Motorcade driving control method, system and device and readable storage medium

Abstract

The invention provides a motorcade driving control method, system and device and a readable storage medium. The method comprises the steps that a target road with at least one intersection, the initial speed, the tail end speed and the driving duration are determined; based on the working condition parameters of the pilot vehicle and the traffic light time, the initial speed, the tail end speed and the driving duration of each intersection, determining the speed track of the pilot vehicle in each road section; each road section is defined by two nodes, and the nodes comprise a starting point, an ending point or an intersection in a target road; the speed track comprises at least one type of track in an acceleration track, a constant speed track and a deceleration track, and the number of each type of track is one; and controlling the pilot vehicle to run based on the speed trajectory, and controlling the following vehicle to run along with the pilot vehicle at a preset safe distance until the fleet passes the target road. The efficiency of motorcade driving control can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle technology, and in particular, to a fleet driving control method, system, device, and computer-readable storage medium. Background Art

[0002] When multiple vehicles are traveling on the same road, the distance between them is relatively close and they can form a convoy. However, since the control of each vehicle is different, the driving of the multiple vehicles is not synchronized and coordinated, which can easily cause road congestion, high energy consumption of vehicles and inefficient driving.

[0003] Currently, the scene data collected during driving is analyzed based on the dynamic model to determine the vehicle's speed and acceleration in real time.

[0004] However, the current solution requires processing of large amounts of data and a heavy computational burden. The high complexity of vehicle control results in a long computational process and low control efficiency. Summary of the invention

[0005] In view of the above problems, embodiments of the present application are proposed to provide a fleet driving control method, system, device and computer-readable storage medium that overcome the above problems or at least partially solve the above problems.

[0006] In a first aspect, an embodiment of the present application discloses a vehicle fleet driving control method, including:

[0007] Determine a target road having at least one intersection, as well as an initial speed, a terminal speed, and a driving time; the initial speed and the terminal speed are the speeds of the pilot vehicle when starting to drive on the target road and when ending to drive on the target road, and the driving time is the time required for the pilot vehicle to drive through the target road; the pilot vehicle is used to form a convoy together with the following vehicles;

[0008] Based on the operating parameters of the pilot vehicle, the traffic light time of each intersection, the initial speed, the terminal speed and the driving time, determine the speed trajectory of the pilot vehicle in each road section; each road section is defined by two nodes, and the nodes include a starting point, an end point or an intersection in the target road; the speed trajectory includes at least one type of trajectory among an acceleration trajectory, a uniform speed trajectory and a deceleration trajectory, and the number of each type of trajectory is one;

[0009] The pilot vehicle is controlled to travel based on the speed trajectory, and the following vehicle is controlled to follow the pilot vehicle at a preset safety distance until the convoy passes the target road.

[0010] In a second aspect, the present application embodiment discloses a fleet driving control system, including:

[0011] Server, a fleet; the fleet includes a leading vehicle and a following vehicle;

[0012] The server is used to execute the steps in the vehicle fleet driving control method described in the first aspect above.

[0013] In a second aspect, an embodiment of the present application discloses a vehicle fleet driving control device, including:

[0014] A driving parameter module, used to determine a target road having at least one intersection, as well as an initial speed, a terminal speed and a driving duration; the initial speed and the terminal speed are the speeds of the pilot vehicle when starting and ending the driving on the target road, and the driving duration is the time required for the pilot vehicle to pass the target road; the pilot vehicle is used to form a convoy together with the following vehicles;

[0015] A speed trajectory module, for determining the speed trajectory of the pilot vehicle in each road section based on the operating parameters of the pilot vehicle, the traffic light time of each intersection, the initial speed, the terminal speed and the driving time; each road section is defined by two nodes, and the nodes include a starting point, an end point or an intersection in the target road; the speed trajectory includes at least one type of trajectory among an acceleration trajectory, a uniform speed trajectory and a deceleration trajectory, and the number of each type of trajectory is one;

[0016] The convoy control module is used to control the pilot vehicle to travel based on the speed trajectory, and control the following vehicles to follow the pilot vehicle at a preset safety distance until the convoy passes the target road.

[0017] In a fourth aspect, an embodiment of the present application further discloses an electronic device, including a processor and a memory, wherein the memory stores programs or instructions that can be executed on the processor, and when the program or instructions are executed by the processor, the steps of the fleet driving control method described in the first aspect are implemented.

[0018] In a fifth aspect, an embodiment of the present application further discloses a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the fleet driving control method described in the first aspect are implemented.

[0019] In the embodiment of the present application, a target road with at least one intersection, as well as an initial speed, a terminal speed, and a driving time are determined; based on the operating parameters of the pilot vehicle, the traffic light time at each intersection, the initial speed, the terminal speed, and the driving time, the speed trajectory of the pilot vehicle in each road section is determined; the speed trajectory includes at least one type of trajectory among an acceleration trajectory, a uniform speed trajectory, and a deceleration trajectory, and the number of each type of trajectory is one; the pilot vehicle is controlled to travel based on the speed trajectory, and the following vehicle is controlled to follow the pilot vehicle at a preset safety distance until the convoy passes the target road. The speed trajectory of each road section is determined by parameters such as the initial speed, the terminal speed, the driving time, and the traffic light time, and there is only one type of trajectory in each speed trajectory, which can simplify the speed trajectory used to control the pilot vehicle to travel on the target road, which means that there is no need to perform frequent and complex operations on the vehicle, and the vehicle can operate stably, thereby improving the efficiency of the convoy driving control; and since there is no need to perform frequent and complex driving control, the vehicle energy consumption is also reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a step diagram of a vehicle fleet driving control method provided by an embodiment of the present application;

[0021] Figure 2 is a schematic diagram of accelerating through a green light provided in an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of slowing down to pass a red light provided by an embodiment of the present application;

[0023] Figure 4 is a step diagram of another fleet driving control method provided by an embodiment of the present application;

[0024] Figure 5 This is a flow chart of a fleet driving provided by an embodiment of the present application;

[0025] Figure 6 is a structural diagram of a fleet driving control system provided by an embodiment of the present application;

[0026] Figure 7 is a block diagram of a fleet driving control device provided in an embodiment of the present application;

[0027] Figure 8 It is a block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0029] At present, the traditional convoy driving control problem is usually transformed into an optimal control problem in a finite time domain, which is generally solved by optimal control theory or numerical methods. However, these methods have limitations in processing large-scale data or real-time response, and the computational burden is large.

