Platoon driving control method and vehicle with platoon function

Abstract

The present application provides a queue driving control method and a vehicle with a queue function, which relates to the field of queue control technology. Applied to a first vehicle equipped with a queue driving system and a human-computer interaction system, the method includes: the human-computer interaction system obtains a queue instruction and sends it to a first queue controller in the queue driving system; the first queue controller executes the queue instruction corresponding to the queue behavior, obtains an execution notification message corresponding to the queue execution result, and sends the execution notification message to the first cockpit controller and the first on-board unit, and the first cockpit controller pushes the execution notification message; the first on-board unit packages the execution notification message into a first Internet of Vehicles message, and broadcasts it to other vehicles. The present application simplifies the process of issuing queue instructions through human-computer interaction, making it easier for the driver to control the fleet, intuitively feedback the queue execution process and result status, and improve the traffic efficiency and safety of the vehicle queue.

Description

Technical Field

[0001] The present application relates to the technical field of platoon control, and in particular to a platoon driving control method and a vehicle with a platoon function. Background Art

[0002] With the rapid development of intelligent transportation systems, vehicle platooning technology has emerged. This technology allows vehicles to travel in close rows, effectively reducing wind resistance and energy consumption during the vehicle's travel, thereby improving traffic efficiency and ensuring safe driving of vehicles.

[0003] However, in the actual application scenarios of vehicle platooning technology, due to the construction and dynamic adjustment of vehicle platoons, users face an operational problem: there is a lack of intuitive and efficient means to intervene in the adjustment process of vehicle platoons. This phenomenon not only prolongs the user's reaction time, but may also have an adverse impact on the smooth operation of the entire vehicle platoon. Secondly, with the in-depth application of vehicle platooning technology, key information between vehicles cannot be directly presented to the driver in an intuitive and easy-to-understand form. This asymmetry of key information not only limits the driver's real-time perception of the platoon driving status, but may also cause the driver to be unable to make accurate judgments in time in an emergency, thereby affecting the traffic efficiency and safety of the vehicle platoon. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a platoon driving control method and a vehicle with a platoon function, which simplifies the process of issuing platoon instructions through human-computer interaction, makes it easier for the driver to control the platoon, and intuitively feedbacks the platoon execution process and result status, which not only improves the user's operating experience, but also improves the traffic efficiency and safety of the vehicle platoon.

[0005] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows: In a first aspect, an embodiment of the present application provides a platoon travel control method, which is applied to a first vehicle equipped with a platoon travel system and a human-computer interaction system, and the method includes: Using the first cockpit controller in the human-computer interaction system to obtain a queue instruction, and sending the queue instruction to the first queue controller in the queue driving system; The first queue controller is used to execute the queue behavior corresponding to the queue instruction, obtain an execution notification message corresponding to the queue execution result, and send the execution notification message to the first cockpit controller and the first on-board unit, so that the first cockpit controller pushes the execution notification message; The first vehicle-mounted unit is used to package the execution notification message into a first Internet of Vehicles message, and broadcast it to other vehicles, so that the vehicle-mounted units in the platoon driving systems of the other vehicles forward the first Internet of Vehicles message to the cockpit controllers of the human-computer interaction systems of the other vehicles, and the cockpit controller pushes the execution notification message.

[0006] Optionally, the using the first queue controller to execute the queue behavior corresponding to the queue instruction and obtaining an execution notification message corresponding to the queue execution result includes: The first queue controller is used to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message.

[0007] Optionally, the queue instruction is: a queue creation instruction, and the queue creation instruction is: a queue instruction with a preset creation keyword acquired by the first cockpit controller; The using the first queue controller to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message includes: Determining, using the first platoon controller, whether the current role of the first vehicle is a potential lead vehicle role; If the current role of the first vehicle is a potential lead vehicle role, using the first queue controller to create a vehicle queue with the first vehicle as the lead vehicle, and obtaining the execution notification message including the queue creation result; The Internet of Vehicles message is also used to enable the second queue controller of the second vehicle among the other vehicles whose current role is the free vehicle role to determine whether the preset potential following vehicle conditions are met based on the current role of the second vehicle. If the preset potential following vehicle conditions are met, the current role will be switched to the potential following vehicle role and sent to the second cockpit controller of the second vehicle, so that the second cockpit controller of the second vehicle pushes the switching notification message of switching to the potential following vehicle role.

[0008] Optionally, before using the first vehicle-mounted unit to package the execution notification message into a first Internet of Vehicles message, the method further includes: acquiring current vehicle status information of the first vehicle using the first queue controller, and sending the current vehicle status information of the first vehicle to the first onboard unit; The using the first vehicle-mounted unit to package the execution notification message into an Internet of Vehicles message and broadcasting it to other vehicles includes: Using the first vehicle-mounted unit to package the current vehicle state information of the first vehicle and the execution notification message into the first Internet of Vehicles message, and broadcasting and sending the message to each of the other vehicles; The first Internet of Vehicles message is also used to enable the second queue controller of the second vehicle to determine whether the preset potential following vehicle condition is met based on the current role of the second vehicle, its own current vehicle status information and the current vehicle status information of other vehicles.

[0009] Optionally, the queue instruction is a join queue instruction, and the join queue instruction is a queue instruction with a preset join keyword acquired by the first cockpit controller; The using the first queue controller to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message includes: Determining, using the first queue controller, whether the current role of the first vehicle is a potential following vehicle role; If the current role of the first vehicle is a potential following vehicle role, the first queue controller is used to generate a queue joining request according to the queue joining instruction, and the execution notification message including the queue joining request is obtained; Correspondingly, the first Internet of Vehicles message is also used to forward the third on-board unit of the third vehicle whose current role is the pilot vehicle role to the third cockpit controller of the third vehicle, so that the third cockpit controller pushes the queue joining request; The method further comprises: Using the first onboard unit to receive the joining feedback message sent by the third cockpit controller and sent by the third onboard unit, and sending the message to the first queue controller; The first queue controller generates a join notification message according to the join feedback message and sends the message to the first cockpit controller, so that the first cockpit controller pushes the join notification message, where the join notification message is used to indicate a success or failure in joining the queue; If the joining notification message indicates that joining the queue is successful, the first queue controller is used to switch the current role of the first vehicle to a following vehicle role.

[0010] Optionally, the queue instruction is: a leave queue instruction, the leave queue instruction is a queue instruction with a preset leave keyword acquired by the first cockpit controller; The using the first queue controller to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message includes: Determining, using the first queue controller, whether the current role of the first vehicle is a following vehicle role; If the current role of the first vehicle is a follower vehicle role, using the first queue controller to generate a leave queue request according to the leave queue instruction, and obtaining the execution notification message including the leave queue request; Correspondingly, the first Internet of Vehicles message is also used to forward the message to a fourth cockpit controller of the fourth vehicle, which currently plays the role of a pilot vehicle, so that the fourth cockpit controller pushes the queue leaving request; The method further comprises: Using the first onboard unit to receive the leaving feedback message sent by the fourth cockpit controller and sent by the fourth onboard unit, and sending the message to the first queue controller; The first queue controller generates a leaving notification message according to the leaving feedback message and sends the leaving notification message to the first cockpit controller, so that the first cockpit controller pushes the leaving notification message, wherein the leaving notification message is used to indicate a success or failure in leaving the queue; If the leaving notification message indicates that the leaving queue is successful, the first queue controller is used to switch the current role of the first vehicle to a potential following vehicle role.

