Formation vehicle driving control method, vehicle formation driving system and storage medium

Abstract

The embodiment of the invention provides a formation vehicle driving control method, a vehicle formation driving system and a storage medium, and relates to the technical field of automatic driving. The formation vehicle driving control method comprises the following steps: acquiring driving track data of each vehicle in a vehicle formation and visual image data acquired by each vehicle; determining visual expectation data between two adjacent target vehicles in the plurality of vehicles based on the driving track data of each vehicle in the vehicle formation; and controlling each vehicle to run based on a comparison result of the visual expected data between the two target vehicles and the visual image data of each target vehicle. According to the invention, the driving state of each vehicle can be controlled in time when the formation vehicles are abnormal in driving, so that traffic accidents and potential safety hazards are avoided.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a platoon vehicle driving control method, a vehicle platoon driving system and a storage medium. Background Art

[0002] With the development of autonomous driving technology, single-vehicle autonomous driving has been widely promoted and applied, which also provides a basis for the realization of autonomous driving platoon driving, which can effectively improve transportation efficiency. Autonomous driving platoon driving refers to two or more vehicles, based on technologies such as smart sensors, wireless communications and cloud platforms, through data sharing and collaborative decision-making, autonomous driving in the form of a queue in specific scenarios.

[0003] When a vehicle platoon is driving, improper control or complex road conditions (for example, slippery roads in rainy days, muddy roads, and other slippery sections) may lead to risks such as vehicle drift, excessive angle between the tractor's front and trailer causing loss of control, and platoon vehicles running off the track. These situations may lead to traffic accidents and safety hazards. Summary of the invention

[0004] The purpose of the present invention is to provide a platoon vehicle driving control method, a vehicle platoon driving system and a storage medium. During the driving process of the vehicle formation, the visual expected data between adjacent vehicles is determined based on the driving trajectory data of the adjacent front vehicle and the rear vehicle, and then the visual expected data of the two vehicles is compared with the visual image data actually collected by the two vehicles. It is possible to determine whether the adjacent vehicles or the entire vehicle formation have posture abnormalities or risk of loss of control, so that the driving status of each vehicle can be controlled in time when the driving of the platoon vehicles is abnormal, avoiding traffic accidents and safety hazards, and improving the driving stability and safety of the vehicle formation.

[0005] To achieve the above-mentioned purpose, the present invention provides a platoon vehicle driving control method, which is applied to a vehicle formation, wherein a plurality of vehicles are arranged and travel in sequence; the method comprises: obtaining driving trajectory data of each vehicle in the vehicle formation, and visual image data collected by each vehicle; based on the driving trajectory data of each vehicle in the vehicle formation, determining visual expected data between two adjacent target vehicles among the plurality of vehicles; based on the comparison result of the visual expected data between the two target vehicles and the visual image data of each of the target vehicles, controlling each of the vehicles to travel.

[0006] The present invention also provides a vehicle formation driving system, comprising: a plurality of vehicles communicating with each other, and a central processing unit, wherein the plurality of vehicles are arranged and driven in sequence to form a vehicle formation; the central processing unit is used to execute the above-mentioned formation vehicle driving control method.

[0007] The present invention also provides a computer-readable storage medium, which is a non-volatile storage medium or a non-transient storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned platoon vehicle driving control method are executed.

[0008] In one embodiment, determining the visual expectation data between two adjacent target vehicles among the plurality of vehicles based on the driving trajectory data of each vehicle in the vehicle formation includes:

[0009] Determining a driving angle difference between the two target vehicles based on driving trajectory data of adjacent vehicles in the vehicle formation;

[0010] Visual expectation data between the two target vehicles is determined based on a driving angle difference between the two target vehicles.

