Motorcade construction method, control method, equipment and storage medium

Abstract

The invention discloses a motorcade construction method, a control method, equipment and a storage medium. The method comprises the following steps: selecting a vehicle from a to-be-constructed motorcade as a reference vehicle; selecting a vehicle of which the position relationship with the reference vehicle meets a merging condition from the target area as a target vehicle; in response to the fact that the target vehicle belongs to the currently existing vehicles in a first constructed motorcade, selecting at least one vehicle including the target vehicle from the first constructed motorcade as a to-be-merged vehicle; and adding the to-be-merged vehicles into the to-be-constructed motorcade to obtain a newly constructed second constructed motorcade. In this way, the construction efficiency of the motorcade 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 dispatching can improve the traffic efficiency of vehicles. In some scenarios, multiple vehicles will be organized into a fleet and the entire fleet will be controlled as a whole. The faster the fleet is built, the faster the fleet can be controlled, thereby speeding up the traffic efficiency of vehicles. Therefore, how to improve the efficiency of fleet building is of great significance to improving the traffic efficiency of vehicles. 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 fleet construction efficiency.

[0004] In order to solve the above technical problems, a technical solution adopted by the present application is: to provide a fleet construction method, the method comprising: selecting a vehicle from the fleet to be constructed as a reference vehicle; selecting a vehicle whose positional relationship with the reference vehicle satisfies the team-forming conditions from the target area as the target vehicle; in response to the target vehicle belonging to a vehicle in a currently existing first constructed fleet, selecting at least one vehicle including the target vehicle from the first constructed fleet as a vehicle to be merged; and adding the vehicle to be merged to the fleet to be constructed to obtain a newly constructed second constructed fleet.

[0005] To solve the above technical problems, another technical solution adopted in the present application is: providing a fleet control method, including: obtaining several newly constructed target fleets; taking each vehicle in each target fleet as a vehicle to be detected in turn, and determining a safety comparison vehicle for the vehicle to be detected from the several target fleets; based on the driving data corresponding to the vehicle to be detected and the safety comparison vehicle, respectively, detecting the safety between 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 target fleet or different target fleets, and in the two cases where the vehicle to be detected and the safety comparison vehicle belong to the same target fleet and different target fleets, the detection strategies adopted are different; based on the safety detection results, controlling the coordinated driving of each target 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] In the above scheme, after selecting the reference vehicle of the fleet to be constructed and the target vehicle that meets the conditions for merging with the reference vehicle, if the target vehicle belongs to a vehicle in the currently existing constructed fleet (the first constructed fleet), at least one vehicle including the vehicle can be selected from the constructed fleet as the vehicle to be merged, and the vehicle to be merged can be added to the fleet to be constructed to obtain a newly constructed fleet (the second constructed fleet). It can be seen that in the process of fleet construction, the present application can add at least one vehicle to the fleet to be constructed at a time. Compared with the method of adding only one vehicle to the fleet to be constructed each time, the above method of the present application can effectively improve the efficiency of 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 This is a flow chart of an embodiment of fleet fission provided by the present application;

[0011] Figure 3 A comparison diagram of the fleet before and after the construction of the target area provided for this 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 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;

[0014] Figure 6 It is a schematic diagram of the framework of an embodiment of a vehicle fleet building device provided by the present application;

[0015] Figure 7 This is a schematic diagram of a framework of an embodiment of a fleet control device provided by the present application.

[0016] Figure 8 It is a schematic diagram of a framework of an embodiment of an electronic device provided by the present application;

[0017] Fig. 9 It is a schematic diagram of the framework of the computer-readable storage medium provided by this application. DETAILED DESCRIPTION

[0018] 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.

[0019] 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.

[0020] 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 the large unmanned factory. Therefore, in order to improve the traffic efficiency of the vehicle, the AGV in the unmanned factory can be constructed into a fleet, and multiple fleets can be constructed. Then, for each fleet, the vehicles belonging to the same fleet are controlled to travel in coordination (travel together). Among them, the premise of controlling the coordinated driving of the fleet is to build a fleet, so it can be understood that the faster the fleet is built, the faster the members of each fleet can be coordinated and controlled, thereby accelerating the traffic efficiency of the AGV in the unmanned factory.

[0021] The fleet construction method provided in the present application can add at least one vehicle to the fleet to be constructed at a time during the fleet construction process. Compared with the method of adding only one vehicle to the fleet to be constructed each time, the above method of the present application can speed up the fleet construction speed and effectively improve the fleet construction efficiency.

[0022] The fleet control method provided in the present application can detect the safety between different vehicles based on the driving data corresponding to each vehicle at the current moment after obtaining the latest constructed target fleets, obtain the corresponding safety detection results, and then control the coordinated driving of each target fleet based on the safety detection results. Among them, different vehicles may belong to the same target fleet or different target fleets. In the two cases where different vehicles belong to the same target fleet and different target fleets, the detection strategies adopted are different. The present application conducts safety detection according to different situations, which is more targeted and can reduce the false detection phenomenon caused by unified standards, thereby improving the accuracy of safety detection results, so that vehicles in subsequent fleets can drive safely.

[0023] 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:

[0024] S11: Select a vehicle from the fleet to be constructed as a reference vehicle.

[0025] This embodiment is used to determine whether the target vehicle belongs to a vehicle in a currently existing first constructed fleet after determining a target vehicle of the fleet to be constructed based on a reference vehicle, and if the target vehicle belongs to a vehicle in the currently existing first constructed fleet, select at least one vehicle including the target vehicle from the first constructed fleet as a vehicle to be merged, and add at least one vehicle to be merged to the fleet to be constructed, so as to improve the fleet construction efficiency by adding at least one vehicle to be merged at a time.