[0011] Optionally, the queue instruction is: a queue disbanding instruction, and the queue disbanding instruction is a queue instruction with a preset disbanding keyword acquired by the first cockpit controller; The using the first queue controller to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message includes: Determining, using the first queue controller, whether the current role of the first vehicle is a pilot vehicle role; If the current role of the first vehicle is the pilot vehicle role, the first queue controller is used to execute the queue disbanding behavior, and the execution notification message including the queue disbanding result is obtained; Correspondingly, the first Internet of Vehicles message is also used to forward the fifth on-board unit of the fifth vehicle among the other vehicles, whose current role is the following vehicle role, to the fifth cockpit controller and the fifth queue controller of the fifth vehicle, so that the fifth queue controller executes the queue disbanding behavior, and after the queue is successfully disbanded, switches the current role of the fifth vehicle to the potential following vehicle role, and also pushes a notification message of successful queue disbanding and an indication message of manual takeover through the fifth cockpit controller.

[0012] Optionally, the queue instruction is an activation queue instruction, and the activation queue instruction is: a queue instruction with a preset activation keyword acquired by the first cockpit controller; The using the first queue controller to execute the queue behavior corresponding to the queue instruction and obtaining an execution notification message corresponding to the queue execution result includes: Using the first queue controller to perform a queue activation behavior based on the queue activation instruction to activate the queue travel function of the first vehicle, and obtaining the execution notification message including a queue activation result; the queue activation result is used to indicate whether the queue travel function of the first vehicle is activated; If the queue activation result indicates that the queue travel function of the first vehicle has been successfully activated, the first queue controller reads the queue configuration file of the first vehicle and determines the initial role of the first vehicle according to the role authority configuration information in the queue configuration file.

[0013] Optionally, the queue instruction is an exit queue instruction, and the exit queue instruction is a queue instruction with a preset exit keyword acquired by the first cockpit controller; The using the first queue controller to execute the queue behavior corresponding to the queue instruction and obtaining an execution notification message corresponding to the queue execution result includes: Using the first queue controller to determine whether the first vehicle is in the queue according to the current role of the first vehicle, and obtaining the execution notification message including the queue exit result; The queue exit result is used to indicate that the first vehicle is in the queue and the queue travel function exit fails; or, the queue exit result is used to indicate that the first vehicle is not in the queue and the queue travel function exits successfully.

[0014] In a second aspect, an embodiment of the present application provides a vehicle with a platoon function, the vehicle being equipped with: a platoon driving system and a human-computer interaction system, the platoon driving system comprising: a platoon controller and a vehicle-mounted unit, the human-computer interaction system comprising: a cockpit controller; The queue controller, the on-board unit and the cockpit controller are all connected to a preset queue LAN bus, and the queue controller is also connected to a preset vehicle LAN bus to obtain vehicle status information; The queue controller, the on-board unit and the cabin controller are respectively used to execute the steps performed by the queue controller, the on-board unit and the cabin controller in any one of the methods of the first aspect.

[0015] Compared with the prior art, the platoon driving control method and the vehicle with platoon function provided by the embodiments of the present application have the following beneficial effects: The present application provides a queue driving control method and a vehicle with a queue function, which relates to the technical field of queue control. The method is applied to a first vehicle equipped with a queue driving system and a human-computer interaction system. During the operation of the first vehicle, a first cockpit controller in the human-computer interaction system obtains a queue instruction and sends the queue instruction to the first queue controller in the queue driving system, so as to realize efficient transmission of the queue instruction from the human-computer interaction level to the queue control of the first vehicle; after receiving the queue instruction, the first queue controller executes the queue behavior corresponding to the queue instruction, and then generates an execution notification message corresponding to the queue execution result. Subsequently, the first queue controller sends the execution notification message to the first cockpit controller and the first on-board unit at the same time. After receiving the execution notification message, the first cockpit controller pushes the execution notification message to convey the execution notification message to the driver in a clear and intuitive form, so as to ensure that the driver can understand the queue execution status in a timely and accurate manner. After receiving the execution notification message, the first vehicle-mounted unit packages the execution notification message to obtain the first vehicle-connected network message, and then broadcasts the first vehicle-connected network message to the vehicle-mounted units in other vehicles, thereby realizing rapid information sharing among multiple vehicles. The vehicle-mounted units in other vehicles send the first vehicle-connected network message to the cockpit controller of the human-computer interaction system, and the cockpit controller pushes the execution notification message, so that the drivers of other vehicles can also know the queue execution dynamics synchronously, thereby realizing efficient information sharing and collaborative interaction among multiple vehicles. Therefore, the present application greatly improves the convenience of interaction between the driver and the vehicle system by inputting queue instructions. The driver does not need to manually operate a complex interface, and can focus more on the road conditions during driving, reducing the safety hazards caused by distracted operations, and improving driving safety and comfort. At the same time, in the event of bad weather or emergencies, such as traffic jams and road closures, the driver can leave the queue or disband the queue in time through human-computer interaction operations, without affecting the normal driving of other vehicles, thereby ensuring the safety and reliability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application; Figure 2 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 1 ; Figure 3A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 2 ; Figure 4 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 3 ; Figure 5 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 4 ; Figure 6 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 5 ; Figure 7 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 6 ; Figure 8 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 7 ; Fig. 9 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 8 ; Fig.10 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 9 ; Fig.11 A schematic diagram of the structure of a platoon travel control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0019] In order to clearly describe a platoon driving control method and a vehicle with a platoon function provided in an embodiment of the present application, the vehicle with a platoon function is first described in detail with reference to the accompanying drawings.

[0020] Figure 1 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. Figure 1 As shown, the vehicle 100 with platoon function may be equipped with: a platoon driving system 110 and a human-machine interaction system 120 .

[0021] The platoon driving system 110 may include: a platoon controller 111 and an on-board unit OBU.

[0022] The human-computer interaction system 120 may include: a cockpit controller 121 .

[0023] The queue controller 111, the on-board unit OBU and the cockpit controller 121 are all connected to the preset queue LAN bus, which is used for the interaction of CAN message data of queue information between the queue controller 111, the on-board unit OBU and the cockpit controller 121; the queue controller 111 is also connected to the preset vehicle LAN bus to obtain vehicle status information such as vehicle speed, engine status, brake status, etc. through the chassis VCU (Vehicle Control Unit, i.e., vehicle control unit) of the vehicle, and then provide it to the queue controller 111 through the preset vehicle LAN bus, so that the queue controller 111 obtains the vehicle status information. The preset queue LAN bus and the preset vehicle LAN bus can be selected according to actual conditions.

[0024] The queue controller 111, the on-board unit OBU and the cockpit controller 121 are respectively used to execute the steps executed by the queue controller 111, the on-board unit OBU and the cockpit controller 121 in the queue driving control method. The on-board unit OBU is used to complete the information communication between vehicles through the preset communication technology, for example, receiving and parsing the Internet of Vehicles messages sent by other vehicles and packaging the Internet of Vehicles messages of its own vehicle; and the on-board unit OBU is also integrated with a positioning device, which can be used to obtain the current positioning information of the vehicle; wherein the preset communication technology can be selected according to the actual situation, for example, the preset communication technology can be selected as V2V (vehicle-to-vehicle communication, vehicle-to-vehicle communication technology) communication technology. The cockpit controller 121 is used to receive the input signal of the driver, and the input signal can be a voice signal or other signal, and there is no restriction here. Taking the voice signal as an example, the cockpit controller 121 can directly convert the voice signal into a queue instruction and send it out; the queue controller 111 is used to execute the queue behavior corresponding to the queue instruction. wherein the Internet of Vehicles message can be selected according to the actual situation, for example, the Internet of Vehicles message can be selected as a V2V message.

