Vehicle control methods, vehicle platooning systems and storage media

Abstract

This invention discloses a vehicle control method, a vehicle platooning system, and a storage medium. The vehicle control method is applied to a vehicle platoon comprising multiple vehicles. The method includes the following steps: detecting an overtaking vehicle behind a vehicle in the platoon and notifying all vehicles in the platoon that an overtaking vehicle is behind; controlling the lead vehicle in the platoon to detect whether there is an oncoming vehicle ahead; if so, determining whether the overtaking vehicle meets safety conditions based on the driving conditions of the overtaking vehicle and the oncoming vehicle; if so, controlling the vehicles in the platoon to decelerate; if not, creating a passing space within the platoon for the overtaking vehicle to enter, thereby providing safe passing space for overtaking vehicles when the platoon is traveling on a two-lane, two-way public road, reducing traffic accidents and improving driving safety.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, specifically to a vehicle control method, a vehicle platooning system, and a storage medium. Background Technology

[0002] With the development of autonomous driving technology, single-vehicle autonomous driving has been widely adopted, which has laid the foundation for realizing autonomous platooning. Vehicle platooning can effectively improve transportation efficiency. Autonomous platooning refers to two or more vehicles, based on technologies such as intelligent sensors, wireless communication, and cloud platforms, driving autonomously in a queue in specific scenarios through data sharing and collaborative decision-making.

[0003] When existing vehicle platooning technology is used on public roads, if a vehicle wants to overtake the current platoon, it needs to accelerate from behind the platoon and use the oncoming lane to accelerate and overtake until it passes the lead vehicle and returns to its original lane. This method poses a significant safety hazard. If an oncoming vehicle is approaching at high speed during the overtaking process, and the overtaking vehicle is in the middle of the platoon, it may find itself in a "dilemma." Continuing to accelerate will result in a collision with the oncoming vehicle, while returning to its original lane requires deceleration or stopping, and vehicles in the oncoming lane will need to brake accordingly. Then, it must wait for the platoon to completely move out of the way before attempting to overtake again. This situation is particularly pronounced in heavy-duty truck platoons, where the overtaking distance is long, the timing is critical, and the risk of traffic accidents is high. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle control method, a vehicle platooning system, and a storage medium that can provide safe avoidance space for overtaking vehicles when platooned vehicles are traveling on a two-way, two-lane public road, thereby reducing traffic accidents and improving driving safety.

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a vehicle control method, characterized in that it is applied to a vehicle platoon comprising multiple vehicles, wherein the multiple vehicles are arranged sequentially; the vehicle control method includes the following steps:

[0006] If a vehicle in a platoon detects an overtaking vehicle behind it, it notifies all vehicles in the platoon that the overtaking vehicle is behind it.

[0007] The navigator vehicle in the convoy is responsible for detecting oncoming vehicles ahead.

[0008] If so, determine whether the overtaking vehicle meets the safety conditions for overtaking based on the driving conditions of the overtaking vehicle and the driving conditions of the oncoming vehicle.

[0009] If the conditions are met, control the vehicles in the platoon to slow down so that the overtaking vehicle can overtake.

[0010] If the conditions are not met, the position and speed of the overtaking vehicle are obtained from 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 to form a clearance space in the vehicle formation for the overtaking vehicle to enter.

[0011] The vehicles in the vehicle platoon are controlled to check whether the overtaking vehicle has completed the overtaking maneuver.

[0012] If so, control the vehicles in the convoy to adjust the distance and speed to achieve normal driving conditions.

[0013] Compared to existing technologies, this invention involves information sharing and coordinated control between vehicles in a platoon during operation. When the driving conditions of overtaking or oncoming vehicles do not meet safety requirements, the distance between vehicles in the platoon is increased to provide safe avoidance space for overtaking vehicles, reducing traffic accidents and improving driving safety. Furthermore, the platoon maintains stable driving during the avoidance process, without affecting overall traffic efficiency. This method is applicable to various road environments, especially on two-lane public roads, effectively handling complex traffic situations.

