Vehicle control method, vehicle formation driving system and storage medium

Abstract

The invention discloses a vehicle control method, a vehicle formation driving system and a storage medium. The vehicle control method is applied to a vehicle formation comprising a plurality of vehicles. The vehicle control method comprises the following steps of: when an overtaking vehicle is detected behind a vehicle in a vehicle formation, informing all vehicles in the vehicle formation that the overtaking vehicle is behind the vehicle; controlling a pilot vehicle in the vehicle formation to detect whether there is an opposite vehicle ahead; if yes, whether overtaking of the overtaking vehicle meets the safety condition or not is judged according to the driving condition of the overtaking vehicle and the driving condition of the opposite vehicle; if yes, controlling the vehicles in the vehicle formation to slow down; and if not, forming an avoidance space for allowing the overtaking vehicle to enter in the vehicle formation, thereby providing a safe avoidance space for the rear overtaking vehicle when the formation vehicle runs on the open road of the two-way two-lane, reducing traffic accidents, and improving driving safety.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle 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 the existing vehicle platooning technology is driving on public roads, if there is a vehicle behind that wants to overtake the current platoon, it needs to start accelerating from the rear of the platoon vehicle and use the opposite lane to accelerate and overtake until it overtakes the leading vehicle and returns to the normal lane. This method has great safety hazards. If there is an oncoming vehicle at high speed during the overtaking process, and the overtaking vehicle is in the middle of the platoon, it may be in a "dilemma". Continuing to accelerate will collide with the opposite vehicle, and returning to the original lane requires slowing down or stopping, and the vehicle in the opposite lane needs to take corresponding braking measures, and then wait again for the platoon to completely leave before looking for an overtaking opportunity. This situation is particularly obvious in heavy-duty truck platoons, where the overtaking distance is long, the time requirement is high, and traffic accidents are prone to occur. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle control method, a vehicle platoon driving system and a storage medium, which can provide a safe avoidance space for the rear overtaking vehicle when the platoon vehicles are driving on a two-way two-lane public road, reduce traffic accidents and improve driving safety.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a vehicle control method, characterized in that it is applied to a vehicle formation including a plurality of vehicles, and the plurality of vehicles are arranged and travel in sequence; the vehicle control method comprises the following steps:

[0006] Acquire that a vehicle in the vehicle formation detects an overtaking vehicle behind it, and notify all vehicles in the vehicle formation that the overtaking vehicle is behind them;

[0007] Control the pilot vehicle in the vehicle formation to detect whether there is an oncoming vehicle ahead;

[0008] If yes, judging whether the overtaking of the overtaking vehicle meets the safety conditions according to the driving conditions of the overtaking vehicle and the driving conditions of the oncoming vehicle;

[0009] If the conditions are met, controlling the vehicles in the vehicle formation to slow down so as to facilitate the overtaking vehicle to overtake;

[0010] If not, the position and speed of the overtaking vehicle are acquired through the vehicles in the vehicle formation, and the speed and distance of each vehicle in the vehicle formation are controlled according to the acquired position and speed of the overtaking vehicle, so as to form an avoidance space in the vehicle formation for the overtaking vehicle to enter;

[0011] Controlling the vehicles in the vehicle formation to check whether the overtaking vehicle has completed overtaking;

[0012] If so, control the vehicles in the vehicle formation to adjust the distance and speed to form a normal driving state.

[0013] Compared with the prior art, the embodiments of the present invention share information and coordinate control between the leading and trailing vehicles during the driving process of the vehicle formation. When the driving conditions of the overtaking vehicle and the oncoming vehicle are assessed to not meet the safety conditions, the vehicles in the formation are controlled to open up the distance to provide safe avoidance space for the overtaking vehicle behind, thereby reducing traffic accidents and improving driving safety. In addition, during the avoidance process, the vehicles in the formation can still maintain a stable driving state without affecting the overall traffic efficiency. At the same time, the method is applicable to various road environments, especially on public roads with two lanes in both directions, and can effectively deal with complex traffic conditions.