[0026] It should be noted that in the fleet construction scenario, at least one fleet needs to be built. If multiple fleets need to be built, each fleet can adopt the method provided in this application to build the fleet.

[0027] Specifically, each fleet to be constructed can be traversed, a vehicle can be selected as a reference vehicle for each fleet to be constructed, and the construction process of the fleet to be constructed can be performed in sequence to obtain a second constructed fleet corresponding to each fleet to be constructed. The second constructed fleet corresponding to each fleet to be constructed is a fleet constructed under the current driving scenario in the target area.

[0028] In the process of traversing each fleet to be constructed, each fleet to be constructed may be randomly selected in turn, or may be sorted according to the position of each fleet to be constructed, or may be sorted according to the driving priority of each fleet to be constructed, and traverse each fleet to be constructed. The priority sorting may be determined according to one or more of the number of vehicles causing traffic jams by the first vehicle in each fleet to be constructed, the waiting time of the first vehicle at the original location, and the urgency of the task.

[0029] In one implementation scenario, each of the above vehicles is an automatic guided vehicle, and the tasks performed by different automatic guided vehicles in the same fleet in the target area can be the same or different. That is, the fleet construction method provided by this application has nothing to do with the tasks performed by each vehicle and the destination of the vehicle. It only needs to select a target vehicle whose positional relationship with the reference vehicle meets the teaming conditions from the target area based on the positional relationship between the vehicles, and then determine the vehicle to be merged based on the target vehicle.

[0030] In some implementation scenarios, there are currently multiple constructed fleets in the target area, where the currently existing constructed fleet can be but is not limited to a fleet that was constructed at a historical moment and has not yet been rebuilt, and can also be a fleet that was constructed at a historical moment but is currently used as a fleet to be constructed and has been reconstructed using the fleet construction method provided in the present application (i.e., a second constructed fleet).

[0031] In this embodiment, the fleet to be constructed can be a currently existing fleet, and the reference vehicle is any vehicle in the constructed fleet; for example, it is a vehicle at the end or the head of the constructed fleet. Of course, in the case where there is a lone vehicle that does not belong to any fleet in the target area, the fleet to be constructed can also be a newly created fleet, wherein the newly created fleet only includes the corresponding reference vehicle, that is, the newly created fleet uses the lone vehicle as a reference vehicle. The lone vehicle can be any vehicle in the case where there is no existing fleet in the target area, or it can be a lone vehicle that does not belong to any currently existing fleet in the target area.

[0032] In this embodiment, when constructing a fleet to be constructed, it is necessary to determine a target vehicle that meets the conditions for merging into a fleet based on the positional relationship between the reference vehicle of the fleet to be constructed and the vehicles in the target area, and then determine all the vehicles to be merged that can join the fleet to be constructed based on the target vehicle.

[0033] In some embodiments, considering that the vehicle to be merged is not a vehicle belonging to the fleet to be constructed before joining the fleet to be constructed, and when the fleet to be constructed is being constructed, when the fleet to be constructed is traveling at an intersection or on a road, the vehicle to be merged may flow into the fleet to be constructed from all directions, so a vehicle can be randomly selected from the fleet to be constructed or according to a preset priority order as a reference vehicle; of course, in other embodiments, a vehicle located at a specific position in the fleet to be constructed can also be selected as a reference vehicle.

[0034] In one embodiment, considering that each vehicle in the fleet is traveling forward, in order not to affect the travel of existing vehicles in the fleet, the vehicle at the rear of the fleet to be constructed can be used as a reference vehicle, and the rear of the vehicle can be used as a reference vehicle to determine the vehicle to be merged that can be added to the rear of the vehicle.

[0035] In another embodiment, the vehicle at the rear of the to-be-built team may be given priority as a reference vehicle, and the rear of the vehicle may be used as a reference vehicle to determine the vehicle to be merged that can be added to the rear of the vehicle. However, if there is no target vehicle that meets the team-merging conditions behind or to the side of the rear of the to-be-built team, a vehicle in front of the rear of the to-be-built team may be selected as a reference vehicle, and the subsequent steps may be continued. Alternatively, if there is no target vehicle that meets the team-merging conditions behind or to the side of the rear of the to-be-built team, the latest to-be-built team may be used as the second constructed team obtained by the new construction to end the construction of the to-be-built team.

[0036] S12: From the target area, select a vehicle whose positional relationship with the reference vehicle satisfies the teaming condition as the target vehicle.

[0037] The target area is the area where the scene is located in the fleet construction scene. For example, in a scene where the vehicle is an automatic guided vehicle in an unmanned factory, the target area is the area where the unmanned factory is located.

[0038] In this step, the target vehicles that meet the teaming conditions are selected based on the positional relationship between each vehicle and the reference vehicle in the target area. Therefore, before this step, the positional relationship between each vehicle and the reference vehicle needs to be determined.

[0039] In a specific embodiment, before step S12, the driving data of each vehicle in the target area at the current moment is obtained, and then the positional relationship between different vehicles is determined based on the driving data of each vehicle at the current moment.

[0040] 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 paths include: the predicted path to be traveled by the vehicle at the current moment.

[0041] The driving data may include, but is not limited to, the vehicle's current path to be driven, and may also include the vehicle's path to be driven in a preset time period in the future. Each path to be driven may be predicted based on at least some factors including the vehicle's current information (such as the vehicle's position, speed, etc.), traffic conditions, and road conditions. Of course, the driving data may also be the vehicle's current position, driving speed, or driving direction.