[0030] Figure 1 A step diagram of a vehicle fleet driving control method provided by an embodiment of the present application is shown, and the method includes:

[0031] Step 101, determine a target road with at least one intersection, as well as an initial speed, a terminal speed and a driving time; the initial speed and the terminal speed are the speeds of the lead vehicle when it starts and ends driving on the target road, and the driving time is the time required for the lead vehicle to pass the target road; the lead vehicle is used to form a convoy together with the following vehicles.

[0032] In the embodiment of the present application, a convoy refers to vehicles arranged continuously on the same road. The convoy includes a lead vehicle at the head of the convoy, and the vehicles behind the lead vehicle are all follower vehicles. The number of vehicles in the convoy is at least 2, i.e., at least one lead vehicle and one follower vehicle. There is no other restriction on the specific number of vehicles in the convoy.

[0033] Relevant data of the target road that the convoy is going to travel may be obtained first, such as location data, length data, etc. The target road may include at least one intersection, and each intersection may have a traffic light working according to a specific time rule.

[0034] The initial speed refers to the speed of the pilot vehicle when it enters the target road, and can also be considered as the speed of the pilot vehicle when it is at the starting point of the target road. Similarly, the terminal speed refers to the speed of the pilot vehicle when it leaves the target road, and can also be considered as the speed of the pilot vehicle when it is at the end of the target road. The initial speed and the terminal speed can be 0 or greater than 0. When the initial speed and the terminal speed are 0, it means that the vehicle starts to drive from the starting point of the target road and stops when it reaches the end point.

[0035] The driving time refers to the time required for the pilot vehicle to travel the entire distance of the target road. The driving time can generally represent the driving efficiency of the pilot vehicle through the target road.

[0036] Step 102, based on the operating parameters of the pilot vehicle, the traffic light time at each intersection, the initial speed, the terminal speed and the driving time, determine the speed trajectory of the pilot vehicle in each road section; each road section is defined by two nodes, and the nodes include the starting point, the end point or the intersection in the target road; the speed trajectory includes at least one type of trajectory among an acceleration trajectory, a uniform speed trajectory and a deceleration trajectory, and the number of each type of trajectory is one.

[0037] In the embodiment of the present application, the operating condition parameters of the pilot vehicle are used to represent parameters related to vehicle power, and the operating condition may refer to the operating condition of the vehicle engine, the operating condition of the vehicle body structure, the operating condition of the driving mode, etc.

[0038] The traffic light time of each intersection can include the interval time of traffic light switching and the duration of different lights of traffic lights. Based on the traffic light time of the intersection, the working status of the traffic lights at each intersection at any time can be determined, that is, the traffic status of the entire target road. Since the green light can indicate that the vehicle passes normally, and the red light indicates that the vehicle needs to stop to wait for the green light to come on, the traffic light time has an impact on the determination of the speed trajectory.

[0039] The target road can be divided based on nodes in the target road, such as the starting point, the end point and the intersection, to obtain different target sections, each of which is defined by two nodes. For example, the starting point and the first intersection define the first target section, the end point and the last intersection define the last target section, and the number of intermediate target sections is not limited.

[0040] A respective speed trajectory may be determined for each target road section. Each speed trajectory includes at least one type of trajectory among an acceleration trajectory, a uniform speed trajectory, and a deceleration trajectory, and the number of each type of trajectory is one. For example, target road section 1 may include an acceleration trajectory, a uniform speed trajectory, and a deceleration trajectory at the same time, while target road section 2 may only include an acceleration trajectory.

[0041] For example, if the distance between the starting point and the first intersection is long, that is, the length of the first target section is long, and when the vehicle reaches the first intersection, the traffic light is red, then the vehicle needs to accelerate first, reach a specific speed, and then travel at a constant speed at a specific speed, and decelerate before reaching the first intersection with a red light. Based on this, there can be an acceleration trajectory, a constant speed trajectory, and a deceleration trajectory at the same time. For another example, if the lights between the first target section and the fourth target section are green, and the lights between the fourth target section and the fifth target section are red, then it can be that the first target section is continuously accelerated, and the first target section only has an acceleration trajectory, the second target section and the third target section are continuously traveled at a constant speed, and the second target section and the third target section only have a constant speed trajectory, and the fourth target section is continuously decelerated, and the fourth target section only has a deceleration trajectory.

[0042] The speed trajectory can be considered as the relationship between speed and time, with a corresponding speed at a certain moment. It should be noted that there can be only one trajectory of each type in the speed trajectory of each target section, which means that the speed trajectory of a target section indicates that the process of acceleration, constant speed driving and deceleration of the vehicle is coherent. For example, in a target section, the situation of accelerating, decelerating and then accelerating again may not exist, based on which the speed trajectory can be simplified.

[0043] The velocity trajectory can be simulated by a model with simulation function, which can be a proxy model, a meta-model, an approximate model, etc. Among them, as for the approximate model, the approximate model is a mathematical tool used to replace the real model. It can interpolate or fit discrete data to obtain an approximate model that can quickly extract response information. This model can obtain the corresponding response approximation by interpolation under new design variable parameter combinations without the need to analyze the high-fidelity model every time. Based on the approximate model, different types of trajectories output by the approximate model can be obtained by inputting parameters such as initial velocity, expected velocity, terminal velocity, and acceleration range.

[0044] The approximate model can also solve the speed distribution of the pilot vehicle, i.e., the speed trajectory, through the optimal control method, pseudo-spectral method, greedy algorithm or other algorithms. For example, the optimal control method can be used to control the operation process of a causal chain coupling system to obtain the best operation effect. This method belongs to the category of optimization and can seek a control strategy under given constraints to make the system performance indicators reach the maximum or minimum value.