[0025] In one possible implementation, a voice assistant may also be provided in the human-computer interaction system 120. The voice assistant is used to receive input of voice signals, and then convert the input voice signals into voice commands, and input the voice commands into the cockpit controller 121. The cockpit controller 121 converts the content indicated by the voice commands into corresponding queue instructions.

[0026] It should be noted that other human-computer interaction assistants besides the voice assistant may be provided in the human-computer interaction system 120, for example, a gesture interaction assistant, or a virtual reality (VR) and augmented reality (AR) interaction assistant, or a computer interaction assistant, or a video interaction assistant, etc., without any limitation here.

[0027] The vehicle with queue function provided by the embodiment of the present application is equipped with: a queue driving system and a human-computer interaction system. The queue driving system can be composed of a queue controller and an on-board unit, so that the queue controller and the on-board unit can work together to realize orderly queue driving between vehicles and improve the safety of vehicle driving; the human-computer interaction system can be composed of a cockpit controller, etc., to provide the driver with convenient and intuitive information feedback and improve the human-computer interaction experience between the vehicle and the driver; the queue controller, the on-board unit and the cockpit controller are all connected to the preset queue LAN bus to interact with the CAN message data of the queue information to realize information interaction and sharing; the queue controller is also connected to the preset vehicle LAN bus to obtain vehicle status information to ensure the safety and stability of vehicle driving; the queue controller, the on-board unit and the cockpit controller are respectively used to execute the steps performed by the queue controller, the on-board unit and the cockpit controller in the queue driving control method. Therefore, the method in which the various components of the vehicle provided by the present application are connected through the LAN bus is convenient for the later fault diagnosis and maintenance of the vehicle.

[0028] The following is a detailed explanation and description of the queue travel control method provided by the above embodiment of the present application in conjunction with the accompanying drawings. Figure 2 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 1 .like Figure 2 As shown, the method may be applied to a first vehicle equipped with a platoon driving system and a human-machine interaction system, and may include: S201: Use a first cockpit controller in a human-computer interaction system to obtain a queue instruction, and send the queue instruction to a first queue controller in a queue driving system.

[0029] In one possible implementation, the human-computer interaction system of the first vehicle inputs voice information to the first cockpit controller through voice interaction. The first cockpit controller obtains the queue instruction converted into voice input, and sends the queue instruction to the first queue controller in the queue driving system through a preset queue LAN bus. The first queue controller processes the queue instruction.

[0030] It should be noted that, while receiving the queue instruction of the first vehicle, the first queue controller also receives the CAN message data of the queue information of other vehicles received by the first onboard unit OBU. In addition, it should be noted that in addition to the voice input method, there are other ways to obtain the queue instruction, which are not limited here. For the convenience of explanation of this application, the subsequent embodiments will be explained by taking the voice input method (or voice assistant) as an example, which should not be understood as a limitation of this application.

[0031] S202: Use the first queue controller to execute the queue behavior corresponding to the queue instruction, obtain an execution notification message corresponding to the queue execution result, and send the execution notification message to the first cockpit controller and the first on-board unit, so that the first cockpit controller pushes the execution notification message.

[0032] In one possible implementation, the first queue controller executes the corresponding queue behavior according to the queue instruction, obtains an execution notification message corresponding to the queue execution result, and sends the execution notification message to the first cockpit controller and the first vehicle-mounted unit through a preset vehicle local area network bus, wherein after receiving the execution notification message, the first cockpit controller converts the execution notification message into voice form for playing.

[0033] S203: Use the first on-board unit to package the execution notification message into a first Internet of Vehicles message, and broadcast it to other vehicles, so that the on-board units in the platoon driving systems of other vehicles forward the first Internet of Vehicles message to the cockpit controllers of the human-computer interaction systems of other vehicles, and the cockpit controller pushes the execution notification message.

[0034] In one possible implementation, the first vehicle-mounted unit packages the execution notification message corresponding to the queue execution result into a first Internet of Vehicles message, and broadcasts the first Internet of Vehicles message to the vehicle-mounted units in other vehicles through V2V communication technology. The vehicle-mounted units of other vehicles then send the first Internet of Vehicles message to the cockpit controllers of other vehicles, and the cockpit controller pushes the execution notification message in the first Internet of Vehicles message (such as voice playback).

[0035] The present application provides a queue driving control method, which is applied to a first vehicle equipped with a queue driving system and a human-computer interaction system. During the operation of the first vehicle, the first cockpit controller in the human-computer interaction system obtains a queue instruction and sends the queue instruction to the first queue controller in the queue driving system, so as to realize the efficient transmission of the queue instruction from the human-computer interaction level to the queue control of the first vehicle; after receiving the queue instruction, the first queue controller executes the queue behavior corresponding to the queue instruction, and then generates an execution notification message corresponding to the queue execution result, and then the first queue controller sends the execution notification message to the first cockpit controller and the first on-board unit at the same time. After receiving the execution notification message, the first cockpit controller pushes the execution notification message to convey the execution notification message to the driver in a clear and intuitive form (such as voice form), so as to ensure that the driver can understand the queue execution status in a timely and accurate manner. After receiving the execution notification message, the first vehicle-mounted unit packages the execution notification message to obtain the first vehicle-connected network message, and then broadcasts the first vehicle-connected network message to the vehicle-mounted units in other vehicles, thereby realizing rapid information sharing among multiple vehicles. The vehicle-mounted units in other vehicles send the first vehicle-connected network message to the cockpit controller of the human-computer interaction system, and the cockpit controller pushes the execution notification message, so that the drivers of other vehicles can also know the queue execution dynamics synchronously, thereby realizing efficient information sharing and collaborative interaction among multiple vehicles. Therefore, the present application greatly improves the convenience of interaction between the driver and the vehicle system by inputting queue instructions. The driver does not need to manually operate a complex interface, and can focus more on the road conditions during driving, reducing the safety hazards caused by distracted operations, and improving driving safety and comfort. At the same time, in the event of bad weather or emergencies, such as traffic jams and road closures, the driver can leave the queue or disband the queue in time through human-computer interaction operations, without affecting the normal driving of other vehicles, thereby ensuring the safety and reliability of the vehicle.

[0036] Optionally, in a possible implementation embodiment, the method uses the first queue controller to execute the queue behavior corresponding to the queue instruction, and obtains the execution notification message corresponding to the queue execution result, which may include: The first queue controller is used to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction, and an execution notification message is obtained.

[0037] In a possible implementation, a first queue controller in a first vehicle with a queue function reads a queue configuration file of the first vehicle, wherein the queue configuration file may include: vehicle identification (ID) and role authority configuration information. According to the role authority configuration information of the first vehicle in the queue configuration file, the initial role of the first vehicle is determined, and then the current role of the first vehicle is determined according to the initial role. Then, according to the current role of the first vehicle, the first queue controller executes the queue behavior corresponding to the current role, and then obtains an execution notification message. Among them, the role authority configuration information may include: potential follower vehicle role authority and potential lead vehicle role authority.

[0038] The platoon driving control method provided by the present application is that the first platoon controller in the first vehicle with platoon function executes the platoon behavior corresponding to the current role of the first vehicle according to the platoon instruction, realizes the automatic management of the vehicle platoon behavior, improves the operation efficiency and response speed of the vehicle, and obtains the execution notification message. Therefore, the present application determines the corresponding platoon behavior according to the current role of the first vehicle, and ensures the stability and safety of the platoon.

[0039] Optionally, in a possible implementation, the queue instruction in the above method may be: a create queue instruction; the create queue instruction may be: a queue instruction with a preset create keyword obtained by the first cockpit controller. The preset create keyword may be selected according to actual conditions. For example, when the queue instruction is a create queue instruction, the preset create keyword may be selected as create queue.