[0011] In one embodiment, the visual image data collected by the vehicle includes: a front view image in front of the vehicle and a rear view image behind the vehicle;

[0012] The visual expected data between the two target vehicles includes: expected front vehicle information and expected rear vehicle information; the two target vehicles include: a first target vehicle and a second target vehicle traveling in front and behind;

[0013] The controlling each of the vehicles to travel based on the comparison result of the visual expected data between the two target vehicles and the visual image data of each of the target vehicles comprises:

[0014] Comparing the expected front vehicle information in the visual image data with the front view image of the second target vehicle to obtain a first comparison result;

[0015] Comparing the expected rear vehicle information in the visual image data with the rear view image of the first target vehicle to obtain a second comparison result;

[0016] If it is determined based on the first comparison result and the second comparison result that the deviation between the two target vehicles exceeds a set threshold, driving control is performed on at least the two target vehicles.

[0017] In one embodiment, the at least two target vehicles are controlled to travel, including:

[0018] If the first comparison result and the second comparison result indicate that the turning angle of the first target vehicle is too large, controlling the first target vehicle to reduce the turning angle;

[0019] If the first comparison result and the second comparison result indicate that the distance between the two target vehicles is too close, control is performed to increase the distance between the first target vehicle and the second target vehicle.

[0020] In one embodiment, controlling to increase the distance between the first target vehicle and the second target vehicle includes:

[0021] Control the first target vehicle and the vehicle after the first target vehicle to decelerate simultaneously; or,

[0022] The second target vehicle and the vehicle before the second target vehicle are controlled to accelerate simultaneously.

[0023] In one embodiment, the method further comprises:

[0024] After determining that the deviation between the two target vehicles exceeds a set threshold based on the first comparison result and the second comparison result, the method further includes: sending a preset alarm message to the two target vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a specific flow chart of the driving control method of the platoon vehicles according to the first embodiment of the present invention;

[0026] Figure 2 yes Figure 1 A specific flow chart of step 102 of the platoon vehicle driving control method;

[0027] Figure 3 1 is a schematic diagram of a first target vehicle turning 30 degrees relative to a second target vehicle according to a first embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following will be described in detail with reference to the accompanying drawings to provide a clearer understanding of the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0029] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0030] Unless the context requires otherwise, throughout the specification and claims, the word "comprise" and variations such as "include" and "have" should be construed in an open, inclusive sense, ie, should be interpreted as "including, but not limited to."

[0031] References throughout the specification to "one embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0032] As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "or / and" unless the context clearly dictates otherwise.

[0033] In the following description, in order to clearly show the structure and working mode of the present invention, many directional words will be used for description, but the words "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", "down", etc. should be understood as convenient terms and should not be understood as restrictive terms.

[0034] The first embodiment of the present invention relates to a platoon vehicle driving control method, which is applied to a vehicle platoon including multiple vehicles, wherein the multiple vehicles in the vehicle platoon are arranged and driven in sequence; the vehicles in the vehicle platoon can communicate with each other, namely V2V communication, and the vehicles communicate with each other using short-range radio technology (DSRC); for example, the vehicles communicate with each other via an on-board unit OBU (vehicle-to-vehicle), and the on-board unit can obtain information about the surrounding environment through on-board sensors, such as the speed, position, and driving status warnings of surrounding vehicles. Vehicles can exchange various information in real time through V2V communication, and the exchanged information includes but is not limited to text, pictures, audio, and video.

[0035] In addition, the vehicle platoon driving system architecture may also include cloud servers, roadside units and V2X (Vehicle to Everything) wireless communication parts, which refers to the technology for vehicles to exchange and communicate information with the surrounding environment (including other vehicles, pedestrians, road infrastructure and networks, etc.), including: V2I (Vehicle-to-Infrastructure), V2C (Vehicle-to-Cloud) and the above-mentioned V2V wireless communications.