[0014] In one embodiment, the step of obtaining information about a vehicle in a platoon detecting an overtaking vehicle behind it further includes the following steps:

[0015] The system uses rearview cameras and radar sensors of vehicles in the convoy to monitor the distance and speed of free vehicles behind them in real time to determine whether the free vehicles behind the convoy intend to overtake.

[0016] If the speed of the free vehicle increases and the distance between it and the convoy decreases, then the free vehicle has the intention to overtake and is considered an overtaking vehicle.

[0017] In one embodiment, the step of controlling the convoy to detect whether there are oncoming vehicles ahead specifically involves the convoy using a front radar and camera to detect the oncoming road conditions in real time. If there are oncoming vehicles traveling in the opposite direction on the road ahead of the convoy, then the oncoming vehicle is the oncoming vehicle.

[0018] In one embodiment, the step of determining whether the overtaking vehicle meets the safety conditions for overtaking based on the driving conditions of the overtaking vehicle and the oncoming vehicle specifically includes the following steps:

[0019] The first encounter time between the oncoming vehicle and the lead vehicle, as well as the relative speed and distance between the overtaking vehicle and the vehicle formation, are obtained.

[0020] Based on the first encounter time and the relative speed, calculate the second encounter time between the overtaking vehicle and the oncoming vehicle as the overtaking vehicle directly overtakes.

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

[0022] If the first encounter time is not greater than the preset duration of the second encounter time, then the overtaking vehicle does not meet the safety conditions. 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 The second encounter time is d, the distance between the oncoming vehicle and the lead vehicle is d, v1 is the speed of the oncoming vehicle, and v2 is the speed of the overtaking vehicle.

[0025] In one embodiment, the two vehicles in the middle of the platoon are spaced apart to form the avoidance space.

[0026] In one embodiment, the overtaking vehicle's safety status is indicated by an onboard display or voice prompt, including whether safe overtaking conditions are met and suggested overtaking opportunities.

[0027] In one embodiment, after a vehicle in a platoon detects an overtaking vehicle behind it, the step further includes the following steps:

[0028] Check whether the overtaking vehicle has a compatible communication system;

[0029] If so, control the vehicle platoon and exchange information with the overtaking vehicle in real time.

[0030] The present invention also provides a vehicle platooning system, comprising: multiple vehicles communicating with each other, the multiple vehicles being arranged in sequence to form a vehicle platoon; the vehicles being used to execute the vehicle control method described above.

[0031] The present invention also provides a computer-readable storage medium, which is a non-volatile or non-transient storage medium, on which a computer program is stored, and which, when executed by a processor, performs the steps of the vehicle control method described above. Attached Figure Description

[0032] Figure 1 This is a detailed flowchart of the vehicle control method according to the first embodiment of the present invention. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been presented in the various embodiments of the present invention to enable the reader to better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0034] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been 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 “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0036] The embodiments of the present invention will be described in detail below 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 drawings are not intended to limit the scope of the present invention, but are merely illustrative of the essential spirit of the technical solution of the present invention.

[0037] Throughout this specification, references to "an 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. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0038] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “and / or” unless otherwise expressly stated herein.

[0039] In the following description, in order to clearly demonstrate the structure and working method of the present invention, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

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

[0041] The first embodiment of this invention relates to a vehicle control method applied to a vehicle platoon comprising multiple vehicles, wherein the vehicles in the platoon are arranged sequentially and travel in sequence. The vehicles in the platoon can communicate with each other, i.e., V2V communication, using short-range radio technology (DSRC). For example, vehicles can communicate with each other via an onboard unit (OBU). The OBU can acquire information about the surrounding environment through onboard sensors, such as the speed, position, and driving status warnings of surrounding vehicles. Vehicles can exchange various information in real time through V2V communication, including but not limited to text, images, audio, and video.

[0042] In addition, the vehicle platooning system architecture may also include a cloud platform, roadside units, and V2X (Vehicle to Everything) wireless communication components. This refers to the technology for vehicles to exchange and communicate with their surrounding environment (including other vehicles, pedestrians, road infrastructure, and networks), including V2I (Vehicle-to-Infrastructure), V2C (Vehicle-to-Cloud), and the aforementioned V2V wireless communication.

