includes at least one of the following steps: Based on the positional relationship between adjacent first vehicles in the target historical vehicle fleet, splitting the target historical vehicle fleet into at least two historical vehicle fleets; Selecting a first vehicle from the target historical fleet as a first fleet reference vehicle, and selecting at least one second vehicle to add to the target historical fleet based on a positional relationship between the first fleet reference vehicle and each second vehicle, and a positional relationship between different second vehicles; The selecting at least two of the third vehicles to form the current fleet based on the position relationship includes: A third vehicle is selected as a reference vehicle of the second fleet, and based on a positional relationship between the reference vehicle of the second fleet and each of the remaining third vehicles, and a positional relationship between the remaining different third vehicles, at least one of the remaining third vehicles is selected to form a new current fleet with the reference vehicle of the second fleet.

6. The method according to claim 5, characterized in that The step of splitting the target historical vehicle fleet into at least two historical vehicle fleets based on the positional relationship between adjacent first vehicles in the target historical vehicle fleet includes: Finding the adjacent first vehicle pairs whose positional relationship satisfies the fission condition from the target historical vehicle fleet, taking the adjacent first vehicle pairs as splitting points of the target historical vehicle fleet, and splitting the target historical vehicle fleet into at least two historical vehicle fleets based on the splitting points, wherein the two first vehicles in the adjacent first vehicle pairs belong to the two historical vehicle fleets after the fission respectively; The selecting at least one second vehicle to add to the target historical vehicle fleet based on the positional relationship between the reference vehicle of the first vehicle fleet and each of the second vehicles, and the positional relationship between different second vehicles, comprises: Finding the second vehicle whose positional relationship with the first fleet reference vehicle satisfies the fleet joining condition, and adding the found second vehicle to the target historical fleet; The found second vehicle is used as a new reference vehicle of the first fleet, and the steps of finding the second vehicle whose positional relationship with the reference vehicle of the first fleet meets the conditions for teaming and subsequent steps are performed again until the number of vehicles in the target historical fleet is greater than the fleet vehicle upper limit or the second vehicle whose positional relationship with the current reference vehicle of the first fleet meets the conditions for teaming is not found; The selecting at least one remaining third vehicle and the second vehicle fleet reference vehicle to form the current vehicle fleet based on the positional relationship between the second vehicle fleet reference vehicle and each remaining third vehicle, and the positional relationship between the remaining different third vehicles, comprises: Find the third vehicle whose positional relationship with the reference vehicle of the second vehicle team satisfies the team-forming condition, and form a new current vehicle team with the found third vehicle and the reference vehicle of the second vehicle team; The found third vehicle is used as a new reference vehicle for the second fleet, and the third vehicle whose positional relationship with the new reference vehicle for the second fleet satisfies the conditions for teaming is found, and the newly found third vehicle is added to the new current fleet; this step is repeated until the number of vehicles in the new current fleet is greater than the upper limit of fleet vehicles or the third vehicle whose positional relationship with the current reference vehicle for the second fleet satisfies the conditions for teaming is not found.

7. The method according to claim 6, characterized in that The position relationship includes a distance relationship and a coverage relationship of segment paths, wherein: The fission condition includes: the segment path of the rear vehicle of the adjacent first vehicle pair does not cover the segment path of the front vehicle, or the distance between the adjacent first vehicle pair is greater than a distance threshold; And / or, the platooning conditions include: being behind a reference vehicle of the corresponding platoon, being closest to the reference vehicle of the corresponding platoon and having a distance less than or equal to a distance threshold, and having a segment path covering the reference vehicle of the corresponding platoon.

8. The method according to claim 5, characterized in that The first fleet reference vehicle is the first vehicle at the end of the corresponding target historical fleet; and / or, the reference vehicle of the second fleet is the third vehicle located at the front of all the third vehicles; and / or, selecting the at least one second vehicle added to the target historical fleet as a static vehicle; And / or, at least one remaining third vehicle that forms a new current vehicle fleet with the second vehicle fleet reference vehicle is selected as a static vehicle.

9. The method according to claim 1, characterized in that: Each of the vehicles is an automated guided vehicle; different automated guided vehicles belonging to the same current fleet may perform the same or different tasks.