[0036] The vehicles in a vehicle formation include a pilot vehicle and a follower vehicle; the pilot vehicle is generally the frontmost vehicle in the formation, and the follower vehicle is the other vehicles behind the pilot vehicle in the vehicle formation. During driving, the follower vehicle can be switched to the pilot vehicle as needed; the pilot vehicle is the decision maker of the entire formation behavior (including formation creation, formation disbanding, vehicles joining the formation, and vehicles leaving the formation, etc.), and controls and makes decisions on the formation behavior. In a vehicle formation, the pilot vehicle leads the entire formation according to the set driving path. The driving path can be the navigation path of the pilot vehicle from the departure point to the destination. The follower vehicle is all other vehicles behind the pilot vehicle in the formation, and has the ability to maintain a reasonable safe distance from the vehicle in front; the vehicle is, for example, a combination of a tractor and a carriage.

[0037] The specific process of the platoon vehicle driving control method of this embodiment is as follows: Figure 1 As shown; the platoon vehicle driving control method is applied to the central processing unit of the vehicle platoon driving system, and the central processing unit can be the control unit of any of the vehicles or the processor of the cloud server.

[0038] Step 101, obtaining the driving trajectory data of each vehicle in the vehicle formation and the visual image data collected by each vehicle.

[0039] Specifically, each vehicle in the vehicle formation is equipped with a positioning device, and the vehicle contains a control unit (a processor or a controller). The control unit can obtain the vehicle position information obtained by its own positioning device in real time, combine multiple continuous vehicle position information, and obtain the vehicle's driving trajectory data; each vehicle in the vehicle formation is also equipped with a visual sensor, such as a camera, which is installed on the tractor head of the vehicle, or installed on the front of the head of the integrated vehicle. The visual sensor on each vehicle includes a forward visual sensor and a rearward visual sensor. The forward visual sensor faces the front of the vehicle (can be directly in front) and is used to collect the front view image in front of the vehicle; the rearward visual sensor faces the rear of the vehicle (can be directly behind) and is used to collect the rear view image behind the vehicle. The visual image sensors collected by the vehicle include: the front view image in front of the vehicle and the rear view image behind the vehicle.

[0040] Each vehicle will send the collected driving trajectory data and visual image data to the central processing unit, and the central processing unit will collect the driving trajectory data and visual image data of all vehicles in the vehicle formation; further, the central processing unit will also collect the operating status data of all vehicles, such as: driving speed data, driving direction data, acceleration and deceleration data, etc.

[0041] Step 102: Determine visual expectation data between two adjacent target vehicles among the plurality of vehicles based on the driving trajectory data of each vehicle in the vehicle formation.

[0042] Specifically, the central processing unit compares the driving trajectory data between adjacent vehicles in the vehicle formation based on the driving trajectory data sent by each vehicle, and determines the visual expectation data between two adjacent target vehicles. The visual expectation data indicates the image information of the rear vehicle that should be visible to the front vehicle of the two adjacent target vehicles, such as the proportion of the visible front of the rear vehicle; and the image information of the front vehicle that should be visible to the rear vehicle of the two adjacent target vehicles, such as only the back of the front vehicle's compartment is visible, or the sides and front of the front vehicle are visible.

[0043] Furthermore, the visual expectation data may also indicate that the front vehicle among two adjacent target vehicles should be able to see image information of all vehicles behind it in the formation, such as the proportion of visible front ends of rear vehicles, or the visible front ends of one or more rear vehicles; and the rear vehicle among two adjacent target vehicles should be able to see image information of all vehicles in front of it in the formation, such as only the back of the front vehicle, or the sides and front ends of one or more front vehicles.

[0044] For an example, see Figure 2 , step 102 specifically includes the following sub-steps:

[0045] Sub-step 1021, determining the driving angle difference between the two target vehicles based on the driving trajectory data of adjacent vehicles in the vehicle formation.

[0046] Sub-step 1022, determining visual expectation data between the two target vehicles based on the driving angle difference between the two target vehicles.