[0043] A vehicle platoon consists of a lead vehicle and follower vehicles, with the last vehicle in the platoon being the tail vehicle. The lead vehicle is typically at the very front of the platoon, while the follower vehicles are those following the lead vehicle. The last follower vehicle is the tail vehicle. During operation, a follower vehicle can be switched to become the lead vehicle as needed. The lead vehicle is the decision-maker for all platoon actions (including creating and disbanding the platoon, vehicles joining and leaving the platoon), managing and making decisions regarding platoon behavior. Follower vehicles, as all other vehicles following the lead vehicle, are responsible for maintaining a safe distance from the vehicle in front.

[0044] The specific flow of the vehicle control method in this embodiment is as follows: Figure 1 As shown in the figure. In this vehicle formation, the lead vehicle leads the entire formation according to a set driving path. The driving path can be a navigation path from the starting point to the destination for the lead vehicle. The vehicle control method in this embodiment is applied to the on-board controller of the vehicle in the vehicle formation.

[0045] Step 110: If a vehicle in the vehicle platoon detects an overtaking vehicle behind it, notify all vehicles in the vehicle platoon that there is an overtaking vehicle behind them.

[0046] Step 120: Control the navigator vehicle in the vehicle platoon to detect whether there are oncoming vehicles ahead;

[0047] If so, in step 130, determine whether the overtaking vehicle meets the safety conditions for overtaking based on the driving conditions of the overtaking vehicle and the oncoming vehicle; if not, the vehicle platoon will proceed normally.

[0048] If the condition is met, in step 140, control the vehicles in the platoon to slow down so that overtaking vehicles can overtake.

[0049] If the conditions are not met, in step 150, the position and speed of the overtaking vehicle are obtained from 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 to form a clearance space in the vehicle formation for the overtaking vehicle to enter.

[0050] Step 160: Control the vehicles in the platoon to check whether the overtaking vehicle has completed the overtaking maneuver;

[0051] If so, in step 170, control the vehicles in the platoon to adjust their distance and speed to form a normal driving state;

[0052] If not, proceed to step 130 to determine again whether overtaking is safe.

[0053] Specifically, at least the lead vehicle and the tail vehicle in the vehicle formation are equipped with detection sensors, or all vehicles can be equipped with detection sensors. Detection sensors include, but are not limited to, cameras, lidar, millimeter-wave radar, etc. During the normal driving of the vehicle formation, the following vehicles after the lead vehicle all drive in a tracking mode, that is, they follow the driving trajectory of the lead vehicle.

[0054] During the journey, all vehicles in a convoy (whether leading or following) collect information about the front and rear using sensors. Taking any first vehicle in the convoy as an example, the first vehicle can be either the leading or following vehicle. The first vehicle determines whether there are oncoming vehicles on the road ahead based on the collected information about the road ahead. Here, the road ahead is the road that the vehicle will pass through, and the oncoming road ahead is the road adjacent to the road ahead.

[0055] The type of detection sensors installed on the first vehicle determines the different information it collects. For example, a camera collects image information, while 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 ahead to detect whether there is an oncoming vehicle. For example, it can use image recognition to identify the road ahead captured by a camera to determine whether there is an oncoming vehicle. If there is an oncoming vehicle, it can then obtain information such as the speed, distance, and position of the oncoming vehicle. For example, it can use image recognition to identify the oncoming vehicle and use radar to collect information on the movement of the oncoming vehicle to determine its speed, distance, and position.

[0056] Similarly, rear information needs to be obtained through the detection sensors on any vehicle in the platoon. The vehicle that obtains the rear information can be the last vehicle or any other vehicle, and the method of obtaining the information is the same as described above, so it will not be described in detail here. Preferably, the overtaking vehicle behind is first obtained through the last vehicle. When the overtaking vehicle travels to the side of the platoon during the overtaking process, the other vehicles in the platoon will also detect the overtaking vehicle.