[0040] In one possible implementation, the driver (or user) of the first vehicle with the queue function sets a preset creation keyword (such as create a queue) and voice inputs "create a queue", and the first cockpit controller converts the voice input into a create queue instruction.

[0041] In another possible implementation, the driver (or user) of the first vehicle with the queue function needs to call the preset name of the voice assistant for voice wake-up each time when using the voice assistant. When the voice assistant responds, the driver (or user) of the first vehicle with the queue function needs to call the preset name of the voice assistant for voice wake-up. When the voice assistant responds, the driver can input the first vehicle with the preset creation keyword (such as creating a queue) and the first cockpit controller will convert the voice input into a queue creation instruction. The preset name of the voice assistant can be selected according to the actual situation.

[0042] Figure 3 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 2 .like Figure 3 As shown, in the above method, the first queue controller is used to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message, which may include: S301: Using a first queue controller to determine whether a current role of a first vehicle is a potential lead vehicle role.

[0043] In a possible implementation, in the process of creating a queue, the first queue controller first reads the role permission configuration information of the first vehicle in the queue configuration file of the first vehicle, and determines whether the current role of the first vehicle is a potential pilot vehicle role according to whether the read role permission configuration information of the first vehicle is the potential pilot vehicle role permission configuration information. If so, step S302 is executed; if not, the current role of the first vehicle is a free vehicle role.

[0044] It should be noted that, in the process of creating a queue, the main thing to confirm is whether the current role of the first vehicle is a potential lead vehicle role. The current roles of other vehicles that are not potential lead vehicle roles can be understood as free vehicle roles. In addition, it should be noted that, since the current role of the first vehicle is obtained based on the queue configuration file, before the queue configuration file is obtained to confirm the current role, the role of the first vehicle can be identified as a free vehicle role. The free vehicle role can include two situations. The first situation is: the first vehicle has a queue configuration file but has not yet participated in the queue control operation. The second situation is: the first vehicle does not have a queue configuration file, then the first vehicle does not participate in the queue driving control behavior.

[0045] S302: If the current role of the first vehicle is a potential lead vehicle role, a first queue controller is used to create a vehicle queue with the first vehicle as the lead vehicle, and an execution notification message including a queue creation result is obtained.

[0046] In one possible implementation, if the role authority configuration information of the queue configuration file of the first vehicle is the potential lead vehicle role authority configuration information, it is determined that the current role of the first vehicle is the potential lead vehicle role, and the first queue controller is used to create a vehicle queue with the first vehicle as the lead vehicle, and an execution notification message including the queue creation result is obtained.

[0047] In one possible implementation, if the role authority configuration information of the queue profile of the first vehicle is potential following vehicle role authority configuration information, it is determined that the current role of the first vehicle is not a potential leading vehicle role, and the first queue controller does not execute creation of a vehicle queue with the first vehicle as the leading vehicle.

[0048] Correspondingly, the first Internet of Vehicles message is also used to enable the second queue controller of the second vehicle whose current role is the free vehicle role among other vehicles to determine whether the preset potential following vehicle conditions are met based on the current role of the second vehicle. If the preset potential following vehicle conditions are met, the current role will be switched to the potential following vehicle role and sent to the second cockpit controller of the second vehicle, so that the second cockpit controller of the second vehicle pushes the switching notification message of switching to the potential following vehicle role.

[0049] In one possible implementation, since the first vehicle-mounted unit packages the execution notification message of the queue creation result into a first Internet of Vehicles message, the first Internet of Vehicles message is also used to enable the second queue controller of the second vehicle whose current role is a free vehicle role among other vehicles to determine whether the preset potential following vehicle condition is met based on the current role of the second vehicle. If the preset potential following vehicle condition is met, the second queue controller triggers the role switch, so that the second vehicle switches from the current free vehicle role to the potential following vehicle role, and sends the role switching information to the second cockpit controller of the second vehicle through the preset queue LAN bus. After receiving the role switching information, the second cockpit controller converts the role switching information into a voice signal for playback, so that the driver of the second vehicle knows that the current role of the second vehicle has been switched to the potential following vehicle role.

[0050] In the queue driving control method provided by the present application, when the queue instruction in the above method is a queue creation instruction, wherein the queue creation instruction is a queue creation instruction with a preset creation keyword obtained by the first cockpit controller, the queue creation instruction is obtained based on the preset creation keyword, so that the first queue controller can quickly and accurately execute the operation of creating a queue with the first vehicle as the lead vehicle, thereby ensuring the efficiency and accuracy of queue creation and facilitating the construction of an orderly Internet of Vehicles queue structure. The first queue controller executes the queue behavior corresponding to the current role of the first vehicle according to the queue instruction and generates an execution notification message. The specific process is as follows: the first queue controller first determines whether the current role of the first vehicle is a potential pilot vehicle role; if the current role of the first vehicle is a potential pilot vehicle role, the first queue controller will create a vehicle queue with the first vehicle as the pilot vehicle, generate an execution notification message including the queue creation result, and the first vehicle-mounted unit packages the execution notification message of the queue creation result to generate a first Internet of Vehicles message. The first Internet of Vehicles message can enable the second queue controller of the second vehicle whose current role is a free vehicle role in other vehicles to determine whether it meets the preset potential following vehicle condition according to the current role of the second vehicle. If the preset potential following vehicle condition is met, it will switch from the current role to the potential following vehicle role and send it to the second cockpit controller of the second vehicle, so that the second cockpit controller of the second vehicle pushes the switch notification message of switching to the potential following vehicle role. Therefore, the present application can realize the specific behavior control of the vehicle under different roles by defining and judging the vehicle roles such as potential pilot vehicle, free vehicle, and potential following vehicle, and can flexibly switch roles according to the judgment conditions, thereby improving the adaptability and flexibility of vehicle collaboration in the Internet of Vehicles environment. In addition, the sending and pushing of notification messages and role switching notification messages in this application ensures that vehicle-related status and operation information can be conveyed to the driver in a timely manner, improves the visibility and interactivity of the information, helps the driver to quickly understand the vehicle status and collaborative tasks, and improves driving safety and operational convenience.

[0051] Optionally, before the first vehicle-mounted unit is used in the above method to package the execution notification message into a first Internet of Vehicles message, the method may further include: The first queue controller is used to obtain the current vehicle status information of the first vehicle, and the current vehicle status information of the first vehicle is sent to the first onboard unit.

[0052] In one possible implementation, after the first vehicle successfully creates a queue, the first queue controller obtains the current vehicle status information (such as vehicle speed) of the first vehicle through a preset vehicle local area network bus. Then, the first queue controller sends the obtained current vehicle status information of the first vehicle to the first on-board unit through the preset queue local area network bus, and the first on-board unit performs subsequent processing.

[0053] In another possible implementation embodiment, the above method uses the first vehicle-mounted unit to package the execution notification message into a first Internet of Vehicles message, and broadcasts it to other vehicles, which may include: The first vehicle-mounted unit is used to package the current vehicle status information and the execution notification message of the first vehicle into a first Internet of Vehicles message, and broadcast it to other vehicles.

[0054] In one possible implementation, the first on-board unit obtains the current vehicle status information and execution notification message of the first vehicle, as well as the positioning information of the first vehicle obtained by the first on-board unit, and packages them together into a first Internet of Vehicles message, and broadcasts it to other vehicles through V2V communication technology, so that the on-board units of other vehicles can obtain the first Internet of Vehicles message, and then the queue controllers of other vehicles parse the first Internet of Vehicles message, obtain a notification of successful queue creation, and voice broadcast the notification of successful queue creation, such as "the queue is ready."