[0042] 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.

[0043] In this embodiment, the teaming conditions are: being closest to the reference vehicle and the distance is less than or equal to the distance threshold, the segment path covers the reference vehicle, or the segment path is covered by the reference vehicle.

[0044] In one embodiment, if the reference vehicle is the vehicle currently at the end of the convoy to be constructed, the corresponding merging condition may be set as: located behind the reference vehicle, closest to the reference vehicle and with a distance less than or equal to the distance threshold, and the segment path covers the reference vehicle. That is, in this embodiment, a vehicle located behind the reference vehicle, closest to the reference vehicle and with a distance less than or equal to the distance threshold, and with a segment path covering the reference vehicle may be selected from the target area as the target vehicle, so that the vehicle to be merged may be selected from the vehicles located at the rear of the convoy to be constructed later.

[0045] In another embodiment, if the reference vehicle is the vehicle currently at the head of the fleet to be constructed, the corresponding merging condition can be set as: located before the reference vehicle, closest to the reference vehicle and the distance is less than or equal to the distance threshold, and the segment path is covered by the reference vehicle. That is to say, in this embodiment, the vehicle located before the reference vehicle, closest to the reference vehicle and the distance is less than or equal to the distance threshold, and the segment path is covered by the reference vehicle can be selected from the target area as the target vehicle, so that the vehicle to be merged can be selected from the vehicles located in front of the fleet to be constructed later.

[0046] In another embodiment, if the reference vehicle is a vehicle currently located between the head and the tail of the convoy to be constructed, the merging conditions are: being located on the side of the convoy, being closest to the reference vehicle and the distance being less than or equal to the distance threshold, the segment path covering the reference vehicle, or the vehicle whose segment path is covered by the reference vehicle is used as the target vehicle, so that the vehicle to be merged can be selected from the vehicles located on the side of the convoy to be constructed later.

[0047] S13: In response to the target vehicle being a vehicle in a currently existing first constructed vehicle fleet, at least one vehicle including the target vehicle is selected from the first constructed vehicle fleet as a vehicle to be merged.

[0048] S14: adding the vehicle to be merged into the fleet to be constructed to obtain a newly constructed second fleet.

[0049] The situation in step S13 is that the target vehicle is a vehicle in the currently existing first constructed fleet. In this situation, at least one vehicle including the target vehicle can be selected from the first constructed fleet as a vehicle to be merged. The vehicle to be merged is a vehicle that can be added to the fleet to be constructed.

[0050] The purpose of building a fleet is to facilitate the subsequent coordinated control of multiple vehicles belonging to the same fleet. However, in some implementation scenarios, 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 vehicle that has not passed within the passing time still cooperates with other members of the same fleet, it is easy to violate traffic rules, 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 fleet to be built.

[0051] Therefore, in order to facilitate the control of multiple vehicles belonging to the same fleet and avoid the situation that is unfavorable to control due to too many vehicles in a fleet, the number of vehicles in the fleet can be controlled within a certain range, that is, the maximum capacity of each fleet needs to be determined in advance. In addition, in order to ensure that the number of vehicles in the fleet to be constructed does not exceed the corresponding maximum capacity after the vehicles to be merged are added, it is necessary to determine whether there is currently any remaining capacity in the fleet to be constructed in the above step S12, or even before step S11. If there is currently any remaining capacity in the fleet to be constructed, continue to execute the subsequent steps, otherwise, directly use the fleet to be constructed that has reached the maximum capacity as the second constructed fleet.

[0052] In a specific embodiment, selecting at least one vehicle including the target vehicle from the first constructed fleet as the vehicle to be merged includes: determining the remaining capacity of the fleet to be constructed; in response to the remaining capacity being greater than or equal to the number of members of the first constructed fleet and the target vehicle being located at the head of the fleet of the first constructed fleet, taking all vehicles in the first constructed fleet as the vehicles to be merged; in response to the remaining capacity being less than the number of members of the first constructed fleet and the target vehicle being located at the head of the fleet of the first constructed fleet, taking a target number of vehicles at the front of the first constructed fleet as the vehicles to be merged. The target number is equal to the remaining capacity.

[0053] That is to say, in the process of determining the vehicles to be merged, the remaining capacity of the fleet to be constructed is first determined. If the remaining capacity is greater than the number of members of the fleet where the target vehicle is located, and the target vehicle is located at the head of the fleet, in this case, even if all the vehicles in the fleet are taken as vehicles to be merged and added to the fleet to be constructed, the maximum capacity of the fleet to be constructed will not be exceeded. Therefore, when the remaining capacity is greater than the number of members of the fleet where the target vehicle is located, and the target vehicle is located at the head of the fleet, all vehicles in the fleet where the target vehicle is located can be taken as vehicles to be merged. However, if the remaining capacity of the fleet to be constructed is less than the number of members of the fleet where the target fleet is located (the first constructed fleet), and the target vehicle is located at the head of the fleet of the first constructed fleet, the target number of vehicles in the front position of the first constructed fleet will be taken as vehicles to be merged, the vehicles to be merged will be added to the fleet to be constructed, and the remaining vehicles in the first constructed fleet that have not been added to the fleet to be constructed will be taken as vehicles of the first constructed fleet. Among them, the target number is equal to the remaining capacity.

[0054] As can be seen from the above, when the target vehicle is the vehicle at the head of the first constructed vehicle fleet and the remaining capacity is greater than 1, at least two vehicles including the target vehicle in the vehicle fleet where the target vehicle is located can be used as vehicles to be merged.