[0057] During platooning, vehicles share information and coordinate control among themselves. If the driving conditions of overtaking or oncoming vehicles do not meet safety requirements, the platoon maintains a safe distance between vehicles to provide space for overtaking vehicles to avoid collisions, reducing traffic accidents and improving driving safety. Furthermore, the platoon maintains stable driving during the avoidance process, without affecting overall traffic efficiency. This method is applicable to various road environments, especially on two-lane public roads, effectively handling complex traffic situations.

[0058] Additionally, step 110, before obtaining the information that a vehicle in the platoon has detected an overtaking vehicle behind it, includes the following steps:

[0059] Step 180: Based on the rearview cameras and radar sensors of the vehicles in the convoy, monitor the distance and speed of the free vehicles behind in real time to determine whether the free vehicles behind the convoy intend to overtake.

[0060] Step 190: If the speed of the free vehicle increases and the distance between it and the convoy decreases, then the free vehicle has the intention to overtake and is considered an overtaking vehicle.

[0061] Further, step 120, which controls the lead vehicle in the vehicle platoon to detect oncoming vehicles ahead, specifically involves the lead vehicle using a front-mounted radar and camera to monitor the oncoming road conditions in real time. If there are oncoming vehicles traveling in the opposite direction ahead of the lead vehicle, then those vehicles are considered oncoming vehicles. In more detail...

[0062] Step 130 determines whether the overtaking vehicle meets safety conditions based on the driving conditions of the overtaking vehicle and the oncoming vehicles. This includes the following steps:

[0063] Step 131: Obtain the first encounter time between the oncoming vehicle and the lead vehicle, as well as the relative speed and distance between the overtaking vehicle and the vehicle formation;

[0064] Step 132: Based on the obtained first encounter time and relative speed, calculate the second encounter time between the overtaking vehicle and the oncoming vehicle; the second encounter time is the time when the overtaking vehicle collides with the oncoming vehicle.

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

[0066] Specifically, a collision prediction algorithm based on vehicle dynamics models and real-time traffic data is used to calculate the second encounter time, T. C = d / (v1+v2), where T C d is the second encounter time, 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 convoy create a clearance space by increasing the distance between them. For example, when there are eight vehicles in the convoy, the fourth and fifth vehicles can increase the distance by controlling the lead vehicle to accelerate. The three following vehicles receive the speed information from the lead vehicle and are led to travel at the same speed, while the four following vehicles can maintain their speed, thus increasing the distance. Alternatively, the four following vehicles can decelerate while the first four maintain their speed, or the first four vehicles can accelerate while the last four decelerate to quickly increase the distance and create clearance space. In other embodiments, the number of vehicles in front of and behind the clearance space can also be different. The number of vehicles in the convoy is not limited to the example in this embodiment.

[0068] In addition, the vehicle's display or voice prompts will indicate the safety status of the overtaking vehicle, including whether the conditions for safe overtaking are met and the recommended overtaking time.

[0069] Furthermore, after step 110 obtains that a vehicle in the vehicle platoon has detected an overtaking vehicle behind it, it also includes the following steps:

[0070] The system detects whether the overtaking vehicle has a compatible communication system; if so, it controls the vehicle platoon to exchange information with the overtaking vehicle in real time. Real-time communication between the platooned vehicles and the overtaking vehicle ensures information synchronization, improving coordination and response speed.

[0071] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split 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 or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0072] The second embodiment of the present invention relates to a vehicle platooning system, comprising: multiple vehicles communicating with each other, the multiple vehicles being arranged 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] Vehicle platooning systems may also include a cloud platform, roadside units, and V2X (Vehicle to Everything) wireless communication components. V2X refers to technologies that enable vehicles to exchange and communicate with their surroundings (including other vehicles, pedestrians, road infrastructure, and networks), including V2I (Vehicle-to-Infrastructure), V2C (Vehicle-to-Cloud), and the aforementioned 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 remain valid in this embodiment, and the technical effects achievable in the first embodiment can also be achieved in this embodiment. To reduce repetition, they will not be repeated here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the first embodiment.

[0075] The third embodiment of the present invention relates to a computer-readable storage medium, which is a non-volatile or non-transient storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the vehicle control method in the first embodiment.