[0055] It should be noted that the above-mentioned other vehicles are all vehicles with platoon functions.

[0056] In a possible embodiment, the first Internet of Vehicles message is also used to enable the second queue controller of the second vehicle to determine whether the preset potential following vehicle conditions are met based on the second vehicle's current role, its own current vehicle status information, and the current vehicle status information of the remaining vehicles.

[0057] In one possible implementation, the first Internet of Vehicles message packaged by the first on-board unit can also be obtained by the second queue controller of the second vehicle for parsing, and then judged whether the second vehicle meets the preset potential following vehicle conditions based on the current role of the second vehicle, the current vehicle status information of the second vehicle (such as vehicle speed), the positioning information of the first vehicle, the positioning information of the second vehicle, and the current vehicle status information (such as vehicle speed) of the remaining vehicles.

[0058] The platoon driving control method provided by the present application obtains the current vehicle status information of the first vehicle through the first platoon controller, and sends it to the first vehicle-mounted unit, that is, through the cooperation between the first platoon controller and the first vehicle-mounted unit, the rapid acquisition and transmission of the vehicle status information is realized, and the response speed of the entire Internet of Vehicles system is improved; after obtaining the current vehicle status information, the first vehicle-mounted unit packages it together with the execution notification message and the positioning information of the first vehicle to generate a first Internet of Vehicles message, and broadcasts it to other vehicles through the V2V communication technology, so as to ensure the comprehensiveness and timeliness of the first Internet of Vehicles information. At the same time, the first Internet of Vehicles message contains rich information content, and provides comprehensive data support for the second platoon controller of the second vehicle. When the second vehicle receives the first Internet of Vehicles message through the second on-board unit, at the same time, the second on-board unit obtains the positioning information of the second vehicle, and sends the first Internet of Vehicles message and the positioning information of the second vehicle to the second queue controller through the preset queue LAN bus. At this time, the second queue controller receives the first Internet of Vehicles message (such as the positioning information of the first vehicle) and the positioning information of the second vehicle, and determines whether the second vehicle meets the preset potential following vehicle conditions based on the current role of the second vehicle and its own current vehicle status information (such as vehicle speed) and the current vehicle status information (such as vehicle speed) of the remaining vehicles, so as to make a more intelligent driving decision. Therefore, this application adopts a standardized Internet of Vehicles message format and broadcast mechanism, which helps to achieve better coordinated driving between vehicles, reduce the occurrence of traffic accidents, and improve road traffic efficiency.

[0059] Optionally, the queue instruction in the above method may be a join queue instruction, and the join queue instruction may be a queue instruction with a preset join keyword acquired by the first cockpit controller. The preset creation keyword may be selected according to actual conditions, for example, the preset creation keyword may be join queue.

[0060] In one possible implementation, the driver (or user) of the first vehicle with the queue function creates a keyword (such as join the queue) through a preset, and voice inputs "join the queue", and the first cockpit controller converts the voice input into a join the queue instruction.

[0061] In another possible implementation method, the driver (or user) of the first vehicle with the queue function needs to call the preset name of the voice assistant for voice wake-up each time using the voice assistant. When the voice assistant responds, the first vehicle is voice input based on the preset creation keyword (such as joining the queue), and the first cockpit controller converts the voice input into a join queue instruction.

[0062] Figure 4 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 3 .like Figure 4 As shown, in the above method, the first queue controller is used to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message, which may include: S401: Using a first queue controller, determine whether the current role of a first vehicle is a potential following vehicle role.

[0063] S402: If the current role of the first vehicle is a potential following vehicle role, a first queue controller is used to generate a queue joining request according to a queue joining instruction, and an execution notification message including the queue joining request is obtained.

[0064] In a possible implementation, in the process of joining the queue, the first vehicle-mounted unit first receives and parses the Internet of Vehicles messages of other vehicles, and calculates based on the positioning information in the Internet of Vehicles messages of other vehicles and the current positioning information of the first vehicle. If the lateral positioning difference between the current positioning information of the first vehicle and the other vehicles is within 2.0m, and the longitudinal positioning difference is the smallest among other vehicles, then the other vehicle is judged to be the front vehicle. Further judge the current role of the front vehicle. If the current role of the front vehicle is the pilot vehicle role or the following vehicle role, it means that the front vehicle is already in the queue, the first vehicle meets the potential following vehicle conditions, the current role of the first vehicle is switched from the free vehicle role to the potential following vehicle role, and the voice broadcast reminds the driver to "become a potential following vehicle". Then, the first queue controller of the first vehicle generates a queue joining request according to the queue joining instruction, and then generates an execution notification message including the queue joining request. At the same time, the execution notification message of the queue joining request is sent to the first vehicle-mounted unit, and the first vehicle-mounted unit packages the vehicle status information of the first vehicle, the execution notification message of the queue joining request and the positioning information of the first vehicle into the first Internet of Vehicles message, and broadcasts it to each other vehicle through V2V communication technology.

[0065] It should be noted that, since the first Internet of Vehicles message is broadcast, it cannot be guaranteed that the vehicle receiving the first Internet of Vehicles message is the vehicle in the role of the pilot vehicle, but in general, the queue joining request is sent by the first vehicle in the role of a potential follower vehicle to the third vehicle in the role of the pilot vehicle. Accordingly, the first Internet of Vehicles message is also used to forward the third vehicle-mounted unit of the third vehicle in the current role of the pilot vehicle to the third cockpit controller of the third vehicle, so that the third cockpit controller pushes (such as voice playback) the queue joining request.

[0066] Correspondingly, the first Internet of Vehicles message is also used to forward the third on-board unit of the third vehicle, whose current role is the pilot vehicle role, to the third cockpit controller of the third vehicle, so that the third cockpit controller pushes a request to join the queue.

[0067] In one possible implementation, since the first on-board unit packages the execution notification message of the queue joining request into the first Internet of Vehicles message, the first Internet of Vehicles message is also used to enable the third on-board unit in the third vehicle whose current role is the pilot vehicle role to receive the first Internet of Vehicles message (such as the queue joining request), and forward it to the third cockpit controller of the third vehicle through a preset queue local area network bus, so that the third cockpit controller pushes the queue joining request (such as voice broadcast) such as "A queue joining request of the first vehicle ID is xxx, please process it", and then the driver of the third vehicle voice inputs a preset joining keyword (such as "agree to join"), and the third cockpit controller converts the voice input into CAN data of a queue joining agreement response. After the third on-board unit receives the corresponding CAN data of the queue joining agreement response, it broadcasts it to the first vehicle of the potential following vehicle role that initiated the request through V2V communication technology, and the first vehicle of the potential following vehicle role executes the queue joining behavior according to the CAN data of the queue joining agreement response. If the driver of the third vehicle inputs a preset joining keyword (such as "refuse to join") by voice, the first vehicle in the potential following vehicle role will not switch its potential following vehicle role after receiving the information returned by the V2V communication technology, and the first vehicle will continue to be in an independent driving state.

[0068] It should be noted that the process of joining a queue can only be executed after the process of creating a queue is completed. In addition, it should be noted that since the role permission configuration information includes the permissions of potential following vehicles and potential leading vehicles, the potential following vehicle role can only be further confirmed based on the positioning information of the current vehicle, and cannot be obtained based on the role permission configuration information alone, but the potential leading vehicle role can be confirmed based on the permissions of the potential leading vehicle role.