10. A fleet control method, characterized in that: The method comprises: Acquire driving data of each vehicle in a number of current fleets; the number of current fleets is constructed based on the positional relationship between different vehicles at a current moment, and the positional relationship between different vehicles is determined based on the driving data of each vehicle; Based on the driving data of each vehicle in the current vehicle fleets, the driving of each of the current vehicle fleets is controlled.

11. The method according to claim 10, characterized in that The controlling the driving of each of the current fleets based on the driving data of each of the vehicles in the current fleets includes: Sequentially taking each vehicle in each of the current fleets as a vehicle to be detected, and determining a safety comparison vehicle for the vehicle to be detected from a number of the current fleets; Based on the driving data corresponding to the vehicle to be detected and the safety comparison vehicle respectively, the safety between the vehicle to be detected and the safety comparison vehicle is detected to obtain a corresponding safety detection result; wherein the safety comparison vehicle and the vehicle to be detected belong to the same current fleet or different current fleets, and in the two cases where the vehicle to be detected and the safety comparison vehicle belong to the same current fleet or different current fleets, different detection strategies are adopted; Based on the safety detection results, the driving of the current fleet is controlled.

12. The method according to claim 11, characterized in that The method of detecting the safety between the vehicle to be detected and the safety comparison vehicle based on the driving data corresponding to the vehicle to be detected and the safety comparison vehicle, and obtaining the corresponding safety detection result, includes: detecting the first safety between the vehicle to be detected and the safety comparison vehicle based on the first to-be-traveled paths corresponding to the vehicle to be detected and the safety comparison vehicle, and obtaining the first safety detection result; and / or, Based on at least two of the first to-be-traveled path of the safety comparison vehicle, the first to-be-traveled path of the to-be-detected vehicle, the second to-be-traveled path and the third to-be-traveled path, a second safety between the to-be-detected vehicle and the safety comparison vehicle is detected to obtain a second safety detection result; wherein, the first to-be-traveled path, the second to-be-traveled path and the third to-be-traveled path are determined based on the driving data of the corresponding vehicle at the current moment, the first to-be-traveled path is the to-be-traveled path of the corresponding vehicle at the current moment, and the second to-be-traveled path and the third to-be-traveled path are respectively the to-be-traveled paths of the to-be-detected vehicle and the safety comparison vehicle in a preset time period in the future; The step of controlling the driving of each of the current fleets based on each of the safety detection results comprises at least one of the following steps: Based on each of the safety detections, a target path to be traveled for each of the vehicles to be detected and each of the safety comparison vehicles is determined, and each of the vehicles in the current fleet is controlled to travel along the target path to be traveled, wherein the target path to be traveled for each pair of the vehicles to be detected and the safety comparison vehicles is obtained by adjusting the first paths to be traveled for the vehicles to be detected and the safety comparison vehicles based on the corresponding first safety detection result, and / or controlling each pair of the vehicles to be detected and the safety comparison vehicles to travel along the target path to be traveled is triggered based on the corresponding second safety detection result; For each of the current vehicle fleets, in response to at least one of the first safety detection result and the second safety detection result of each vehicle in the current vehicle fleet being safe, each vehicle in the current vehicle fleet is controlled to travel in a coordinated manner.

13. The method according to claim 12, characterized in that The to-be-detected vehicle and the safety comparison vehicle are adjacent vehicles in a number of the current vehicle fleets; The detecting a first safety between the vehicle to be detected and the safety comparison vehicle based on the first to-be-traveled paths respectively corresponding to the vehicle to be detected and the safety comparison vehicle, and obtaining a first safety detection result, comprises: In response to the safety comparison vehicle and the vehicle to be detected belonging to the same current fleet, and the vehicle to be detected is the preceding vehicle of the safety comparison vehicle, determining whether a first end point of a first to-be-traveled path of the safety comparison vehicle reaches a first preset position of the first to-be-traveled path of the vehicle to be detected; wherein, if the first end point reaches the first preset position, determining that a first danger exists between the safety comparison vehicle and the vehicle to be detected, otherwise, determining that a first safety exists between the safety comparison vehicle and the vehicle to be detected; In response to the fact that the safety comparison vehicle and the vehicle to be detected belong to different current fleets and the vehicle to be detected is the rear vehicle of the safety comparison vehicle, it is determined whether the second end point of the first to-be-traveled path of the vehicle to be detected is in contact with the safety comparison vehicle; wherein, if the second end point is in contact with the safety comparison vehicle, it is determined that a second danger exists between the safety comparison vehicle and the vehicle to be detected; otherwise, it is determined that a second safety exists between the safety comparison vehicle and the vehicle to be detected.