[0047] Specifically, taking two adjacent target vehicles as an example, the front vehicle of the two target vehicles is recorded as the first target vehicle, and the rear vehicle is recorded as the second target vehicle;

[0048] Based on the driving trajectory data of the first target vehicle, determine whether the first target vehicle is currently in a steering change state (such as turning, U-turn, changing lanes, etc.), and the steering angle; similarly, based on the driving trajectory data of the second target vehicle, determine whether the second target vehicle is currently in a steering change state (such as turning, U-turn, changing lanes, etc.), and the steering angle. Take turning as an example of the steering change state. Here, it is necessary to judge whether the vehicle is in a turning state in combination with the overall posture of the vehicle. For example, if the tractor is in a turning state or the vehicle is in a turning state, it is considered that the vehicle is in a turning state. The steering angle needs to be determined by the posture of the tractor head of the vehicle. When the tractor head of the vehicle starts to turn, the driving angle change of the tractor head (for example) is the steering angle of the vehicle. As the tractor head drives out of the curve and enters the execution road, the steering angle no longer changes.

[0049] Based on the above, the driving angle difference between the first target vehicle and the second target vehicle can be determined based on the steering change state and steering angle of the first target vehicle, and the steering change state and steering angle of the second target vehicle; for example, the first target vehicle is in a turning state, the steering angle is 30 degrees, the second vehicle is in a non-turning state (straight), and the steering angle is 0, then the driving angle difference between the first target vehicle and the second target vehicle is 30 degrees; for another example, the first target vehicle is in a turning state, the steering angle is 40 degrees, the second vehicle is in a turning state, the steering angle is 20, then the driving angle difference between the first target vehicle and the second target vehicle is 20 degrees; for another example, the first target vehicle is in a non-turning state (i.e. straight), the steering angle is 0, the second vehicle is in a turning state, the steering angle is 20, then the driving angle difference between the first target vehicle and the second target vehicle is 20 degrees. For another example, the first target vehicle is in a non-turning state (i.e. straight), the steering angle is 0, the second vehicle is in a non-turning state (straight), the steering angle is 0, then the driving angle difference between the first target vehicle and the second target vehicle is 0 degrees.

[0050] The driving angle difference between the first target vehicle and the second target vehicle determines the view data of the first target vehicle looking backward at the second target vehicle, i.e., the expected rear vehicle information, and the view data of the second target vehicle looking forward at the first target vehicle, i.e., the expected front vehicle information; for example, Figure 3As shown, the driving angle difference between the first target vehicle and the second target vehicle is 30 degrees, then the expected rear vehicle information of the first target vehicle is: the rear view image collected by the rear visual sensor includes 30% of the tractor head of the rear vehicle, and the larger the driving angle difference, the larger the rear view image collected by the rear visual sensor includes the tractor head of the rear vehicle; the expected front vehicle information of the second target vehicle is: the front view image collected by the forward visual sensor includes the back and side of the front vehicle, and the larger the driving angle difference, the larger the proportion of the front view image collected by the forward visual sensor including the side of the front vehicle. If the driving angle difference between the first target vehicle and the second target vehicle is 0, then the expected rear vehicle information of the first target vehicle is: the rear view image collected by the backward visual sensor does not include the tractor head of the rear vehicle, or the proportion of the part including the tractor head of the rear vehicle is very low (for example, less than 5%); the expected front vehicle information of the second target vehicle is: the front view image collected by the forward visual sensor only includes the back of the front vehicle.

[0051] Step 103 , based on the comparison result of the visual expected data between the two target vehicles and the visual image data of each target vehicle, control each of the vehicles to travel.