[0055] The above is a fleet construction strategy when the target vehicle belongs to the vehicles in the currently existing first constructed fleet. However, in some cases, the target vehicle is a lone vehicle that does not belong to any constructed fleet. In this case, the target vehicle can be used as the vehicle to be merged. After the target vehicle is added to the fleet to be constructed, if there is still remaining capacity in the fleet to be constructed, the above steps of selecting a vehicle from the fleet to be constructed as a reference vehicle and the subsequent steps can be re-executed until there is no remaining capacity in the fleet to be constructed, or there is no target vehicle that is the most recently determined reference vehicle in the target area, and the nearest fleet to be constructed is used as the newly constructed second constructed fleet.

[0056] Exemplarily, after the target vehicle is added to the fleet to be constructed, if there is still remaining capacity in the fleet to be constructed, the added target vehicle can be used as a new reference vehicle, and the target vehicle step and subsequent steps can be re-determined.

[0057] It should be noted that the first constructed fleet is the existing constructed fleet in the target area when the fleet to be constructed is constructed. The second constructed fleet is the fleet to be constructed when there is no remaining capacity in the fleet to be constructed or there is no target vehicle corresponding to the reference vehicle in the target area.

[0058] Specifically, in the case that the fleet to be constructed is a currently existing constructed fleet, the second constructed fleet is a reconstruction of the fleet to be constructed, and the final fleet obtained after the reconstruction is completed, wherein the judgment condition for the completion of the reconstruction is that there is no remaining capacity in the fleet to be constructed, or there is no target vehicle of the reference vehicle of the fleet to be constructed in the target area.

[0059] In the case where the fleet to be constructed is a newly created fleet, the second constructed fleet is a fleet to be constructed that has been completed, wherein the judgment condition for completion of creation is the same as the judgment condition for completion of reconstruction.

[0060] It is understandable that the second constructed vehicle fleet may need to perform multiple rounds of the above steps of determining the reference vehicle, the target vehicle, and the vehicle to be merged before the construction is completed.

[0061] In some embodiments, the order of each vehicle in the second constructed vehicle fleet constructed above is determined according to the arrangement order of the vehicle positions, the segment path of the adjacent rear vehicle in the second constructed vehicle 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.

[0062] In the above scheme, after selecting the reference vehicle of the fleet to be constructed and the target vehicle that meets the conditions for merging with the reference vehicle, if the target vehicle belongs to a vehicle in the currently existing constructed fleet (the first constructed fleet), at least one vehicle including the vehicle can be selected from the constructed fleet as the vehicle to be merged, and the vehicle to be merged can be added to the fleet to be constructed to obtain a newly constructed fleet (the second constructed fleet). It can be seen that in the process of fleet construction, the present application can add at least one vehicle to the fleet to be constructed at a time. Compared with the method of adding only one vehicle to the fleet to be constructed each time, the above method of the present application can effectively improve the efficiency of fleet construction.

[0063] In some embodiments, taking into account that the positional relationship between different vehicles may change during the driving process, for example, the distance between two vehicles becomes farther and farther, or the segment paths of the two vehicles are no longer consistent, if in this case, the two vehicles are still collaboratively controlled as vehicles in a fleet, it will affect the driving efficiency of the vehicles in the target area, or affect the safe driving between vehicles, etc. Therefore, after determining the positional relationship between different vehicles based on the driving data of each vehicle, based on the positional relationship between different vehicles, each adjacent target vehicle pair whose positional relationship meets the fission condition is determined, and the adjacent target vehicle pairs are used as splitting points to split the corresponding fleet into two fleets, and the two vehicles in the adjacent target vehicle pairs belong to the two fleets after fission respectively.

[0064] Specifically, see Figure 2 , Figure 21 is a flow chart of an embodiment of fleet fission provided by the present application. In this embodiment, fleet fission includes:

[0065] S21: sequentially taking the currently existing constructed vehicle fleet as the third constructed vehicle fleet, and based on the position relationship, searching for adjacent target vehicle pairs whose position relationship satisfies the fission condition from the third constructed vehicle fleet.

[0066] S22: using adjacent target vehicle pairs as splitting points for the third constructed vehicle fleet, and splitting the third constructed vehicle fleet into at least two new constructed vehicle fleets based on each splitting point, wherein two vehicles in the adjacent target vehicle pairs belong to two new existing constructed vehicle fleets after the fission respectively.

[0067] In this embodiment, the fission conditions can be set in advance, and then adjacent target vehicle pairs whose position relationships meet the fission conditions are found out from each third constructed fleet in turn, and each third constructed fleet uses the adjacent target vehicle pair as a split point, and the third constructed fleet is split into at least two new constructed fleets based on each split point, wherein the two vehicles in the adjacent target vehicle pair belong to the two new constructed fleets after fission respectively, that is, the two vehicles in the adjacent target vehicle pair after fission no longer belong to the same third constructed fleet, wherein the new constructed fleet after fission may include only one vehicle, or may include more than two vehicles.

[0068] Preferably, the positional relationship between different vehicles includes a distance relationship and a coverage relationship of segment paths, and the fission condition includes: the segment path of the rear vehicle of the adjacent target vehicle pair does not cover the segment path of the front vehicle, or the distance between the adjacent target vehicle pairs is greater than the distance threshold. That is, in this embodiment, the segment path of the rear vehicle does not cover the segment path of the front vehicle, or the adjacent target vehicle pairs whose distance is greater than the distance threshold can be found from the third constructed fleet, and then the adjacent target vehicle pairs are used as splitting points to find all fission points in the third constructed fleet, and the third constructed fleet is split into at least two new constructed fleets based on each splitting point. The specific distance threshold can be determined according to the fleet control effect. Among them, the coverage relationship of the segment path can be understood as whether the segment path of one of the two vehicles overlaps with the segment path of the other vehicle, and the segment path of each vehicle includes a segment path that the corresponding vehicle is currently going to take.