[0045] Therefore, the approximate model can be used to consider information such as traffic light time, vehicle position and speed to determine the optimal acceleration of the pilot vehicle near the intersection. By reasonably allocating acceleration to determine the speed trajectory, the pilot vehicle can pass the intersection as quickly as possible while ensuring safety, reducing parking waiting time and energy consumption.

[0046] Figure 2 is a schematic diagram of accelerating through a green light provided in an embodiment of the present application; Figure 2 The coordinate system includes time as the horizontal axis and speed as the vertical axis, and the coordinate system includes an acceleration track 201, a uniform speed track 202, and a deceleration track 203. The acceleration track 201 and the uniform speed track 202 correspond to the green light time area 204, and the deceleration track 203 corresponds to the red light time area 205. The head position of the acceleration track 201 indicates that the initial speed is 0, the uniform speed corresponding to the uniform speed track 202 is Vcons, and the end of the deceleration track 203 indicates that the speed is Vz.

[0047] Figure 3 is a schematic diagram of slowing down to pass a red light provided by an embodiment of the present application; Figure 3 The coordinate system includes time as the horizontal axis and speed as the vertical axis, and the coordinate system includes a deceleration trajectory 301 , a uniform speed trajectory 302 , an acceleration trajectory 303 , a red light time area 304 and a green light time area 305 . Figure 3 The deceleration trajectory 301 in FIG. 3 shows that when the red light is on, the vehicle decelerates to a uniform speed Vcons, and then starts to travel at a uniform speed. After the red light switches to the green light for a period of time, the vehicle starts to accelerate based on the uniform speed Vcons.

[0048] Step 103: Control the lead vehicle to travel based on the speed trajectory, and control the following vehicles to follow the lead vehicle at a preset safety distance until the convoy passes the target road.

[0049] After the speed trajectory of the pilot vehicle is determined, the pilot vehicle can be controlled to travel based on the speed trajectory, so that the pilot vehicle can travel according to the corresponding speed at any time. Accordingly, the following vehicle only needs to maintain a safe distance from the pilot vehicle. It is understandable that the safety distance can be different for following vehicles of different orders. For example, the safety distance of the first following vehicle adjacent to the pilot vehicle can be 5 meters, the second following vehicle can be 10 meters, and so on. The pilot vehicle and the following vehicles are controlled separately until the convoy passes the target road.

[0050] In summary, in the embodiment of the present application, by determining a target road with at least one intersection, as well as the initial speed, terminal speed and driving time; based on the operating parameters of the pilot vehicle, the traffic light time at each intersection, the initial speed, terminal speed and driving time, the speed trajectory of the pilot vehicle in each road section is determined; the speed trajectory includes at least one type of trajectory among the acceleration trajectory, the uniform speed trajectory and the deceleration trajectory, and the number of each type of trajectory is one; the pilot vehicle is controlled to drive based on the speed trajectory, and the following vehicle is controlled to follow the pilot vehicle at a preset safety distance until the convoy passes the target road. The speed trajectory of each road section is determined by the initial speed, terminal speed, driving time, traffic light time and other parameters, and there is only one type of trajectory in each speed trajectory, which can simplify the speed trajectory used to control the pilot vehicle to drive on the target road, which means that there is no need to perform frequent and complex operations on the vehicle, and the vehicle can run stably, improving the efficiency of the convoy driving control; and because there is no need for frequent and complex driving control, the vehicle energy consumption is also reduced.

[0051] refer to Figure 4 , which shows a step diagram of another fleet driving control method provided by an embodiment of the present application, the method comprising:

[0052] Step 401, determining a target road having at least one intersection, as well as an initial speed, a terminal speed, and a driving time; the initial speed and the terminal speed are the speeds of the pilot vehicle when starting to drive on the target road and when ending to drive on the target road, and the driving time is the time required for the pilot vehicle to drive through the target road; the pilot vehicle is used to form a convoy together with the following vehicles;

[0053] Step 402, based on the operating parameters of the pilot vehicle, the traffic light time of each intersection, the initial speed, the terminal speed and the driving time, determine the speed trajectory of the pilot vehicle in each road section; each road section is defined by two nodes, and the nodes include a starting point, an end point or an intersection in the target road; the speed trajectory includes at least one type of trajectory among an acceleration trajectory, a uniform speed trajectory and a deceleration trajectory, and the number of each type of trajectory is one;

[0054] Step 403: Control the lead vehicle to travel based on the speed trajectory, and control the following vehicles to follow the lead vehicle at a preset safety distance until the convoy passes the target road.

[0055] The above steps 401-403 can refer to the above Figure 1 The contents of the embodiments will not be described in detail here.

[0056] Optionally, the step of controlling the pilot vehicle to travel based on the speed trajectory includes:

[0057] Determining different types of trajectories included in the velocity trajectory, and a trajectory sequence consisting of the different types of trajectories;

[0058] Based on the order of trajectories indicated by the trajectory sequence, the pilot vehicle is controlled to travel through each type of trajectory in turn.

[0059] In the embodiment of the present application, there may be one or more types of trajectories in the speed trajectory of each road section, such as acceleration trajectory, uniform speed trajectory and deceleration trajectory. Then it is necessary to determine the position of each type of trajectory in the entire speed trajectory, that is, the trajectory sequence composed of different types of trajectories.

[0060] Then, based on the trajectory sequence indicated by the trajectory sequence, the pilot vehicle is controlled to travel based on each type of trajectory one by one. It can be understood that, since the speed trajectory can represent the vehicle speed at a specific moment, the implementation method of controlling the vehicle to travel according to the speed trajectory can be to control the acceleration of the vehicle to achieve the corresponding speed at a specific moment.