[0014] In one embodiment, the step of obtaining that a vehicle in the vehicle formation detects an overtaking vehicle behind it also includes the following steps:

[0015] The rear-view cameras and radar sensors of the vehicles in the platoon monitor the distance and speed of the free vehicles behind in real time to determine whether the free vehicles behind the platoon have the intention to overtake;

[0016] If the speed of the free vehicle increases and the distance between the free vehicle and the vehicle formation decreases, the free vehicle has an overtaking intention and is an overtaking vehicle.

[0017] In one embodiment, the step of controlling the lead vehicle in the vehicle formation to detect whether there is an oncoming vehicle in front is specifically that the lead vehicle detects the oncoming road condition in front in real time through a front radar and a camera. If there is a vehicle traveling in the opposite direction on the target road in front of the lead vehicle, the vehicle in the oncoming direction is the oncoming vehicle.

[0018] In one embodiment, the step of judging whether the overtaking vehicle meets the safety condition according to the driving condition of the overtaking vehicle and the driving condition of the oncoming vehicle specifically comprises the following steps:

[0019] Obtaining a first encounter time between the oncoming vehicle and the pilot vehicle, and a relative speed and distance between the overtaking vehicle and the vehicle formation;

[0020] Calculating a second encounter time between the overtaking vehicle and the oncoming vehicle based on the acquired first encounter time and the relative speed;

[0021] If the first encounter time is greater than the preset duration of the second encounter time, the overtaking vehicle meets the safety condition;

[0022] If the first encounter time is not greater than the preset duration of the second encounter time, the overtaking vehicle does not meet the safety condition. In one embodiment, a collision prediction algorithm based on a vehicle dynamic model and real-time traffic data is used to calculate the second encounter time;

[0023] T C =d / (v1+v2),

[0024] Among them, T C is the second encounter time, d is the distance between the oncoming vehicle and the pilot vehicle, v1 is the speed of the oncoming vehicle, and v2 is the speed of the overtaking vehicle.

[0025] In one embodiment, two vehicles in the middle of the vehicle formation open up a distance between them to form the avoidance space.

[0026] In one embodiment, the safety status of the overtaking vehicle is prompted using an on-board display or voice, wherein the prompt content includes whether the safety overtaking conditions are met and the recommended overtaking time.

[0027] In one embodiment, after the step of obtaining that a vehicle in the vehicle formation detects an overtaking vehicle behind, the step further includes the following steps:

[0028] Detecting whether the overtaking vehicle has a connectable communication system;

[0029] If yes, the vehicle formation is controlled to exchange information with the overtaking vehicle in real time.

[0030] The present invention also provides a vehicle formation driving system, comprising: a plurality of vehicles communicating with each other, the plurality of vehicles being arranged and driving in sequence to form a vehicle formation; the vehicles are used to execute the above-mentioned vehicle control method.

[0031] 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 vehicle control method as described above are executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a specific flow chart of the vehicle control method according to the first embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the following will be described in detail with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the various embodiments of the present invention, many technical details are provided in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented.

[0034] 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.

[0035] 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."

[0036] 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.

[0037] 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.

[0038] 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 "and / or" unless the context clearly dictates otherwise.

[0039] 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.

[0040] Embodiments of the present invention are described below with reference to the accompanying drawings.

[0041] The first embodiment of the present invention relates to a vehicle control method, which is applied to a vehicle formation including multiple vehicles, wherein the multiple vehicles in the vehicle formation are arranged and travel in sequence; the vehicles in the vehicle formation 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 through 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, vehicle position, driving status warning and other information of the surrounding vehicles. The vehicles can realize real-time exchange of various information through V2V communication, and the exchanged information includes but is not limited to text, pictures, audio and video.

[0042] In addition, the vehicle platoon driving system architecture may also include a cloud platform, a roadside unit, and a V2X (Vehicle to Everything) wireless communication part, 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 communication.

[0043] The vehicles in a vehicle formation include the lead vehicle and the following vehicle. The last vehicle in the vehicle formation is the tail vehicle. The lead vehicle is generally the front vehicle in the formation, and the following vehicles are the other vehicles behind the lead vehicle in the vehicle formation. The last following vehicle is also the tail vehicle in the vehicle formation. During driving, the following vehicle can be switched to the lead vehicle as needed. The lead vehicle is the decision maker of the entire formation behavior (including the creation of the formation, the dissolution of the formation, the vehicles joining the formation, and the vehicles leaving the formation, etc.), and controls and makes decisions on the formation behavior. The following vehicles are all other vehicles behind the lead vehicle in the formation, and have the ability to maintain a reasonable safe distance from the vehicle in front.