[0069] In a specific embodiment, please refer to Figure 3 , Figure 3 A comparison diagram of the target area before and after the fleet is constructed in this application. In this embodiment, the reference vehicle is the vehicle currently at the end of the fleet to be constructed, and the conditions for joining the fleet are: located behind the reference vehicle, closest to the reference vehicle and the distance is less than or equal to the distance threshold, the segment path covers the reference vehicle, and the maximum capacity of each fleet is 4 vehicles. Figure 3As shown in the figure, the direction indicated by the arrow is a schematic diagram of the constructed fleet, and there are several vehicles in the target area. Among them, vehicle E and vehicle F are vehicles in fleet 10, vehicle B, vehicle C and vehicle D are vehicles in fleet 20, vehicle A is a lone vehicle that does not belong to any fleet, and fleet 10 and fleet 20 are the first existing constructed fleets. In this embodiment, fleet 10 can be used as the fleet to be constructed, and vehicle E can be selected as the reference vehicle of the fleet to be constructed. Then, from the target area, vehicle D whose position relationship with vehicle E meets the conditions for forming a fleet can be selected as the target vehicle. Figure 3 , vehicle D is a vehicle in the currently existing first constructed fleet (fleet 20), and is located at the head of fleet 20. The remaining capacity of fleet 10 is 2 (the preset maximum capacity of each fleet is 4), so the two front vehicles in fleet 20 (vehicle C and vehicle D) are added to fleet 10. After vehicle C and vehicle D are added to fleet 10, there is no remaining capacity in fleet 10. The fleet 10 at this time is used as the newly constructed second constructed fleet 11. Among them, after adding vehicles C and D in fleet 20 to fleet 10, the updated fleet 20 only has vehicle B (a lone vehicle that currently does not belong to any fleet). At this time, vehicle B is used as a reference vehicle for another fleet to be constructed, and then from the target area, vehicle A whose position relationship with vehicle B meets the team merging conditions is selected as the target vehicle. Among them, vehicle A is a lone vehicle that currently does not belong to any constructed fleet, so vehicle A is used as a vehicle to be merged and added to the fleet to be constructed where vehicle B is located. At this time, there is no target vehicle of the reference vehicle (vehicle B) in the target area, so the fleet to be constructed at this time is used as the newly constructed second constructed fleet 21.

[0070] It should be noted that in some implementation scenarios, the purpose of building a fleet is to facilitate the subsequent coordinated control of different vehicles belonging to the same fleet, for example, controlling 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 several target convoys.

[0073] This embodiment is used to detect the safety between different vehicles before controlling the coordinated driving of each target vehicle group, and then control the coordinated driving of each target vehicle group based on the safety detection result between the different vehicles.

[0074] Among them, the target fleet is the second constructed fleet mentioned above. The specific construction methods of each target fleet can refer to the description of the construction process of the second constructed fleet mentioned above, and will not be elaborated here.

[0075] S42: taking each vehicle in each target fleet as a to-be-detected vehicle in turn, and determining a safety comparison vehicle for the to-be-detected vehicle from the plurality of target fleets.

[0076] In this embodiment, each vehicle in each target fleet can be selected as a vehicle to be detected in turn according to the priority order of different target fleets and the priority order of different vehicles in the same fleet. Among them, the priority order of different target fleets can be determined based on at least some factors such as the waiting time of the first vehicle in the target 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 target fleet can be determined according to the position order of each vehicle. For example, the first vehicle in the same target fleet has the highest priority, and the priority of the vehicles is reduced from the front to the back based on the first vehicle. The vehicles to be detected and the safety comparison vehicles are adjacent vehicles in several target fleets.

[0077] S43: Based on the driving data corresponding to the vehicle to be detected and the safety comparison vehicle at the current moment, the safety between the vehicle to be detected and the safety comparison vehicle is detected to obtain a corresponding safety detection result.

[0078] The safety comparison vehicle and the vehicle to be detected may belong to the same target fleet or different target fleets. In the two cases where the vehicle to be detected and the safety comparison vehicle belong to the same target fleet or different target fleets, different detection strategies are adopted.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] The vehicle to be detected and the safety comparison vehicle are adjacent vehicles in a plurality of target 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:

[0084] Strategy 1: In response to the safety comparison vehicle and the vehicle to be detected belonging to the same target 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.

[0085] 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.

[0086] In short, if the adjacent safety comparison vehicle and the vehicle to be detected belong to the same target 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.

[0087] Strategy 2: In response to the safety comparison vehicle and the vehicle to be detected belonging to different target 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.

[0088] In short, if the safety comparison vehicle and the vehicle to be tested belong to different target 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.

[0089] To understand the above detection process, please refer to Figure 5 , Figure 5 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 5 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 target fleet, and the safety comparison vehicle C and the vehicle to be detected B belong to different target 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.

[0090] Please continue reading Figure 5 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.

[0091] from Figure 5It can be seen that when safety inspection is performed on the safety comparison vehicle A and the vehicle to be inspected B belonging to the same target 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 not belonging to the same target 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 target fleet and different target fleets.

[0092] 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:

[0093] 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.

[0094] 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.

[0095] 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.

[0096] S44: Based on the safety detection results, control the coordinated driving of the target fleets.