[0069] The queue driving control method provided by the present application, when the queue instruction in the above method is a join queue instruction, wherein the join queue instruction is a queue instruction with a preset join keyword obtained by the first cockpit controller, so that the first queue controller can quickly and accurately generate a join queue request, thereby ensuring the efficiency of the vehicle joining queue process and accelerating the dynamic expansion and adjustment speed of the Internet of Vehicles queue. The first queue controller executes the queue behavior corresponding to the current role of the first vehicle according to the queue instruction and generates an execution notification message, and the specific steps are as follows: the first queue controller first determines whether the current role of the first vehicle is a potential follower vehicle role; if the current role of the first vehicle is a potential follower vehicle role, the first queue controller generates a join queue request according to the join queue instruction, and generates an execution notification message including the join queue request. Correspondingly, the first Internet of Vehicles message is also used to forward the third vehicle-mounted unit of the third vehicle whose current role is the pilot vehicle role to the third cockpit controller of the third vehicle, so that the third cockpit controller pushes the join queue request. Therefore, this application clarifies the determination of the role of a vehicle's potential following vehicle and the execution of the corresponding join-queue command, so that the vehicle can accurately perform the join-queue operation according to its own role in the Internet of Vehicles environment, effectively guide the vehicle to join the queue according to the established rules, and improve the standardization of the Internet of Vehicles queue construction. At the same time, push methods such as voice broadcasts can provide drivers with intuitive and timely information feedback, strengthen information interaction between vehicles and between vehicles and drivers, help drivers better participate in Internet of Vehicles collaborative driving, and improve overall collaborative efficiency.

[0070] Figure 5 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 4 .like Figure 5 As shown, the above-mentioned platoon driving control method may further include: S501. Use the first onboard unit to receive a joining feedback message sent by the third onboard unit and the third cockpit controller, and send the message to the first queue controller.

[0071] In one possible implementation, the joining feedback message sent by the third cockpit controller of the third vehicle is broadcast to the first vehicle-mounted unit of the first vehicle through the third vehicle-mounted unit V2V communication technology. After the first vehicle-mounted unit receives the joining feedback message, it sends it to the first queue controller through the preset queue LAN bus.

[0072] S502: Use the first queue controller to generate a join notification message according to the join feedback message and send the message to the first cockpit controller, so that the first cockpit controller pushes the join notification message.

[0073] The joining notification message is used to indicate whether joining the queue is successful or failed.

[0074] In one possible implementation, the first queue controller generates a join notification message based on the join feedback message and sends it to the first cockpit controller through a preset queue LAN bus. The first cockpit controller pushes (such as voice broadcast) based on the join notification message to inform the driver whether he has successfully joined the queue or failed to join the queue.

[0075] S503: If the joining notification message indicates that joining the queue is successful, the first queue controller is used to switch the current role of the first vehicle to a following vehicle role.

[0076] In one possible implementation, if the joining notification message indicates that the queue is joined successfully, the first cockpit controller pushes (such as voice broadcast) the result "joining the queue successfully" according to the joining notification message. At the same time, the first queue controller switches the current role of the first vehicle from a potential following vehicle role to a following vehicle role.

[0077] If the first onboard unit of the first vehicle does not receive any joining notification message sent by the third vehicle in the role of the pilot vehicle within the preset time, or the joining behavior is abnormal, the first cockpit controller of the first vehicle controls the voice broadcast result "failed to join the queue". The preset time can be selected according to the actual situation. For example, the preset time can be selected as 100ms.

[0078] In the queue driving control method provided by the present application, the first Internet of Vehicles message is also used to enable the third vehicle, whose current role is the pilot vehicle role, to forward the first Internet of Vehicles message to the third cockpit controller of the third vehicle through its third on-board unit, so that the third cockpit controller pushes a queue joining request; the first on-board unit is responsible for receiving a joining feedback message forwarded by the third on-board unit and issued by the third cockpit controller, and transmitting the joining feedback message to the first queue controller; the first queue controller generates a joining notification message according to the joining feedback message, and sends the joining notification message to the first cockpit controller, and the first cockpit controller pushes the joining notification message according to the received joining notification message, and the joining notification message is used to inform the driver of the success or failure of joining the queue. By pushing the queue joining request and the joining notification message, key information is conveyed to the driver in an intuitive form (such as voice form), so as to avoid the driver being distracted from viewing text information, greatly improving the convenience of obtaining information during driving, and optimizing the driver's experience in Internet of Vehicles collaborative operation. If the joining notification message indicates that the joining of the queue is successful, the first queue controller switches the current role of the first vehicle from the potential following vehicle role to the following vehicle role, that is, the present application accurately switches the vehicle role according to the result of joining the queue, ensuring that the role change of the vehicle in the Internet of Vehicles queue is closely related to the actual operation result, which helps to maintain the stable structure of the Internet of Vehicles queue and ensure the orderliness of the coordinated driving between vehicles. Therefore, the present application constructs a complete and efficient information interaction closed loop through the orderly transmission of Internet of Vehicles messages between different vehicle components, from the third vehicle in the role of the pilot vehicle receiving the joining request, to the return of the joining feedback message and the generation and broadcasting of the final joining notification message, ensuring the timely transmission and processing of information in each link of the vehicle joining the queue process.

[0079] Optionally, in a possible implementation embodiment, the queue instruction in the above method may be: a leave queue instruction, and the leave queue instruction may be a queue instruction with a preset leave keyword obtained by the first cockpit controller. The preset creation keyword may be selected according to actual conditions, for example, the preset creation keyword may be leave queue.

[0080] In one possible implementation, the driver (or user) of the first vehicle with the queue function creates a keyword (such as leaving the queue) through a set preset, and voice inputs "leaving the queue", and the first cockpit controller converts the voice input into a leaving the queue instruction.

[0081] In another possible implementation method, the driver (or user) of the first vehicle with the queue function needs to call the preset name of the voice assistant for voice wake-up each time using the voice assistant. When the voice assistant answers, the voice input is made to the first vehicle according to the preset creation keyword (such as leaving the queue), and the first cockpit controller converts the voice input into a command to leave the queue.

[0082] Figure 6 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 5 .like Figure 6 As shown, in the above method, the first queue controller is used to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message, which may include: S601: Use a first queue controller to determine whether the current role of a first vehicle is a follower vehicle role.

[0083] S602: If the current role of the first vehicle is a follower vehicle role, a first queue controller is used to generate a leave-queue request according to a leave-queue instruction, and an execution notification message including the leave-queue request is obtained.

[0084] In a possible implementation, in the process of leaving the queue, the first queue controller first parses the Internet of Vehicles messages of other vehicles, and calculates based on the positioning information in the Internet of Vehicles messages of other vehicles and the current positioning information of the first vehicle. If the lateral positioning difference between the current positioning information of the first vehicle and other vehicles is within 2.0m, and the longitudinal positioning difference is the smallest among other vehicles, then the other vehicles are judged to be the front vehicles. Further judge the current role of the front vehicle. If the current role of the front vehicle is the pilot vehicle role or the follower vehicle role, it means that the front vehicle is already in the queue, and the first vehicle meets the potential follower vehicle conditions. The current role of the first vehicle is switched from the free vehicle role to the potential follower vehicle role, and the voice broadcast reminds the driver to "become a potential follower vehicle". Then, the vehicle with the pilot vehicle role agrees to the first vehicle to join the queue, and sends the execution notification message of agreeing to join the queue to the first vehicle, so that the first vehicle can determine that the current role of the first vehicle is the follower vehicle role. The first queue controller of the first vehicle generates a queue leaving request according to the queue leaving instruction, and then generates an execution notification message including the queue leaving request. At the same time, the vehicle status information of the first vehicle, the execution notification message of the leave queue request and the positioning information of the first vehicle are packaged into a first Internet of Vehicles message and broadcast to other vehicles through V2V communication technology.