[0052] Specifically, for each adjacent pair of target vehicles, the visual expected data of the two adjacent target vehicles are compared with the visual image data. Taking the adjacent first target vehicle and second target vehicle as an example, the expected front vehicle information in the visual image data is compared with the front view image of the second target vehicle to obtain a first comparison result; the first comparison result indicates the deviation between the expected front vehicle information and the front view image of the second target vehicle. For example, the driving angle difference between the first target vehicle and the second target vehicle is 30 degrees, and the expected front vehicle information of the second target vehicle is: the front view image collected by the forward visual sensor includes the back and side of the front vehicle. If the front view image of the second target vehicle obtained by image recognition includes: the back and side of the front vehicle, then the first comparison result indicates that there is no deviation between the expected front vehicle information and the front view image of the second target vehicle; if the front view image of the second target vehicle obtained by image recognition only includes the back of the front vehicle, or the proportion of the side of the front vehicle is lower than the preset proportion threshold (for example, 3%), then the first comparison result indicates that there is a deviation between the expected front vehicle information and the front view image of the second target vehicle.

[0053] The expected rear vehicle information in the visual image data is compared with the rear view image of the first target vehicle to obtain a second comparison result; the second comparison result indicates the deviation between the expected rear vehicle information and the rear view image of the first target vehicle. For example, if the driving angle difference between the first target vehicle and the second target vehicle is 30, the expected rear vehicle information of the first target vehicle is: the rear view image collected by the rear visual sensor includes 30% of the tractor head of the rear vehicle, and the proportion of the tractor head of the rear vehicle in the rear view image of the first target vehicle obtained by image recognition is K. If the absolute value of the difference between K and 30% is greater than a set proportion threshold (for example, 5%), the second comparison result indicates that there is a deviation between the expected rear vehicle information and the rear view image of the first target vehicle; if the absolute value of the difference between K and 30% is less than or equal to the set proportion threshold (for example, 5%), the second comparison result indicates that there is no deviation between the expected rear vehicle information and the rear view image of the first target vehicle.

[0054] For example, if the first target vehicle and the second target vehicle are both in a straight-moving state, the expected preceding vehicle information of the second target vehicle is: the preceding vehicle is located directly in front of the second target vehicle in the forward vision image collected by the forward vision sensor;

[0055] If the front view image of the second target vehicle obtained through image recognition includes: the front vehicle is located directly in front of the second target vehicle, then the first comparison result indicates that there is no deviation between the expected front vehicle information and the front view image of the second target vehicle; if the front view image of the second target vehicle obtained through image recognition includes the front vehicle is located in front of the left or right of the second target vehicle, then the first comparison result indicates that there is a mismatch between the expected front vehicle information and the front view image of the second target vehicle, and there is a deviation.

[0056] Similarly, the expected rear vehicle information of the first target vehicle is: the rear vehicle in the rear view captured by the rear vision sensor is located directly behind the first target vehicle; if the rear view image of the first target vehicle obtained through image recognition includes: the rear vehicle is located directly behind the first target vehicle (or the deviation angle between the two is less than a set threshold), then the second comparison result indicates that there is no deviation between the expected rear vehicle information and the rear view image of the first target vehicle; if the rear view image of the first target vehicle obtained through image recognition includes: the rear vehicle is located to the left rear or right rear of the first target vehicle (or the deviation angle between the two is greater than a set threshold), then the second comparison result indicates that there is a deviation between the expected rear vehicle information and the rear view image of the first target vehicle.

[0057] If it is determined based on the first comparison result and the second comparison result that the deviation between the two target vehicles exceeds a set threshold, driving control is performed on at least the two target vehicles.

[0058] Specifically, if the first comparison result indicates that there is no deviation between the expected front vehicle information and the front view image of the second target vehicle, and the second comparison result indicates that there is no deviation between the expected rear vehicle information and the rear view image of the first target vehicle, then there is no need to perform driving control on the two target vehicles, that is, the first target vehicle and the second target vehicle maintain the current state and drive;

[0059] If the first comparison result indicates that there is a deviation between the expected front vehicle information and the front view image of the second target vehicle, and / or the second comparison result indicates that there is a deviation between the expected rear vehicle information and the rear view image of the first target vehicle; or if the sum of the deviation values ​​between the expected front vehicle information indicated by the first comparison result and the front view image of the second target vehicle and the deviation values ​​between the expected rear vehicle information indicated by the second comparison result and the rear view image of the first target vehicle is greater than a set threshold, it means that at least the two target vehicles are controlled to travel. At the same time, a preset alarm message can also be sent to the two target vehicles so that the drivers can make manual safety adjustments immediately after being informed of the situation.