[0097] In this embodiment, based on the safety detection results, controlling the coordinated driving of the target fleets includes at least one of the following steps:

[0098] 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 target fleets are controlled to drive along the target driving paths.

[0099] 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.

[0100] 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.

[0101] 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 by 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 by the vehicle to be detected, and the first path to be driven by the safety comparison vehicle is used as the target path to be driven by 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.

[0102] In short, when a danger is detected between a rear safety comparison vehicle and a front vehicle to be detected belonging to the same target fleet, in order to prevent the rear vehicle from colliding with the front vehicle, the first path to be driven by the rear safety comparison vehicle 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 5 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.

[0103] However, if a danger is detected between the vehicle to be detected behind and the safety comparison vehicle in front, in order to prevent the vehicle behind from colliding with the vehicle in front, the first path to be driven by the vehicle to be detected behind can 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 5 , 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.

[0104] It can be understood that in order to prevent the rear vehicles in several target 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 the several target fleets from front to back.

[0105] In one embodiment, after the target travel paths of each to-be-detected vehicle and each safety comparison vehicle are determined, each vehicle in each target fleet may be directly controlled to travel along the corresponding target travel paths.

[0106] 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 target fleet to travel along the corresponding target to-be-traveled path. That is, in this embodiment, controlling each pair of to-be-detected vehicles and safety comparison vehicles to travel along the target to-be-traveled path is triggered based on the corresponding second safety detection result.

[0107] 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.

[0108] Second, for each target fleet, in response to at least one of the first safety detection result and the second safety detection result of each vehicle in the target fleet being safe, each vehicle in the target fleet is controlled to travel in coordination.

[0109] Among them, controlling the vehicles in the target vehicle fleet to travel in coordination can be understood as controlling the vehicles in the target vehicle fleet to travel together according to the corresponding target to-be-traveled paths.

[0110] It should be noted that since there may be multiple target fleets constructed in the target area, in the process of controlling each vehicle in each target fleet to travel together according to the corresponding target to-be-traveled path, each target fleet can be controlled to travel in coordination according to the priority order of each target fleet. The specific method for determining the priority order of each target fleet can be determined by referring to the method in the previous text, and no further elaboration is given here.

[0111] See also Figure 6 , Figure 6 It is a schematic diagram of the framework of an embodiment of a fleet construction device provided by the present application. In this embodiment, the fleet construction device 60 includes a first selection module 61, a second selection module 62, a third selection module 63 and a construction module 64. The first selection module 61 is used to select a vehicle from the fleet to be constructed as a reference vehicle; the second selection module 62 is used to select a vehicle whose position relationship with the reference vehicle satisfies the team-forming condition from the target area as the target vehicle; the third selection module 63 is used to select at least one vehicle including the target vehicle from the first constructed fleet in response to the target vehicle belonging to a vehicle in the currently existing first constructed fleet, as a vehicle to be merged; the construction module 64 is used to add the vehicle to be merged to the fleet to be constructed, so as to obtain a newly constructed second constructed fleet.

[0112] In some embodiments, before the second selection module 62 selects a vehicle whose positional relationship with the reference vehicle satisfies the teaming condition from the target area as the target vehicle, it also includes: acquiring the driving data of each vehicle in the target area at the current moment; and determining the positional relationship between different vehicles based on the driving data of each vehicle.

[0113] In some embodiments, after determining the positional relationship between different vehicles based on the driving data of each vehicle, it also includes: taking the currently existing constructed fleet as the third constructed fleet in turn, and based on the positional relationship, finding adjacent target vehicle pairs whose positional relationships satisfy the fission conditions from the third constructed fleet; taking the adjacent target vehicle pairs as splitting points for the third constructed fleet, and splitting the third constructed fleet into at least two new constructed fleets based on each splitting point, wherein the two vehicles in the adjacent target vehicle pairs respectively belong to the two newly existing constructed fleets after the fission.

[0114] In some embodiments, the fission condition includes: the segment path of the rear vehicle of the adjacent target vehicle pair does not cover the segment path of the front vehicle, or the distance between the adjacent target vehicle pair is greater than a distance threshold.

[0115] In some embodiments, the position relationship includes a distance relationship and a segment path coverage relationship; the order of each vehicle in the second constructed fleet is determined according to the arrangement order of the vehicle's positions, the segment path of the adjacent rear vehicle in the second constructed 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; the reference vehicle is the vehicle currently located at the end of the fleet to be constructed, and the team-joining conditions include: being located behind the reference vehicle, being closest to the reference vehicle and the distance being less than or equal to the distance threshold, and the segment path covers the reference vehicle; or, the reference vehicle is the vehicle currently located at the head of the fleet to be constructed, and the team-joining conditions include: being located before the reference vehicle, being closest to the reference vehicle and the distance being less than or equal to the distance threshold, and the segment path is covered by the reference vehicle.

[0116] In some embodiments, the third selection module 63 selects at least one vehicle including the target vehicle from the first constructed fleet as the vehicle to be merged, including: determining the remaining capacity of the fleet to be constructed; in response to the remaining capacity being greater than or equal to the number of members of the first constructed fleet and the target vehicle being located at the head of the first constructed fleet, all vehicles in the first constructed fleet are used as vehicles to be merged; in response to the remaining capacity being less than the number of members of the first constructed fleet and the target vehicle being located at the head of the first constructed fleet, a target number of vehicles at the front of the first constructed fleet are used as vehicles to be merged; the target number is equal to the remaining capacity.