[0061] In implementing the embodiments of the present application, by determining the different types of trajectories included in the speed trajectory, and the trajectory sequence composed of the different types of trajectories; based on the trajectory order indicated by the trajectory sequence, the driving of the pilot vehicle is controlled by each type of trajectory in turn, and the vehicles can be accurately controlled one by one according to the different types of trajectories, thereby improving the accuracy of the driving of the pilot vehicle and providing a good foundation for the accurate driving of the entire fleet.

[0062] Optionally, the step of controlling the following vehicle to follow the pilot vehicle at a preset safety distance includes:

[0063] Determining the real-time acceleration of the following vehicle based on the acceleration range, the real-time speed, the expected speed and the safety distance of the following vehicle;

[0064] Based on the real-time acceleration, the following vehicle is controlled to follow the pilot vehicle based on the safety distance.

[0065] In the embodiment of the present application, the following vehicle can be realized by an end-to-end model, a behavior cloning model or an intelligent driver model (IDM, Intelligent Diver Model). When the intelligent driver model is used to realize the following vehicle, the acceleration of the following vehicle can be calculated by the following kinematic equation:

[0066]

[0067] Among them, α(t) represents the acceleration of the following vehicle at time t; amax Indicates the maximum acceleration of the following vehicle (m / s 2 , meters per square second), v(t) represents the real-time speed of the following vehicle at time t, v exp represents the expected speed; S represents the preset safety distance, s min a represents the minimum safe distance; b represents the minimum acceleration of the following vehicle, h represents the head distance between the following vehicle and the leading vehicle, L represents the vehicle length, T represents the safe time interval, and Δv represents the speed difference between the leading vehicle and the following vehicle. max and b constitute the acceleration range of the following vehicle.

[0068] The distance between the following vehicle and the pilot vehicle is controlled to be maintained at a preset safe distance by calculating the acceleration of the following vehicle in real time. For example, the intelligent driver model can dynamically adjust its own acceleration according to the behavior of the pilot vehicle to maintain a reasonable match between the relative position and speed with the pilot vehicle. When the distance between the vehicles is too small, the acceleration of the following vehicle will decrease, which can effectively avoid a collision between the following vehicle and the pilot vehicle. When the distance between the vehicles gradually increases, the acceleration of the vehicle will also increase, so that the following vehicle can follow the pilot vehicle.

[0069] For any vehicle in the convoy, the numerical integration equations of the speed and position after time t are as follows:

[0070] v(t+Δt)=v(t)+a(t)·Δt

[0071]

[0072] Wherein, v(t+Δt) represents the velocity after Δt has passed since time t, v(t) represents the velocity at time t, a(t) represents the acceleration at time t, Δt represents the acceleration time, x(t+Δt) represents the position after Δt has passed since time t, and x(t) represents the position at time t.

[0073] By implementing the embodiments of the present application, the real-time acceleration of the following vehicle is determined based on the acceleration range, real-time speed, expected speed and safe distance of the following vehicle; based on the real-time acceleration, the following vehicle is controlled to follow the pilot vehicle based on the safe distance. The distance between the pilot vehicle and the following vehicle can be accurately controlled, and the appropriate vehicle distance and speed can be maintained, which can reduce traffic jams and traffic accidents, and realize the coordinated driving of the fleet and the improvement of traffic flow.

[0074] The operating parameters can represent the speed range and acceleration range of the vehicle, and the operating parameters of each vehicle in the fleet are different, which means that not all vehicles can reach a specific speed and a specific acceleration. For example, a higher speed and acceleration may not be achievable for an individual vehicle.

[0075] Optionally, the method further includes:

[0076] Acquire an operating condition parameter set consisting of operating condition parameters of each vehicle in the fleet, and determine a minimum target operating condition parameter in the operating condition parameter set;

[0077] The speed trajectory of the pilot vehicle in each road section is determined based on the target operating condition parameters, the traffic light time at each intersection, the initial speed, the terminal speed and the driving duration.

[0078] In an embodiment of the present application, the operating parameters of each vehicle may be formed into an operating parameter set, and the minimum target operating parameter may be determined in the operating parameter set. The speed range and acceleration range corresponding to the minimum target operating parameter are the lower limits of the entire fleet. Therefore, any vehicle in the fleet can reach the speed range and acceleration range corresponding to the minimum target operating parameter.

[0079] Then, the speed trajectory of the pilot vehicle in each road section can be determined based on the target operating condition parameters, the traffic light time at each intersection, the initial speed, the terminal speed, and the driving time. Then, the speed trajectory is determined based on the target operating condition parameters, and when the pilot vehicle drives based on the speed trajectory, any vehicle in the fleet can follow.

[0080] It is understandable that the speed trajectory determined based on the public parameters of the pilot vehicle is a relatively efficient speed trajectory, because the pilot vehicle is the first vehicle in the convoy and only needs to operate according to its own operating parameters to make the entire convoy more efficient, but this may cause some following vehicles with operating parameters smaller than the pilot vehicle to be unable to follow. Therefore, based on the minimum target operating parameters, each wheel can be stably driven as a convoy.

[0081] The embodiment of the present application is implemented by obtaining the operating condition parameter set composed of the operating condition parameters of each vehicle in the fleet, and determining the minimum target operating condition parameter in the operating condition parameter set; based on the target operating condition parameter, the traffic light time at each intersection, the initial speed, the terminal speed and the driving time, the speed trajectory of the leading vehicle in each road section is determined. It is possible to maintain the stable following driving of each following vehicle, so that the fleet queue is stable and complete, and the driving stability of the fleet is improved.

[0082] Optionally, the step of determining the speed trajectory of the pilot vehicle in each road section based on the operating parameters of the pilot vehicle, the traffic light time at each intersection, the initial speed, the terminal speed and the driving time includes:

[0083] Based on the operating parameters of the pilot vehicle, a speed range and an acceleration range of the pilot vehicle are determined; the speed range indicates a maximum speed and a minimum speed of the pilot vehicle; the acceleration range indicates a maximum acceleration and a minimum acceleration of the pilot vehicle;

[0084] Determining the traffic status of the target road based on the traffic light time at each intersection;

[0085] In the traffic state, the speed trajectory of the pilot vehicle in each road section is determined according to the speed range, the acceleration range, the traffic light time of each intersection, the initial speed, the terminal speed and the driving time.