[0060] If the first comparison result indicates that the front view image of the second target vehicle includes too much of the side of the front vehicle's compartment, and the second comparison result indicates that the rear view image collected by the rear vision sensor includes too much of the tractor head of the rear vehicle, it means that the front vehicle may have turned too much due to slippery road or other reasons, and the first target vehicle is controlled to reduce the turning angle;

[0061] If the first comparison result indicates that the proportion of the side of the car body of the front vehicle included in the front view image of the second target vehicle is too small, and the second comparison result indicates that the proportion of the tractor head of the rear vehicle included in the rear view image collected by the rear vision sensor is too small, it means that the turning angle of the rear vehicle is too small, and the second target vehicle is controlled to increase the turning angle.

[0062] If the first comparison result and the second comparison result indicate that the distance between the two target vehicles is too close, the distance between the first target vehicle and the second target vehicle is controlled to be increased. For example, if the first target vehicle and the second target vehicle are both in a straight-moving state, and the second comparison result indicates that the rear view image collected by the rear vision sensor includes too small a portion of the tractor head of the rear vehicle, for example, the rear view image includes less than 5% of the tractor head of the rear vehicle, then the distance between the first target vehicle and the second target vehicle needs to be controlled to be increased.

[0063] The method of increasing the distance between the first target vehicle and the second target vehicle is, for example, to control the first target vehicle and the vehicle after the first target vehicle to decelerate at the same time; or to control the second target vehicle and the vehicle before the second target vehicle to accelerate at the same time.

[0064] It should be noted that the comparison between the visual expectation data and the visual image data may be performed only for some of the adjacent vehicles. For example, when the front vehicle and / or the rear vehicle are in a turning state, the above judgment needs to be made for the adjacent front and rear vehicles; if the front vehicle and / or the rear vehicle are both in a straight-ahead state, there is no need to make the above judgment for the adjacent front and rear vehicles.

[0065] Based on the above process, during the driving process, the vehicle formation in this embodiment determines the visual expected data between adjacent vehicles based on the driving trajectory data of the adjacent front and rear vehicles, and then compares the visual expected data of the two vehicles with the visual image data actually collected by the two vehicles. It is possible to determine whether the adjacent vehicles or the entire vehicle formation have posture abnormalities or risk of loss of control, so that the driving status of each vehicle can be controlled in time when abnormal driving occurs in the formation vehicles, avoiding traffic accidents and safety hazards, and improving the driving stability and safety of the vehicle formation.

[0066] A second embodiment of the present invention relates to a vehicle platoon driving system, comprising: a plurality of vehicles communicating with each other, and a central processing unit, wherein the plurality of vehicles are arranged and driven in sequence to form a vehicle platoon.

[0067] The central processing unit is used to execute the platoon vehicle driving control method in the first embodiment.

[0068] In one example, the central processing unit is a control unit of any of the vehicles described.

[0069] In another example, the vehicle platoon driving system further includes: a cloud server, and the central processing unit is the cloud server.

[0070] Since the first embodiment corresponds to this embodiment, this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and the technical effects that can be achieved in the first embodiment can also be achieved in this embodiment. In order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the first embodiment.

[0071] A third embodiment of the present invention relates to a computer-readable storage medium, which is a non-volatile storage medium or a non-transient storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the platoon vehicle driving control method in the first embodiment are executed.

[0072] Preferred embodiments of the present invention have been described above in detail, but it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide further embodiments.