[0044] The specific process of the vehicle control method of this embodiment is as follows: Figure 1 Among them, the pilot vehicle in the vehicle formation leads the entire formation to travel according to the set driving path, and the driving path can be the navigation path of the pilot vehicle from the departure point to the destination. The vehicle control method of this embodiment is applied to the on-board controller of the vehicle in the vehicle formation.

[0045] Step 110, obtaining that a vehicle in the vehicle formation detects an overtaking vehicle behind it, and notifying all vehicles in the vehicle formation that there is an overtaking vehicle behind it;

[0046] Step 120, controlling the leading vehicle in the vehicle formation to detect whether there is an oncoming vehicle ahead;

[0047] If yes, step 130, judging whether the overtaking vehicle meets the safety conditions according to the driving conditions of the overtaking vehicle and the driving conditions of the oncoming vehicle; if not, the vehicle formation drives normally.

[0048] If satisfied, step 140 controls the vehicles in the vehicle formation to slow down to facilitate the overtaking vehicle to overtake;

[0049] If not, step 150, the position and speed of the overtaking vehicle are obtained through the vehicles in the vehicle formation, and the speed and distance of each vehicle in the vehicle formation are controlled according to the obtained position and speed of the overtaking vehicle, so as to form an avoidance space for the overtaking vehicle to enter in the vehicle formation;

[0050] Step 160, controlling the vehicles in the vehicle formation to check whether the overtaking vehicle has completed overtaking;

[0051] If yes, step 170, control the vehicles in the vehicle formation to adjust the distance and speed to form a normal driving state;

[0052] If not, execute step 130 to determine again whether it is safe to overtake.

[0053] Specifically, in a vehicle formation, at least the lead vehicle and the rear vehicle are equipped with detection sensors, and of course all vehicles may be equipped with detection sensors. The detection sensors include but are not limited to cameras, lidars, millimeter-wave radars, etc. During the normal driving of the vehicle formation, the following vehicles behind the lead vehicle all adopt tracking mode, that is, they follow the driving trajectory of the lead vehicle.

[0054] Vehicles in a vehicle formation (whether they are lead vehicles or follower vehicles) will collect information in front and behind through detection sensors during driving. Taking any first vehicle in the vehicle formation as an example, the first vehicle can be a lead vehicle or a follower vehicle; the first vehicle determines whether there is an oncoming vehicle on the opposite road ahead based on the collected road information ahead. The road ahead here is the road that the vehicle is about to pass, and the opposite road ahead is the road adjacent to the road ahead.

[0055] The type of detection sensor installed on the first vehicle determines the difference in the information it collects, such as the camera collects image information and the radar collects point cloud information; if there are multiple detection sensors, the first vehicle can use multi-sensor fusion technology to fuse and judge the information in front to detect whether there is an oncoming vehicle, such as performing image recognition on the image of the road ahead collected by the camera to determine whether there is an oncoming vehicle; if there is an oncoming vehicle, then obtain the speed, distance, position and other information of the oncoming vehicle, such as obtaining the oncoming vehicle through image recognition and determining the speed, distance, position and other information of the oncoming vehicle through the moving status of the oncoming vehicle collected by the radar.

[0056] Similarly, the rear information needs to be acquired through the detection sensor on any vehicle in the vehicle formation. The rear information can be acquired by the rear vehicle or other vehicles. The acquisition method is the same as above and will not be described in detail here. Preferably, the rear overtaking vehicle is first acquired through the rear vehicle. When the overtaking vehicle travels to the side of the vehicle formation during the overtaking process, the other vehicles in the vehicle formation will also detect the overtaking vehicle.

[0057] During the driving process of the vehicle formation, the front and rear vehicles share information and conduct collaborative control. When the driving conditions of the overtaking vehicle and the oncoming vehicle are assessed to not meet the safety conditions, the vehicles in the formation are controlled to open up the distance to provide safe avoidance space for the overtaking vehicle behind, reduce traffic accidents, and improve driving safety. In the avoidance process, the vehicles in the formation can still maintain a stable driving state without affecting the overall traffic efficiency. At the same time, this method is applicable to various road environments, especially on public roads with two lanes in both directions, and can effectively cope with complex traffic conditions.