[0117] In some embodiments, after the second selection module 62 selects a vehicle whose positional relationship with the reference vehicle satisfies the team-forming condition from the target area as the target vehicle, it also includes: in response to the target vehicle currently being a lone vehicle that does not belong to any constructed team, taking the target vehicle as a vehicle to be merged; and / or, after the construction module 64 adds the vehicle to be merged into the team to be constructed, it also includes: in response to the team to be constructed still having remaining capacity, re-executing the steps of selecting a vehicle from the team to be constructed as a reference vehicle and subsequent steps until there is no remaining capacity in the team to be constructed, or there is no target vehicle of the most recently determined reference vehicle in the target area, and taking the nearest team to be constructed as the newly constructed second constructed team.

[0118] In some embodiments, the fleet to be constructed is a currently existing constructed fleet, or a newly created fleet, wherein the newly created fleet only includes a reference vehicle. When the fleet to be constructed is an existing constructed fleet, the reference vehicle of the fleet to be constructed is a vehicle located at the end of an already constructed fleet; and / or each vehicle is an automatic guided vehicle; different automatic guided vehicles in the same fleet perform the same or different tasks.

[0119] See also Figure 7 , Figure 7 It is a framework schematic diagram of an embodiment of a fleet control device provided by the present application. In this embodiment, the fleet control device 70 includes an acquisition module 71, a determination module 72, a detection module 73 and a control module 74. The acquisition module 71 is used to acquire several target fleets; the determination module 72 is used to sequentially take each vehicle in each target fleet as a vehicle to be detected, and determine a safety comparison vehicle for the vehicle to be detected from several target fleets; the detection module 73 is used to detect 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 at the current moment, and obtain the corresponding safety detection result; wherein, the safety comparison vehicle and the vehicle to be detected belong to the same target fleet or different target fleets, and in the two cases where the vehicle to be detected and the safety comparison vehicle belong to the same target fleet and different target fleets, the detection strategies adopted are different; the control module 74 is used to control the coordinated driving of each target fleet based on each safety detection result.

[0120] In some embodiments, the determination module 72 detects 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 at the current moment, and obtains corresponding safety detection results, including: detecting the first safety between the vehicle to be detected and the safety comparison vehicle based on the first to-be-driven paths corresponding to the vehicle to be detected and the safety comparison vehicle, and obtaining a first safety detection result; and / or, detecting the second safety between the vehicle to be detected and the safety comparison vehicle 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, and obtaining 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 ... 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; the control module 74 controls the coordinated driving of the target fleets based on the safety detection results, including at least one of the following steps: based on the safety detection results, determining the target paths to be driven of the vehicles to be detected and the safety comparison vehicles, and controlling each vehicle in each target fleet to drive according to the target paths to be driven, wherein the target paths to be driven of each vehicle to be detected and the safety comparison vehicle are obtained by adjusting the first paths to be driven of the vehicles to be detected and the safety comparison vehicles based on the corresponding first safety detection results, and / or, controlling each vehicle to be detected and the safety comparison vehicle to drive according to the target paths to be driven is triggered by the corresponding second safety detection results; for each target fleet, in response to at least one of the first safety detection results and the second safety detection results of each vehicle in the target fleet being safe, controlling the vehicles in the target fleet to drive in a coordinated manner.

[0121] In some embodiments, the vehicle to be detected and the safety comparison vehicle are adjacent vehicles in several target 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 target 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 target 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.

[0122] See also Figure 8 , Figure 8 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 80 includes a memory 81 and a processor 82 coupled to each other.

[0123] The memory 81 stores program instructions, and the processor 82 is used to execute the program instructions stored in the memory 81 to implement the steps of any of the above method implementations. In a specific implementation scenario, the electronic device 80 may include, but is not limited to: a microcomputer, a server, and in addition, the electronic device 80 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0124] Specifically, the processor 82 is used to control itself and the memory 81 to implement the steps of any of the above-mentioned embodiments. The processor 82 can also be called a CPU (Central Processing Unit). The processor 82 may be an integrated circuit chip with signal processing capabilities. The processor 82 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 82 can be implemented by an integrated circuit chip.

[0125] See also Fig. 9 , Fig. 9 It is a schematic diagram of the framework of the computer-readable storage medium provided by the present application. The computer-readable storage medium 90 of the embodiment of the present application stores a program instruction 91, and when the program instruction 91 is executed, the method provided by any embodiment of the above method and any non-conflicting combination is implemented. Among them, the program instruction 91 can form a program file and be stored in the above-mentioned computer-readable storage medium 90 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 90 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.

[0126] In the above scheme, after selecting the reference vehicle of the fleet to be constructed and the target vehicle that meets the conditions for merging with the reference vehicle, if the target vehicle belongs to a vehicle in the currently existing constructed fleet (the first constructed fleet), at least one vehicle including the vehicle can be selected from the constructed fleet as the vehicle to be merged, and the vehicle to be merged can be added to the fleet to be constructed to obtain a newly constructed fleet (the second constructed fleet). It can be seen that in the process of fleet construction, the present application can add at least one vehicle to the fleet to be constructed at a time. Compared with the method of adding only one vehicle to the fleet to be constructed each time, the above method of the present application can effectively improve the efficiency of fleet construction.

[0127] 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.

[0128] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0129] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0130] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0131] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0132] 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: Select a vehicle from the fleet to be constructed as a reference vehicle; From the target area, a vehicle whose positional relationship with the reference vehicle satisfies the teaming condition is selected as the target vehicle; In response to the target vehicle being a vehicle in a currently existing first constructed vehicle fleet, selecting at least one vehicle including the target vehicle from the first constructed vehicle fleet as a vehicle to be merged; The to-be-merged vehicle is added to the to-be-constructed vehicle fleet to obtain a newly constructed second constructed vehicle fleet.