14. The method according to claim 12, characterized in that The determining of the target travel path of each of the to-be-detected vehicles and each of the safety comparison vehicles includes: In response to the first safety detection result that a first danger exists between the safety comparison vehicle and the vehicle to be detected, the first path to be driven of the safety comparison vehicle is cut to obtain a first cut path, the first cut path is used as the target path to be driven of the safety comparison vehicle, and the first path to be driven of the vehicle to be detected is used as the target path to be driven of the vehicle to be detected; wherein, the end point of the first cut path does not reach the first preset position of the first path to be driven of the vehicle to be detected, and the distance between the end point of the first cut path and the first preset position is greater than a first distance threshold, and the distance between the first preset position and the end point of the first path to be driven of the vehicle to be detected is greater than or equal to the body length of the vehicle to be detected; In response to the first safety detection result indicating that there is a second danger between the safety comparison vehicle and the vehicle to be detected, the first to-be-traveled path of the vehicle to be detected is cut to obtain a second cut path, and the second cut path is used as the target to-be-traveled path of the vehicle to be detected, and the first to-be-traveled path of the safety comparison vehicle is used as the target to-be-traveled path of the safety comparison vehicle; wherein the distance between the end point of the second cut path and the safety comparison vehicle is greater than a second distance threshold; In response to the first safety detection result being that a first safety exists or a second safety exists between the safety comparison vehicle and the vehicle to be detected, a first to-be-traveled path between the safety comparison vehicle and the vehicle to be detected is used as a corresponding target to-be-traveled path.

15. The method according to claim 12, characterized in that The method of detecting a second safety between the vehicle to be detected and the safety comparison vehicle based on the first to-be-traveled path of the safety comparison vehicle and at least two of the first to-be-traveled path, the second to-be-traveled path, and the third to-be-traveled path of the vehicle to be detected, and obtaining a second safety detection result includes: Detecting whether the third end point of the third to-be-traveled path of the safety comparison vehicle reaches the first preset position of the first to-be-traveled path of the to-be-detected vehicle; wherein, if the third end point reaches the first preset position, it is determined that a third danger exists between the safety comparison vehicle and the to-be-detected vehicle; and the distance between the first preset position and the end point of the first to-be-traveled path of the to-be-detected vehicle is greater than or equal to the body length of the to-be-detected vehicle; In response to the presence of a third danger between the safety comparison vehicle and the vehicle to be detected, detecting whether a fourth end point of a second to-be-traveled path of the vehicle to be detected reaches a second preset position of a first to-be-traveled path of the safety comparison vehicle; wherein, if the fourth end point reaches the second preset position, it is determined that a fourth danger exists between the safety comparison vehicle and the vehicle to be detected; and the distance between the second preset position and the end point of the first to-be-traveled path of the safety comparison vehicle is greater than or equal to the body length of the safety comparison vehicle; The controlling each vehicle in the current fleet to travel according to the target to-be-traveled path comprises: In response to the second safety detection result being that there is no third danger or fourth danger between the safety comparison vehicle and the vehicle to be detected, controlling the vehicle to be detected or the safety comparison vehicle to travel according to the target to-be-traveled path; The method further comprises: In response to the second safety detection result indicating that a third danger and a fourth danger exist between the safety comparison vehicle and the vehicle to be detected, the vehicle to be detected or the safety comparison vehicle is controlled to be stationary.

16. The method according to claim 12, characterized in that The step of detecting the second safety between the vehicle to be detected and the safety comparison vehicle is performed after the step of detecting the first safety between the vehicle to be detected and the safety comparison vehicle.

17. An electronic device, characterized in that: comprising a memory and a processor coupled to each other, The memory stores program instructions; The processor is used to execute the program instructions stored in the memory to implement the method according to any one of claims 1 to 16.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program instructions that can be run by a processor, and the program instructions can be executed by the processor to implement the method according to any one of claims 1 to 16.

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