[0085] Correspondingly, the first Internet of Vehicles message is also used to forward the fourth on-board unit of the fourth vehicle, whose current role is the pilot vehicle role, to the fourth cockpit controller of the fourth vehicle, so that the fourth cockpit controller pushes a request to leave the queue.

[0086] In a possible implementation, the first vehicle network message will send the queue leaving request to the fourth vehicle-mounted unit of the fourth vehicle whose current role is the pilot vehicle role, and then the fourth vehicle-mounted unit will forward it to the fourth cockpit controller, so that the fourth cockpit controller will push (such as voice broadcast) the queue leaving request, such as "a request to leave the team with vehicle ID xxx is found, please process it". Subsequently, the voice input of the driver of the fourth vehicle is preset with keywords (such as "agree to leave"), and the third cockpit controller will convert the voice input into CAN data of the response of agreeing to leave. After receiving the corresponding CAN data of the response of agreeing to leave, the fourth vehicle-mounted unit will broadcast it to the first vehicle of the follower vehicle role that initiated the request through the V2V communication technology, and the first vehicle of the follower vehicle role will execute the queue leaving behavior according to the CAN data of the response of agreeing to leave. If the voice input of the driver of the fourth vehicle is preset with keywords (such as "refuse to leave"), the first vehicle of the follower vehicle role will not switch its follower vehicle role after receiving the information returned by the V2V communication technology, and the first vehicle will continue to be in the queue driving state.

[0087] It should be noted that the process of leaving the queue can only be executed after the process of creating the queue and the process of joining the queue are completed.

[0088] The queue driving control method provided by the present application, when the queue instruction in the above method is a queue leaving instruction, wherein the queue leaving instruction is a queue instruction with a preset leaving keyword obtained by the first cockpit controller, so as to obtain the queue leaving instruction based on the preset leaving keyword, quickly generate a queue leaving request, and establish an orderly request sending and feedback receiving process between vehicles, so that the queue leaving operation can be carried out efficiently, and the efficiency of the dynamic adjustment of the vehicle network queue is improved. The first queue controller executes the queue behavior corresponding to the current role of the first vehicle according to the queue instruction, and generates an execution notification message. The specific process is as follows: the first queue controller first determines whether the current role of the first vehicle is a follower vehicle role, so as to perform the queue leaving behavior in a targeted manner by determining whether the first vehicle is a follower vehicle role, ensure that the vehicle role is closely corresponding to the operation, and ensure the accuracy and logic of the vehicle network queue management; if the current role of the first vehicle is a follower vehicle role, the first queue controller generates a queue leaving request according to the queue leaving instruction, and obtains an execution notification message including the queue leaving request. The first Internet of Vehicles message is also used to forward the fourth on-board unit of the fourth vehicle, which currently plays the role of the pilot vehicle, to the fourth cockpit controller of the fourth vehicle, so that the fourth cockpit controller pushes a request to leave the queue. By pushing the leave queue request and the leave notification message, key information is conveyed to the driver in an intuitive manner, avoiding the driver's attention being distracted by checking text information during driving, optimizing the driver's operating experience in the Internet of Vehicles environment, and improving driving safety.

[0089] Figure 7 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 6 .like Figure 7 As shown, the above-mentioned platoon driving control method may further include: S701. Use the first onboard unit to receive a leaving feedback message sent by the fourth onboard unit and sent by the fourth cockpit controller, and send the message to the first queue controller.

[0090] In one possible implementation, the departure feedback message sent by the fourth cockpit controller of the fourth vehicle is broadcast to the first vehicle-mounted unit of the first vehicle through the fourth vehicle-mounted unit V2V communication technology. After the first vehicle-mounted unit receives the departure feedback message, it sends it to the first queue controller through the preset queue LAN bus.

[0091] S702: Use the first queue controller to generate a leaving notification message according to the leaving feedback message and send the leaving notification message to the first cockpit controller, so that the first cockpit controller pushes the leaving notification message.

[0092] The leaving notification message is used to indicate the success or failure of leaving the queue.

[0093] In one possible implementation, the first queue controller generates a departure notification message based on the departure feedback message and sends it to the first cockpit controller through a preset queue LAN bus. The first cockpit controller pushes (such as voice broadcast) based on the departure notification message to inform the driver whether he has successfully left the queue or failed to leave the queue.

[0094] S703: If the leaving notification message indicates that the leaving queue is successful, the first queue controller is used to switch the current role of the first vehicle to a potential following vehicle role.

[0095] In one possible implementation, if the departure notification message indicates that the queue is joined successfully, the first cockpit controller pushes (such as voice broadcast) the result "Leaving the queue successfully" according to the departure notification message. When the first vehicle completes the departure from the queue behavior, the voice broadcast will say "Please take over manually". At the same time, the first queue controller switches the current role of the first vehicle from the following vehicle role to the potential following vehicle role.

[0096] If the first onboard unit of the first vehicle does not receive any leaving notification message sent by the fourth vehicle in the role of the pilot vehicle within the preset time, or the leaving queue behavior is abnormal, the first cockpit controller of the first vehicle controls the voice broadcast result "failed to leave the queue". The preset time can be selected according to the actual situation. For example, the preset time can be selected as 100ms.

[0097] In the queue driving control method provided by the present application, the first on-board unit is responsible for receiving the leaving feedback message sent by the fourth cockpit controller and forwarded by the fourth on-board unit, and sending the leaving feedback message to the first queue controller; the first queue controller generates a leaving notification message based on the received leaving feedback message and sends it to the first cockpit controller in a timely manner; after receiving the leaving notification message, the first cockpit controller plays it to the driver in an intuitive form (such as in the form of voice broadcast) to inform the driver whether the leaving queue request is successful, and the leaving notification message is pushed (such as voice broadcast) by the first cockpit controller, and then the result of leaving the queue is fed back to the driver (user) in the most intuitive form, thereby avoiding the inconvenience and safety hazards caused by the driver manually checking the information during driving, significantly improving the interactive experience between the user and the Internet of Vehicles system, and enhancing the user's real-time perception of the vehicle status. Among them, the leaving notification message is used to indicate the success or failure of leaving the queue; if the leaving notification message indicates that the leaving queue is successful, the first queue controller switches the current role of the first vehicle from the following vehicle role to the potential following vehicle role. This dynamic role management mechanism makes the role conversion of the vehicle in the Internet of Vehicles queue more flexible, which helps the vehicle to quickly respond to and integrate into different queue states according to actual driving conditions and task requirements, thereby improving the overall adaptability and stability of the Internet of Vehicles system. Therefore, this application realizes the accurate and efficient flow of information in the Internet of Vehicles system by generating a leaving feedback message from the fourth cockpit controller, forwarding it to the fourth on-board unit, receiving it and transmitting it to the first queue controller, and then generating a notification message from the first queue controller and sending it to the first cockpit controller, thereby ensuring the timeliness and accuracy of information processing.

[0098] Optionally, the queue instruction in the above method may be: a disband queue instruction, which may be a queue instruction with a preset disband keyword obtained by the first cockpit controller. The preset creation keyword may be selected according to actual conditions, for example, the preset creation keyword may be a disband queue.

[0099] In one possible implementation, the driver (or user) of the first vehicle with the queue function creates a keyword (such as disband the queue) through a preset, and voice inputs "disband the queue", and the first cockpit controller converts the voice input into a disband queue instruction.