[0058] In addition, step 110, before obtaining that a vehicle in the vehicle formation detects an overtaking vehicle behind, further includes the following steps:

[0059] Step 180, determining whether the free vehicle behind the vehicle formation has an intention to overtake by monitoring the distance and speed of the free vehicle behind the vehicle formation in real time according to the rear-view camera and radar sensor of the vehicle in the vehicle formation;

[0060] Step 190: If the speed of the free vehicle increases and the distance between the free vehicle and the vehicle formation decreases, the free vehicle has the intention of overtaking and is an overtaking vehicle.

[0061] Furthermore, step 120 controls the pilot vehicle in the vehicle formation to detect whether there is an oncoming vehicle ahead. Specifically, the pilot vehicle detects the oncoming road ahead in real time through the front radar and camera. If there is a vehicle traveling in the opposite direction on the target road ahead of the pilot vehicle, the vehicle in the opposite direction is the oncoming vehicle. Specifically,

[0062] Step 130 determines whether the overtaking vehicle meets the safety conditions according to the driving conditions of the overtaking vehicle and the driving conditions of the oncoming vehicle, and specifically includes the following steps:

[0063] Step 131, obtaining the first encounter time between the oncoming vehicle and the pilot vehicle, and the relative speed and distance between the overtaking vehicle and the vehicle formation;

[0064] Step 132, calculating a second encounter time between the overtaking vehicle and the oncoming vehicle based on the acquired first encounter time and relative speed; the second encounter time is the time when the overtaking vehicle collides with the oncoming vehicle.

[0065] If the first encounter time is greater than the preset duration of the second encounter time, the overtaking vehicle meets the safety condition; if the first encounter time is not greater than the preset duration of the second encounter time, the overtaking vehicle does not meet the safety condition.

[0066] Specifically, a collision prediction algorithm based on vehicle dynamic model and real-time traffic data is used to calculate the second encounter time, T C =d / (v1+v2), where T C is the second encounter time, d is the distance between the oncoming vehicle and the pilot vehicle, v1 is the speed of the oncoming vehicle, and v2 is the speed of the overtaking vehicle.

[0067] Furthermore, the two vehicles in the middle of the vehicle formation open up a gap to form an avoidance space. For example, when there are 8 vehicles in the vehicle formation, the fourth and fifth vehicles can open up a gap, which can control the pilot vehicle to accelerate, and the three following vehicles behind the pilot vehicle receive the speed information of the pilot vehicle, and are led by the pilot vehicle to travel at the same speed, while the four following vehicles behind can keep the speed unchanged, thereby opening up a gap. Of course, the four following vehicles behind can also slow down, while the speed of the first four vehicles remains unchanged, or while the first four vehicles accelerate, the four following vehicles behind slow down, so as to open up a gap as soon as possible to form an avoidance space. In other embodiments, the number of vehicles in front of the avoidance space and the number of vehicles behind it can also be different. The number of vehicles in the vehicle formation is not limited to the example in this embodiment.

[0068] In addition, the safety status of the overtaking vehicle is indicated by the on-board display or voice prompts, including whether the conditions for safe overtaking are met and the recommended time to overtake.

[0069] Furthermore, after step 110 acquires that a vehicle in the vehicle formation detects an overtaking vehicle behind, the following steps are also included:

[0070] Detect whether the overtaking vehicle has a communication system that can be connected; if so, control the vehicle formation to exchange information with the overtaking vehicle in real time. The formation vehicles communicate with the overtaking vehicle in real time to ensure information synchronization and improve coordination and response speed.

[0071] The step division of the above methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0072] A second embodiment of the present invention relates to a vehicle platoon driving system, comprising: a plurality of vehicles communicating with each other, the plurality of vehicles being arranged and driving in sequence to form a vehicle platoon; the vehicles in the vehicle platoon are used to execute the vehicle control method in the first embodiment.

[0073] The vehicle platooning system may also include a cloud platform, a roadside unit, and V2X (Vehicle to Everything) wireless communication, 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 communication.

[0074] 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.

[0075] 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 vehicle control method in the first embodiment are executed.

[0076] 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.

[0077] 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.