[0086] In the embodiment of the present application, the speed range and acceleration range of the pilot vehicle can be determined based on the operating parameters of the pilot vehicle. The operating parameters can be driving modes such as economic mode, comfort mode, and sports mode. In different driving modes, the operating parameters are different, and the corresponding speed ranges and acceleration ranges are different. For example, the speed range of the economic mode is 30-60 (kilometers per hour), the acceleration range is 1-5 (meters per square second), and the speed range of the sports mode is 90-120, and the acceleration range is 5-10.

[0087] The speed range is used to define the upper and lower limits of the speed trajectory. Any point in the speed trajectory does not exceed the speed range, and the acceleration trajectory (acceleration is positive) and the deceleration trajectory (acceleration is negative) do not exceed the acceleration range. The process of determining the speed trajectory of the pilot vehicle in each road section based on the speed range, acceleration range, traffic light time and other parameters will not be repeated here.

[0088] Optionally, the step of determining the speed trajectory of the pilot vehicle in each road section according to the speed range, the acceleration range, the initial speed, the terminal speed and the driving duration in the traffic state includes:

[0089] Under the traffic state, obtaining a preset expected speed;

[0090] Determining an acceleration trajectory of the pilot vehicle in each road section based on the initial speed, the expected speed, and the acceleration range;

[0091] Based on the expected speed, determining a uniform speed trajectory of the pilot vehicle in each road section;

[0092] A deceleration trajectory of the pilot vehicle in each road section is determined based on the expected speed, the terminal speed, and the acceleration range.

[0093] In an embodiment of the present application, the expected speed is a speed at which the vehicle has higher fuel efficiency. When the vehicle travels at the expected speed, the vehicle has lower energy consumption but can provide stronger power. The expected speed may be obtained in advance through testing, and the expected speed may be one or more.

[0094] When determining the acceleration trajectory, it is necessary to accelerate to the desired speed based on the initial speed, and the acceleration needs to be determined based on the acceleration range. A maximum acceleration can be selected in the acceleration range, so that the vehicle can quickly accelerate from the initial speed to the desired speed to reduce energy consumption and improve driving efficiency. Since the energy consumption and noise of the vehicle may be large when the acceleration is large, a smaller acceleration can also be selected to control energy consumption and noise, reduce noise and improve comfort. There is no specific restriction on the need to select the acceleration.

[0095] When determining the uniform velocity trajectory, the velocity of the uniform velocity trajectory is the terminal velocity of the acceleration trajectory, that is, the expected velocity, and the uniform velocity trajectory maintains the expected velocity unchanged.

[0096] When determining the deceleration trajectory, it is necessary to select a negative acceleration in the acceleration range for deceleration braking based on the expected speed, terminal speed and acceleration range. The corresponding acceleration can be calculated based on the speed difference between the expected speed and the terminal speed, and the deceleration can be smoothly achieved through the deceleration trajectory to avoid sudden braking and other situations.

[0097] Optionally, the method further includes:

[0098] Based on the speed trajectory of the pilot vehicle in each road section, determining the energy consumption parameter of the pilot vehicle in each road section; each energy consumption parameter includes at least one type of energy consumption parameter of acceleration energy consumption parameter, uniform speed energy consumption parameter and deceleration energy consumption parameter, and the number of each type of energy consumption parameter is one;

[0099] Determining the real-time energy consumption parameters of the pilot vehicle on the target road according to the energy consumption parameters of the pilot vehicle on each road section;

[0100] The real-time energy consumption parameter is compared with the preset energy consumption parameter, and the speed trajectory is adjusted according to the comparison result.

[0101] In the embodiment of the present application, since the speed trajectory of the pilot vehicle in each target section of the entire target road has been determined, that is, the speed of the pilot vehicle at any time is known, the specific energy consumption of the pilot vehicle in the target road can be calculated. The energy consumption parameters of the pilot vehicle in each section include at least one type of energy consumption parameter among acceleration energy consumption parameters, uniform speed energy consumption parameters and deceleration energy consumption parameters. Since the number of each type of trajectory in each target section is one, the number of corresponding energy consumption parameters is also one.

[0102] According to the energy consumption parameters of the pilot vehicle in each road section, the energy consumption parameters of the pilot vehicle on the target road are determined. The energy consumption of the target road can be determined by the following formula:

[0103]

[0104] Among them, minJ * represents the energy consumption corresponding to the target road, j represents the number of intersections, a j1 represents the acceleration of the acceleration trajectory, a j2 Indicates the acceleration of the deceleration trajectory. COST j (v j (t),a j1 (t)) represents the instantaneous energy cost of the acceleration trajectory at the jth intersection at time t, t 0 represents the time when the acceleration trajectory starts, t 1 Indicates the moment when the acceleration trajectory ends. COST j (v j (t),0) represents the instantaneous energy consumption cost of the uniform velocity trajectory at the jth intersection at time t, t 1 represents the time when the uniform velocity trajectory starts, t 2 Indicates the moment when the uniform velocity trajectory ends. COST j (v j (t),a j2 (t)) represents the instantaneous energy consumption cost of the deceleration trajectory at the jth intersection at time t, t 2 Indicates the time when the deceleration trajectory starts, t f Indicates the moment when the deceleration trajectory ends, 0≤t 1 ≤t 2 ≤t f .

[0105] In addition, the parameters in the above formula also have the following relationship:

[0106] x j (t f )=D j

[0107] The above formula represents the driving distance x j In t fAt time D, it is equal to the length of the j-th signalized intersection. j

[0108]

[0109] The above formula represents the driving distance x j and the velocity v at time t j The conversion relationship between and the acceleration a at time t j Conversion relationship.

[0110]

[0111] The above formula represents the 0 Initial velocity at time v 1 , with acceleration a j1 Acceleration 1 -t 0 duration, thereby achieving a uniform velocity v of the uniform trajectory cons .