[0076] The preferred embodiments of the present invention have been described in detail above, but it should be understood that, if necessary, aspects of the embodiments can be modified to utilize aspects, features, and concepts from various patents, applications, and publications to provide other embodiments.

[0077] In light of the detailed description above, these and other changes can be made to the embodiments. Generally, the terminology used in the claims should not be considered limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents enjoyed by these claims.

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

Claims

1. A vehicle control method, characterized in that, Applied to vehicle platoons comprising multiple vehicles traveling in sequence; the vehicle control method includes the following steps: If a vehicle in a platoon detects an overtaking vehicle behind it, it notifies all vehicles in the platoon that the overtaking vehicle is behind it. The navigator vehicle in the convoy is responsible for detecting oncoming vehicles ahead. If so, determine whether the overtaking vehicle meets the safety conditions for overtaking based on the driving conditions of the overtaking vehicle and the driving conditions of the oncoming vehicle. If the conditions are met, control the vehicles in the platoon to slow down so that the overtaking vehicle can overtake. If the conditions are not met, the position and speed of the overtaking vehicle are obtained from 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 to form a clearance space in the vehicle formation for the overtaking vehicle to enter. The vehicles in the vehicle platoon are controlled to check whether the overtaking vehicle has completed the overtaking maneuver. If so, control the vehicles in the convoy to adjust the distance and speed to achieve normal driving conditions.

2. The vehicle control method according to claim 1, characterized in that, Before a vehicle in a platoon detects an overtaking vehicle behind it, the following steps are also included: The system uses rearview cameras and radar sensors of vehicles in the convoy to monitor the distance and speed of free vehicles behind them in real time to determine whether the free vehicles behind the convoy intend to overtake. If the speed of the free vehicle increases and the distance between it and the convoy decreases, then the free vehicle has the intention to overtake and is considered an overtaking vehicle.

3. The vehicle control method according to claim 1, characterized in that, The process of controlling the convoy of vehicles to detect oncoming vehicles involves the navigator vehicle using a front-mounted radar and camera to detect the oncoming road conditions in real time. If there are oncoming vehicles traveling in the opposite direction on the road ahead of the navigator vehicle, then the oncoming vehicle is identified as the oncoming vehicle.

4. The vehicle control method according to claim 1, characterized in that, The step of determining whether the overtaking vehicle meets the safety conditions for overtaking based on the driving conditions of the overtaking vehicle and the oncoming vehicle specifically includes the following steps: The first encounter time between the oncoming vehicle and the lead vehicle, as well as the relative speed and distance between the overtaking vehicle and the vehicle formation, are obtained. Based on the first encounter time and the relative speed, calculate the second encounter time between the overtaking vehicle and the oncoming vehicle as the overtaking vehicle directly overtakes. If the first encounter time is longer than the preset duration of the second encounter time, then the overtaking vehicle meets the safety conditions; If the first encounter time is not greater than the preset duration of the second encounter time, then the overtaking vehicle does not meet the safety conditions.

5. The vehicle control method according to claim 4, characterized in that, The second encounter time is calculated using a collision prediction algorithm based on vehicle dynamics models and real-time traffic data. T C =d / (v1+v2), Among them, T C The second encounter time is d, the distance between the oncoming vehicle and the lead vehicle is d, 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 convoy create a clearance by increasing the distance between them.

7. The vehicle control method according to claim 1, characterized in that, The vehicle will display or provide voice prompts indicating the safety status of the vehicle it is overtaking. These prompts will include 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 a vehicle in a platoon detects an overtaking vehicle behind it, the following steps are also included: Check whether the overtaking vehicle has a compatible communication system; If so, control the vehicle platoon and exchange information with the overtaking vehicle in real time.

9. A vehicle platooning system, characterized in that, include: Multiple vehicles that communicate with each other, and the multiple vehicles are arranged in sequence to form a vehicle platoon; The vehicle is used to perform 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, characterized in that, The computer program is executed by the processor to perform the vehicle control method steps as described in any one of claims 1-8.

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