[0078] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present invention, and that in actual applications, various changes may be made in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A vehicle control method, characterized in that: Applicable to a vehicle formation including a plurality of vehicles, wherein the plurality of vehicles are arranged and travel in sequence; the vehicle control method comprises the following steps: Acquire that a vehicle in the vehicle formation detects an overtaking vehicle behind it, and notify all vehicles in the vehicle formation that the overtaking vehicle is behind them; Control the pilot vehicle in the vehicle formation to detect whether there is an oncoming vehicle ahead; If yes, judging whether the overtaking vehicle meets the safety conditions according to the driving conditions of the overtaking vehicle and the driving conditions of the oncoming vehicle; If the conditions are met, controlling the vehicles in the vehicle formation to slow down so as to facilitate the overtaking vehicle to overtake; If not, the position and speed of the overtaking vehicle are acquired through the vehicles in the vehicle formation, and the speed and distance of each vehicle in the vehicle formation are controlled according to the acquired position and speed of the overtaking vehicle, so as to form an avoidance space in the vehicle formation for the overtaking vehicle to enter; Controlling the vehicles in the vehicle formation to check whether the overtaking vehicle has completed overtaking; If so, control the vehicles in the vehicle formation to adjust the distance and speed to form a normal driving state.

2. The vehicle control method according to claim 1, characterized in that: The step of obtaining that a vehicle in the vehicle formation detects an overtaking vehicle behind also includes the following steps: The rear-view cameras and radar sensors of the vehicles in the platoon monitor the distance and speed of the free vehicles behind in real time to determine whether the free vehicles behind the platoon have the intention to overtake; If the speed of the free vehicle increases and the distance between the free vehicle and the vehicle formation decreases, the free vehicle has an overtaking intention and is an overtaking vehicle.

3. The vehicle control method according to claim 1, characterized in that: The step of controlling the leading vehicle in the vehicle formation to detect whether there is an oncoming vehicle in front is specifically that the leading vehicle detects the oncoming road condition in front in real time through the front radar and the camera. If there is a vehicle traveling in the opposite direction on the target road in front of the leading vehicle, the vehicle in the opposite direction is the oncoming vehicle.

4. The vehicle control method according to claim 1, characterized in that: The step of judging whether the overtaking vehicle meets the safety conditions according to the driving conditions of the overtaking vehicle and the driving conditions of the oncoming vehicle specifically comprises the following steps: Obtaining a first encounter time between the oncoming vehicle and the pilot vehicle, and a relative speed and distance between the overtaking vehicle and the vehicle formation; Calculating a second encounter time between the overtaking vehicle and the oncoming vehicle based on the acquired first encounter time and the relative speed; If the first encounter time is greater than the preset duration of the second encounter time, the overtaking vehicle meets the safety condition; If the first encounter time is not greater than the preset duration of the second encounter time, the overtaking vehicle does not meet the safety condition.

5. The vehicle control method according to claim 4, characterized in that: Calculating the second encounter time by using a collision prediction algorithm based on a vehicle dynamic model and real-time traffic data; T C =d / (v1+v2), Among them, T C is the second encounter time, d is the distance between the oncoming vehicle and the pilot vehicle, v1 is the speed of the oncoming vehicle, and v2 is the speed of the overtaking vehicle.

6. The vehicle control method according to claim 1, characterized in that: The two vehicles in the middle of the vehicle formation open up their distance to form the avoidance space.

7. The vehicle control method according to claim 1, characterized in that: The safety status of the overtaking vehicle is indicated by the on-board display or voice prompts, including whether the conditions for safe overtaking are met and the recommended time to overtake.

8. The vehicle control method according to claim 1, characterized in that: After the vehicle in the vehicle formation detects that there is an overtaking vehicle behind, the following steps are also included: Detecting whether the overtaking vehicle has a connectable communication system; If yes, the vehicle formation is controlled to exchange information with the overtaking vehicle in real time.

9. A vehicle platoon driving system, characterized in that: include: A plurality of vehicles communicating with each other, wherein the plurality of vehicles are arranged and travel in sequence to form a vehicle formation; The vehicle is used to execute the vehicle control method according to any one of claims 1 to 8.

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 vehicle control method steps as described in any one of claims 1 to 8 are executed.

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