[0112]

[0113] The above formula represents the uniform velocity v cons , with acceleration a j2 Deceleration t f -t 2 time, and then reach the terminal speed v 2 .

[0114] By adding up the energy consumption of the pilot vehicle at different road sections through the above formula, the real-time energy consumption parameters of the pilot vehicle on the target road can be obtained. The real-time energy consumption parameters can be compared with the preset energy consumption parameters, and the speed trajectory can be adjusted according to the comparison results. The preset energy consumption parameters can be pre-set parameters or based on other speed trajectories, such as energy consumption parameters corresponding to speed trajectories determined based on other models or strategies.

[0115] Based on energy consumption parameters and driving data, the approximate model driving strategy can be evaluated and optimized. The evaluation can be carried out through simulation experiments, actual road tests and other methods, collecting vehicle driving data and energy consumption data, analyzing the performance and effect of the fleet control strategy, and comparing it with other benchmark strategies and global optimization strategies. Based on the evaluation results and feedback information from actual application scenarios, the approximate model driving strategy can be adjusted and optimized. The optimization can include adjusting the speed distribution of the pilot vehicle, the parameters of the intelligent driver model and the decision rules of the strategy, etc., to further improve the real-time, adaptability and efficiency of the strategy. Through continuous evaluation and optimization, the approximate model driving strategy can be made more accurate, reliable and adaptable to different traffic environments and driving needs. The optimized strategy can improve the traffic flow of the fleet, reduce energy consumption, and meet the requirements of driving comfort and safety.

[0116] In addition, since the driving strategy including the speed trajectory can be determined based on the approximate model and the intelligent driver model, and the driving control of the fleet can be completed based on the driving strategy, the driving strategy can also be evaluated and optimized. The evaluation can be carried out through simulation experiments, actual road tests, etc., to collect vehicle driving data and energy consumption data, and analyze the performance and effect of the strategy. At the same time, it can be compared with other benchmark strategies and global optimization strategies.

[0117] Based on the evaluation results and feedback from actual application scenarios, the approximate model driving strategy can be optimized. The optimization includes adjusting the acceleration distribution algorithm, the parameters of the intelligent driver model, and the decision rules of the strategy, etc., to further improve the real-time, adaptability, and efficiency of the strategy. Through continuous evaluation and optimization, the approximate model driving strategy can be made more accurate and reliable, and can adapt to different traffic environments and driving needs. The optimized strategy can further improve the traffic flow of the fleet, reduce energy consumption, and meet the requirements of driving comfort and safety.

[0118] In this application, the goal of energy-saving driving is achieved by simplifying the optimal driving trajectory of the convoy into three trajectories of acceleration-constant speed-deceleration, and combining an approximate model to simulate the acceleration-constant speed-deceleration trajectory of the vehicle. The driving strategy of the approximate model can ensure that the convoy does not need to stop at red lights when passing through multiple intersections, reducing energy consumption and unnecessary parking waiting time.

[0119] Compared with the traditional optimal control method, the approximate model driving strategy of this application has a smaller computational burden when processing large-scale data or real-time application scenarios. By simplifying the fleet's driving trajectory and adopting an approximate model, the complex calculation process is reduced, and the real-time performance and computational efficiency of the strategy are improved.

[0120] The approximate model driving strategy determines the speed stage trajectory based on different operating condition parameters according to the initial speed and driving duration of the leading vehicle. This enables the strategy to be effectively applied under different driving conditions and has good applicability.

[0121] Improve fleet trafficability and energy economy: By allocating the best acceleration to the pilot car at each signalized intersection and following it with an intelligent driver model, the approximate model driving strategy can optimize the fleet's traffic trafficability and energy economy, which helps improve the overall efficiency and economic benefits of the fleet.

[0122] In general, this application has advantages in energy saving, computational efficiency and applicability, and can realize real-time, efficient and economical fleet driving control.

[0123] Figure 5 is a flow chart of fleet control provided by an embodiment of the present application;

[0124] Step 501, start;

[0125] Step 502, determining the trajectory type that the approximate model needs to simulate: acceleration, constant speed, deceleration;

[0126] Step 503, determining operating parameters and other parameters such as traffic light time, initial speed, etc.;

[0127] Step 504, simulating a velocity trajectory based on the approximate model;

[0128] Step 505, determining the velocity trajectory and controlling the model of the following vehicle;

[0129] Step 506, adjusting and optimizing the speed trajectory simulated by the approximate model, i.e., the driving strategy;

[0130] Step 507, end.

[0131] Figure 6 A fleet driving control system provided by an embodiment of the present application includes:

[0132] Server 601, a fleet; the fleet includes a pilot vehicle 602 and a follower vehicle 603;

[0133] The server 601 is used to execute the steps of the vehicle fleet driving control method in the above method embodiment.

[0134] Figure 6 In the example, the number of following vehicles 603 is not limited, and the server 601 can communicate with the traffic light 604 at the intersection to obtain the traffic light time. The server 601 can communicate with the pilot vehicle 602 and the following vehicles 603 to control the driving of the convoy.

[0135] refer to Figure 7 , which shows a fleet driving control device 70 provided in an embodiment of the present application, including:

[0136] The driving parameter module 701 is used to determine a target road having at least one intersection, as well as an initial speed, a terminal speed and a driving time; the initial speed and the terminal speed are the speeds of the pilot vehicle when starting to drive on the target road and when ending to drive on the target road, and the driving time is the time required for the pilot vehicle to drive through the target road; the pilot vehicle is used to form a convoy together with the following vehicles;

[0137] The speed trajectory module 702 is used to determine the speed trajectory of the pilot vehicle in each road section based on the operating parameters of the pilot vehicle, the traffic light time of each intersection, the initial speed, the terminal speed and the driving time; each road section is defined by two nodes, and the nodes include the starting point, the end point or the intersection in the target road; the speed trajectory includes at least one type of trajectory among an acceleration trajectory, a uniform speed trajectory and a deceleration trajectory, and the number of each type of trajectory is one;

[0138] The convoy control module 703 is used to control the lead vehicle to travel based on the speed trajectory, and control the following vehicles to follow the lead vehicle at a preset safety distance until the convoy passes the target road.