[0073] These and other changes can be made to the embodiments in light of the above detailed description.In general, in the claims, the terms used should not be considered limited to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which these claims are entitled.

Claims

1. A method for controlling the movement of vehicles in a platoon, characterized in that: Applied to a vehicle formation, wherein a plurality of vehicles in the vehicle formation are arranged and travel in sequence; the method comprises: Acquiring the driving trajectory data of each vehicle in the vehicle formation and the visual image data collected by each vehicle; Determining visual expectation data between two adjacent target vehicles among the plurality of vehicles based on the driving trajectory data of each vehicle in the vehicle formation; Based on the comparison result of the visual expected data between the two target vehicles and the visual image data of each target vehicle, each of the vehicles is controlled to travel.

2. The method for controlling the driving of a platoon of vehicles according to claim 1, characterized in that: The determining, based on the driving trajectory data of each vehicle in the vehicle formation, visual expected data between two adjacent target vehicles among the plurality of vehicles comprises: Determining a driving angle difference between the two target vehicles based on driving trajectory data of adjacent vehicles in the vehicle formation; Visual expectation data between the two target vehicles is determined based on a driving angle difference between the two target vehicles.

3. The platoon vehicle driving control method according to claim 1 or 2, characterized in that: The visual image data collected by the vehicle includes: a front view image in front of the vehicle and a rear view image behind the vehicle; The visual expected data between the two target vehicles includes: expected front vehicle information and expected rear vehicle information; the two target vehicles include: a first target vehicle and a second target vehicle traveling in front and behind; The controlling each of the vehicles to travel based on the comparison result of the visual expected data between the two target vehicles and the visual image data of each of the target vehicles comprises: Comparing the expected front vehicle information in the visual image data with the front view image of the second target vehicle to obtain a first comparison result; Comparing the expected rear vehicle information in the visual image data with the rear view image of the first target vehicle to obtain a second comparison result; If it is determined based on the first comparison result and the second comparison result that the deviation between the two target vehicles exceeds a set threshold, driving control is performed on at least the two target vehicles.

4. The method for controlling the driving of a platoon of vehicles according to claim 3, characterized in that: The at least two target vehicles are controlled to travel, including: If the first comparison result and the second comparison result indicate that the turning angle of the first target vehicle is too large, controlling the first target vehicle to reduce the turning angle; If the first comparison result and the second comparison result indicate that the distance between the two target vehicles is too close, control is performed to increase the distance between the first target vehicle and the second target vehicle.

5. The method for controlling the driving of platoon vehicles according to claim 4, characterized in that: Controlling to increase the vehicle distance between the first target vehicle and the second target vehicle includes: Control the first target vehicle and the vehicle after the first target vehicle to decelerate simultaneously; or, The second target vehicle and the vehicle before the second target vehicle are controlled to accelerate simultaneously.

6. The method for controlling the driving of a platoon of vehicles according to claim 3, characterized in that: The method further comprises: After determining that the deviation between the two target vehicles exceeds a set threshold based on the first comparison result and the second comparison result, the method further includes: sending a preset alarm message to the two target vehicles.

7. A vehicle platoon driving system, characterized in that: include: A plurality of vehicles communicating with each other, and a central processing unit, wherein the plurality of vehicles are arranged and driven in sequence to form a vehicle formation; The central processing unit is used to execute the platoon vehicle driving control method according to any one of claims 1 to 6.

8. The vehicle platoon driving system according to claim 7, characterized in that: The central processing unit is a control unit of any of the vehicles.

9. The vehicle platoon driving system according to claim 7, characterized in that: The vehicle platoon driving system also includes: a cloud server, and the central processing unit is the cloud server.

10. A computer-readable storage medium, wherein the computer-readable storage medium is a non-volatile storage medium or a non-transient storage medium, and a computer program is stored thereon, wherein: When the computer program is executed by a processor, the steps of the platoon vehicle driving control method as described in any one of claims 1 to 7 are executed.

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