2. The method according to claim 1, characterized in that Before selecting, in the secondary target area, a vehicle whose positional relationship with the reference vehicle satisfies the teaming condition as the target vehicle, the method further includes: Acquire the driving data of each vehicle in the target area at the current moment; Based on the driving data of each of the vehicles, a positional relationship between different vehicles is determined.

3. The method according to claim 2, characterized in that After determining the positional relationship between different vehicles based on the driving data of each vehicle, the method further includes: Sequentially taking the currently existing constructed vehicle fleet as the third constructed vehicle fleet, and based on the position relationship, searching for adjacent target vehicle pairs whose position relationship satisfies the fission condition from the third constructed vehicle fleet; The third constructed vehicle fleet is split into at least two new constructed vehicle fleets based on each of the splitting points using the adjacent target vehicle pairs as splitting points, wherein two vehicles in the adjacent target vehicle pairs belong to two newly existing constructed vehicle fleets after the fission, respectively.

4. The method according to claim 3, characterized in that The fission condition includes: the segment path of the rear vehicle of the adjacent target vehicle pair does not cover the segment path of the front vehicle, or the distance between the adjacent target vehicle pair is greater than a distance threshold.

5. The method according to claim 1, characterized in that: The position relationship includes a distance relationship and a coverage relationship of segment paths; The order of the vehicles in the second constructed vehicle fleet is determined according to the arrangement order of the positions of the vehicles, the segment path of the adjacent rear vehicle in the second constructed vehicle 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; The reference vehicle is the vehicle currently located at the end of the fleet to be constructed, and the joining conditions include: being located behind the reference vehicle, being closest to the reference vehicle and having a distance less than or equal to a distance threshold, and the segment path covers the reference vehicle; or, the reference vehicle is the vehicle currently located at the head of the fleet to be constructed, and the joining conditions include: being located before the reference vehicle, being closest to the reference vehicle and having a distance less than or equal to a distance threshold, and the segment path is covered by the reference vehicle.

6. The method according to claim 1 or 5, characterized in that: The step of selecting at least one vehicle including the target vehicle from the first constructed vehicle fleet as a vehicle to be merged includes: Determining the remaining capacity of the fleet to be constructed; In response to the remaining capacity being greater than or equal to the number of members of the first constructed vehicle fleet, and the target vehicle being located at the head of the first constructed vehicle fleet, all vehicles in the first constructed vehicle fleet are used as the vehicles to be merged; In response to the remaining capacity being less than the number of members of the first constructed fleet and the target vehicle being located at the head of the first constructed fleet, a target number of vehicles at the front of the first constructed fleet are used as the vehicles to be merged; the target number is equal to the remaining capacity.

7. The method according to claim 1, characterized in that After selecting, in the target area, a vehicle whose positional relationship with the reference vehicle satisfies the teaming condition as the target vehicle, the method further includes: In response to the target vehicle currently being a single vehicle that does not belong to any established fleet, taking the target vehicle as the vehicle to be merged; And / or, after adding the to-be-merged vehicle to the to-be-built vehicle fleet, the method further includes: In response to the fleet to be constructed still having remaining capacity, the steps of selecting a vehicle from the fleet to be constructed as a reference vehicle and subsequent steps are re-executed until there is no remaining capacity in the fleet to be constructed, or there is no target vehicle of the most recently determined reference vehicle in the target area, and the nearest fleet to be constructed is used as the second constructed fleet obtained by the new construction.

8. The method according to claim 1, characterized in that: The fleet to be constructed is a currently existing constructed fleet, or a newly created fleet, wherein the newly created fleet only includes the reference vehicle, and when the fleet to be constructed is an already constructed fleet, the reference vehicle of the fleet to be constructed is a vehicle at the end of the already constructed fleet; And / or, each of the vehicles is an automated guided vehicle; different automated guided vehicles in the same fleet may perform the same or different tasks.

9. A fleet control method, characterized in that: The method comprises: Acquire a plurality of target fleets; each of the target fleets is constructed using the method described in any one of claims 1 to 8; Taking each vehicle in each target 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 target fleets; Based on the driving data corresponding to the vehicle to be detected and the safety comparison vehicle at the current moment, 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 target fleet or different target fleets, and in the two cases where the vehicle to be detected and the safety comparison vehicle belong to the same target fleet or different target fleets, different detection strategies are adopted; Based on the safety detection results, the target vehicle fleets are controlled to travel in a coordinated manner.

10. The method according to claim 9, 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 at the current moment 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 coordinated driving of the target vehicle fleets based on the safety detection results includes at least one of the following steps: Based on each of the safety detection results, determine the target to-be-traveled path of each of the to-be-detected vehicles and each of the safety comparison vehicles, and control each of the vehicles in each of the target fleets to travel along the target to-be-traveled path, wherein the target to-be-traveled path of each pair of the to-be-detected vehicles and the safety comparison vehicles is obtained by adjusting the first to-be-traveled paths of the to-be-detected vehicles and the safety comparison vehicles based on the corresponding first safety detection result, and / or controlling each pair of the to-be-detected vehicles and the safety comparison vehicles to travel along the target to-be-traveled path is triggered based on the corresponding second safety detection result; For each of the target 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 target vehicle fleet being safe, each vehicle in the target vehicle fleet is controlled to travel in a coordinated manner.

11. The method according to claim 10, characterized in that The vehicle to be detected and the safety comparison vehicle are adjacent vehicles in a plurality of target 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 target 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 target 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.

12. 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 11.

13. 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 11.

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