[0139] Optional, Fleet Control Module, includes:

[0140] A following acceleration submodule, configured to determine the real-time acceleration of the following vehicle based on the acceleration range, the real-time speed, the expected speed and the safety distance of the following vehicle;

[0141] The real-time acceleration submodule is used to control the following vehicle to travel based on the real-time acceleration, so as to follow the pilot vehicle based on the safety distance.

[0142] Optionally, the device further comprises:

[0143] A minimum operating condition module, used to obtain an operating condition parameter set consisting of operating condition parameters of each vehicle in the fleet, and determine a minimum target operating condition parameter in the operating condition parameter set;

[0144] The first trajectory determination module is used to determine the speed trajectory of the pilot vehicle in each road section based on the target operating condition parameters, the traffic light time of each intersection, the initial speed, the terminal speed and the driving time.

[0145] Optional, Fleet Control Module, includes:

[0146] A trajectory sequence submodule, used for determining different types of trajectories included in the velocity trajectory, and a trajectory sequence consisting of the different types of trajectories;

[0147] The sequence indication submodule is used to control the pilot vehicle to travel through each type of trajectory in turn based on the trajectory order indicated by the trajectory sequence indication.

[0148] Optional, velocity trajectory module, including:

[0149] A speed limiting submodule, for determining a speed range and an acceleration range of the pilot vehicle based on the operating parameters of the pilot vehicle; the speed range indicates a maximum speed and a minimum speed of the pilot vehicle; the acceleration range indicates a maximum acceleration and a minimum acceleration of the pilot vehicle;

[0150] A traffic status submodule, used to determine the traffic status of the target road based on the traffic light time at each intersection;

[0151] The second trajectory determination submodule is used to determine the speed trajectory of the pilot vehicle in each road section under the traffic state according to the speed range, the acceleration range, the traffic light time of each intersection, the initial speed, the terminal speed and the driving time.

[0152] Optionally, the second trajectory determination submodule includes:

[0153] an expected acquisition unit, which acquires a preset expected speed in the traffic state;

[0154] an acceleration determination unit, configured to determine an acceleration trajectory of the pilot vehicle in each road section based on the initial speed, the expected speed, and the acceleration range;

[0155] a uniform speed determination unit, configured to determine a uniform speed trajectory of the pilot vehicle in each road section based on the expected speed;

[0156] A deceleration determination unit is used to determine a deceleration trajectory of the pilot vehicle in each road section based on the expected speed, the terminal speed and the acceleration range.

[0157] Optionally, the device further comprises:

[0158] A road section energy consumption module, used to determine the energy consumption parameter of the pilot vehicle in each road section based on the speed trajectory of the pilot vehicle in each road section; each energy consumption parameter includes at least one type of energy consumption parameter among acceleration energy consumption parameter, uniform speed energy consumption parameter and deceleration energy consumption parameter, and the number of each type of energy consumption parameter is one;

[0159] A road energy consumption module, used to determine the real-time energy consumption parameters of the pilot vehicle on the target road according to the energy consumption parameters of the pilot vehicle on each road section;

[0160] The trajectory adjustment module is used to compare the real-time energy consumption parameter with the preset energy consumption parameter and adjust the speed trajectory according to the comparison result.

[0161] In summary, in the embodiment of the present application, by determining a target road with at least one intersection, as well as the initial speed, terminal speed and driving time; based on the operating parameters of the pilot vehicle, the traffic light time at each intersection, the initial speed, terminal speed and driving time, the speed trajectory of the pilot vehicle in each road section is determined; the speed trajectory includes at least one type of trajectory among the acceleration trajectory, the uniform speed trajectory and the deceleration trajectory, and the number of each type of trajectory is one; the pilot vehicle is controlled to drive based on the speed trajectory, and the following vehicle is controlled to follow the pilot vehicle at a preset safety distance until the convoy passes the target road. The speed trajectory of each road section is determined by the initial speed, terminal speed, driving time, traffic light time and other parameters, and there is only one type of trajectory in each speed trajectory, which can simplify the speed trajectory used to control the pilot vehicle to drive on the target road, which means that there is no need to perform frequent and complex operations on the vehicle, and the vehicle can run stably, improving the efficiency of the convoy driving control; and because there is no need for frequent and complex driving control, the vehicle energy consumption is also reduced.

[0162] The present application also provides an electronic device, such as Figure 8 As shown, it includes a processor 1001 , a communication interface 1002 , a memory 1003 and a communication bus 1004 , wherein the processor 1001 , the communication interface 1002 , and the memory 1003 communicate with each other via the communication bus 1004 .

[0163] The memory 1003 is used to store computer programs.

[0164] When the processor 1001 is used to execute the program stored in the memory 1003, the following steps are implemented:

[0165] Determine a target road having at least one intersection, as well as an initial speed, a terminal speed, and a driving time; the initial speed and the terminal speed are the speeds of the pilot vehicle when starting to drive on the target road and when ending to drive on the target road, and the driving time is the time required for the pilot vehicle to drive through the target road; the pilot vehicle is used to form a convoy together with the following vehicles;

[0166] Based on the operating parameters of the pilot vehicle, the traffic light time of each intersection, the initial speed, the terminal speed and the driving time, determine the speed trajectory of the pilot vehicle in each road section; each road section is defined by two nodes, and the nodes include a starting point, an end point or an intersection in the target road; the speed trajectory includes at least one type of trajectory among an acceleration trajectory, a uniform speed trajectory and a deceleration trajectory, and the number of each type of trajectory is one;

[0167] The pilot vehicle is controlled to travel based on the speed trajectory, and the following vehicle is controlled to follow the pilot vehicle at a preset safety distance until the convoy passes the target road.

[0168] Among them, the processor 1001 can also implement other steps in the above-mentioned fleet driving control method, which will not be repeated here.

[0169] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0170] The communication interface is used for communication between the above electronic device and other devices.

[0171] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0172] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0173] In another embodiment provided in the present application, a computer-readable storage medium is also provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the fleet driving control method described in the above embodiment.

[0174] In another embodiment provided in the present application, a computer program product including instructions is also provided. When the computer program product is run on a computer, the computer executes the vehicle fleet driving control method described in the above embodiment.

[0175] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0176] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method or device including the elements.

[0177] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the embodiments of the device, electronic device, computer-readable storage medium and computer program products containing instructions, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0178] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A vehicle fleet driving control method, characterized in that: The method comprises: Determine a target road having at least one intersection, as well as an initial speed, a terminal speed, and a driving time; the initial speed and the terminal speed are the speeds of the pilot vehicle when starting to drive on the target road and when ending to drive on the target road, and the driving time is the time required for the pilot vehicle to drive through the target road; the pilot vehicle is used to form a convoy together with the following vehicles; Based on the operating parameters of the pilot vehicle, the traffic light time at each intersection, the initial speed, the terminal speed and the driving time, determine the speed trajectory of the pilot vehicle in each road section; each road section is defined by two nodes, and the nodes include a starting point, an end point or an intersection in the target road; the speed trajectory includes at least one type of trajectory among an acceleration trajectory, a uniform speed trajectory and a deceleration trajectory, and the number of each type of trajectory is one; The pilot vehicle is controlled to travel based on the speed trajectory, and the following vehicle is controlled to follow the pilot vehicle at a preset safety distance until the convoy passes the target road.

2. The method according to claim 1, characterized in that The step of controlling the following vehicle to follow the pilot vehicle at a preset safety distance comprises: Determining the real-time acceleration of the following vehicle based on the acceleration range, the real-time speed, the expected speed and the safety distance of the following vehicle; Based on the real-time acceleration, the following vehicle is controlled to follow the pilot vehicle based on the safety distance.

3. The method according to claim 1, characterized in that The method further comprises: Acquire an operating condition parameter set consisting of operating condition parameters of each vehicle in the fleet, and determine a minimum target operating condition parameter in the operating condition parameter set; The speed trajectory of the pilot vehicle in each road section is determined based on the target operating condition parameters, the traffic light time at each intersection, the initial speed, the terminal speed and the driving duration.

4. The method according to claim 1, characterized in that: The step of controlling the pilot vehicle to travel based on the speed trajectory comprises: Determining different types of trajectories included in the velocity trajectory, and a trajectory sequence consisting of the different types of trajectories; Based on the order of trajectories indicated by the trajectory sequence, the pilot vehicle is controlled to travel through each type of trajectory in turn.

5. The method according to claim 1, characterized in that: The step of determining the speed trajectory of the pilot vehicle in each road section based on the operating parameters of the pilot vehicle, the traffic light time at each intersection, the initial speed, the terminal speed and the driving time comprises: Based on the operating parameters of the pilot vehicle, a speed range and an acceleration range of the pilot vehicle are determined; the speed range indicates a maximum speed and a minimum speed of the pilot vehicle; the acceleration range indicates a maximum acceleration and a minimum acceleration of the pilot vehicle; Determining the traffic status of the target road based on the traffic light time at each intersection; In the traffic state, the speed trajectory of the pilot vehicle in each road section is determined according to the speed range, the acceleration range, the initial speed, the terminal speed and the driving duration.

6. The method according to claim 5, characterized in that The step of determining the speed trajectory of the pilot vehicle in each road section according to the speed range, the acceleration range, the initial speed, the terminal speed and the driving duration in the traffic state comprises: Under the traffic state, obtaining a preset expected speed; Determining an acceleration trajectory of the pilot vehicle in each road section based on the initial speed, the expected speed, and the acceleration range; Based on the expected speed, determining a uniform speed trajectory of the pilot vehicle in each road section; A deceleration trajectory of the pilot vehicle in each road section is determined based on the expected speed, the terminal speed, and the acceleration range.

7. The method according to claim 1, characterized in that The method further comprises: Based on the speed trajectory of the pilot vehicle in each road section, determining the energy consumption parameter of the pilot vehicle in each road section; each energy consumption parameter includes at least one type of energy consumption parameter of acceleration energy consumption parameter, uniform speed energy consumption parameter and deceleration energy consumption parameter, and the number of each type of energy consumption parameter is one; Determining the real-time energy consumption parameters of the pilot vehicle on the target road according to the energy consumption parameters of the pilot vehicle on each road section; The real-time energy consumption parameter is compared with the preset energy consumption parameter, and the speed trajectory is adjusted according to the comparison result.

8. A fleet driving control system, characterized in that: The system comprises: Server, a fleet; the fleet includes a leading vehicle and a following vehicle; The server is used to execute the steps in the vehicle fleet driving control method described in any one of claims 1 to 7.

9. A vehicle fleet driving control device, characterized in that: include: A driving parameter module, for determining a target road having at least one intersection, an initial speed, a terminal speed, and a driving duration; The initial speed and the terminal speed are the speeds of the pilot vehicle when it starts and ends traveling on the target road, and the driving time is the time required for the pilot vehicle to travel through the target road; the pilot vehicle is used to form a convoy together with the following vehicles; A speed trajectory module, for determining the speed trajectory of the pilot vehicle in each road section based on the operating parameters of the pilot vehicle, the traffic light time of each intersection, the initial speed, the terminal speed and the driving time; each road section is defined by two nodes, and the nodes include a starting point, an end point or an intersection in the target road; the speed trajectory includes at least one type of trajectory among an acceleration trajectory, a uniform speed trajectory and a deceleration trajectory, and the number of each type of trajectory is one; The convoy control module is used to control the pilot vehicle to travel based on the speed trajectory, and control the following vehicles to follow the pilot vehicle at a preset safety distance until the convoy passes the target road.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in the vehicle fleet driving control method as described in any one of claims 1 to 7 are implemented.

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