[0100] In another possible implementation method, the driver (or user) of the first vehicle with the queue function needs to call the preset name of the voice assistant for voice wake-up each time using the voice assistant. When the voice assistant responds, the first vehicle is voice input based on the preset creation keyword (such as disbanding the queue), and the first cockpit controller converts the voice input into a disbanding queue instruction.

[0101] Figure 8 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 7 .like Figure 8 As shown, in the above method, the first queue controller is used to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message, which may include: S801: Use a first queue controller to determine whether the current role of a first vehicle is a pilot vehicle role.

[0102] In a possible implementation, in the process of disbanding a queue, the first queue controller reads the role permission configuration information of the first vehicle in the queue configuration file of the first vehicle, determines whether the current role of the first vehicle is a potential pilot vehicle role according to the read role permission configuration information of the first vehicle, and then determines whether the first vehicle creates a vehicle queue with the first vehicle as the pilot vehicle. If so, after executing the queue creation operation, step S802 is executed; if not, the current role of the first vehicle is a free vehicle role.

[0103] It should be noted that, in the process of leaving the queue, the first vehicle in the role of the following vehicle is the main execution subject, and it is a one-to-one interaction between the first vehicle in the role of the following vehicle and the second vehicle in the role of the leading vehicle. Therefore, when the process of leaving the queue is successfully executed, the current role of the first vehicle in the role of the following vehicle is switched to the potential role of the following vehicle. In the process of disbanding the queue, the first vehicle in the role of the leading vehicle is the main execution subject, and it is a one-to-many interaction between the first vehicle in the role of the leading vehicle and multiple second vehicles in the role of the following vehicle. Therefore, when the process of disbanding the queue is successfully executed, the current role of the first vehicle in the role of the following vehicle is switched to the free vehicle role.

[0104] S802: If the current role of the first vehicle is the pilot vehicle role, the first queue controller is used to execute a queue disbanding behavior, and an execution notification message including a queue disbanding result is obtained.

[0105] In one possible implementation, if the current role of the first vehicle is the pilot vehicle role, that is, the first vehicle is a vehicle that is granted pilot vehicle authority information, and a vehicle queue with the first vehicle as the pilot vehicle is created, the first queue controller executes the queue disbanding behavior according to the received queue disbanding instruction, and obtains an execution notification message including the queue disbanding result.

[0106] Correspondingly, the first Internet of Vehicles message is also used to forward the fifth on-board unit of the fifth vehicle, whose current role is the follower vehicle role among other vehicles, to the fifth cockpit controller and the fifth queue controller of the fifth vehicle, so that the fifth queue controller executes the queue disbanding behavior, and after the queue is successfully disbanded, switches the current role of the fifth vehicle to the free vehicle role, and also pushes a notification message of successful queue disbanding and an indication message of manual takeover through the fifth cockpit controller.

[0107] It should be noted that the process of disbanding a queue can only be executed after the process of creating a queue or joining a queue is completed.

[0108] In one possible implementation, since the first on-board unit packages the execution notification message of the queue disbanding result into the first Internet of Vehicles message, the first Internet of Vehicles message is also used to make the fifth vehicle whose current role among other vehicles is the following vehicle role. The fifth on-board unit of the fifth vehicle receives the first Internet of Vehicles message and sends it to the fifth cockpit controller and the fifth queue controller of the fifth vehicle at the same time. The fifth queue controller receives the queue disbanding instruction in the first Internet of Vehicles message and executes the queue disbanding behavior. After the queue is successfully disbanded, the current role of the fifth vehicle is switched from the following vehicle role to the free vehicle role. The notification message of the successful queue disbanding (such as "queue disbanding successful") and the instruction message of manual takeover (such as "please take over manually") are also pushed (such as voice broadcast) through the fifth cockpit controller.

[0109] The queue driving control method provided by the present application, when the queue instruction in the above method is a queue disbanding instruction, wherein the queue disbanding instruction is a queue instruction with a preset disbanding keyword obtained by the first cockpit controller. The first queue controller executes the queue behavior corresponding to the current role of the first vehicle according to the queue instruction, and obtains an execution notification message. The specific process is as follows: the first queue controller first determines whether the current role of the first vehicle is the pilot vehicle role to decide whether to execute the queue disbanding behavior, so that the vehicle operation is closely related to the role, ensuring the logic and accuracy of the vehicle network queue management, and ensuring that the key queue disbanding operation can only be performed under the appropriate role conditions. If the current role of the first vehicle is the pilot vehicle role, the first queue controller executes the queue disbanding behavior and obtains an execution notification message including the queue disbanding result. Correspondingly, since the first vehicle-mounted unit packages the execution notification message of the queue disbanding result to generate the first Internet of Vehicles message, the first Internet of Vehicles message is also used to broadcast the first Internet of Vehicles message to the fifth vehicle whose current role is the following vehicle role among other vehicles, so as to realize the coordinated execution of the queue disbanding behavior by multiple vehicles, greatly improve the efficiency of disbanding the queue, avoid the chaos caused by each vehicle acting independently, and help maintain the order of the Internet of Vehicles system during the queue disbanding process. The fifth vehicle-mounted unit of the fifth vehicle forwards the first Internet of Vehicles message to the fifth cockpit controller and the fifth queue controller of the fifth vehicle respectively. The fifth queue controller executes the queue disbanding behavior according to the queue disbanding instruction in the first Internet of Vehicles message, and after the queue is successfully disbanded, switches the current role of the fifth vehicle from the following vehicle role to the free vehicle role, so as to facilitate the subsequent possible queue operations of the vehicle, increase the flexibility of the role switching of the vehicle in the Internet of Vehicles environment, and enhance the adaptability of the Internet of Vehicles system to different driving scenarios and task requirements. The fifth cockpit controller also pushes notification messages of successful queue disbanding and instructions for manual takeover to ensure that the driver can understand the changes in vehicle status in a timely manner and make corresponding preparations, which not only avoids the safety risks brought by the driver manually viewing information, but also enhances the interactive experience between the driver and the Internet of Vehicles system, allowing the driver to respond quickly. Therefore, this application is closely connected from command acquisition, execution to result feedback and role switching, and any problems can be fed back and adjusted in a timely manner, effectively ensuring the stability and security of the Internet of Vehicles system during the process of queue disbanding.

[0110] Optionally, the queue instruction in the above method may be an activation queue instruction, which may be: a queue instruction with a preset activation keyword acquired by the first cockpit controller. The preset creation keyword may be selected according to actual conditions, for example, the preset creation keyword may be activation queue driving or opening queue driving.

[0111] In one possible implementation, the driver (or user) of the first vehicle with the platoon function creates a keyword (such as activate platoon driving or turn on platoon driving) through a set preset, and voice inputs "activate platoon driving or turn on platoon driving", and the first cockpit controller converts the voice input into an activation platoon instruction.

[0112] In another possible implementation method, the driver (or user) of the first vehicle with the queue function needs to call the preset name of the voice assistant for voice wake-up each time using the voice assistant. When the voice assistant responds, the voice input is made to the first vehicle according to the preset creation keywords (such as activating queue driving or opening queue driving), and the first cockpit controller converts the voice input into a queue activation instruction.

[0113] Fig. 9 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 8 .like Fig. 9 As shown, in the above method, the first queue controller is used to execute the queue behavior corresponding to the queue instruction, and the execution notification message corresponding to the queue execution result is obtained, which may include: S901: Using a first queue controller to perform a queue activation behavior based on a queue activation instruction to activate a queue travel function of a first vehicle, and obtaining an execution notification message including a queue activation result.

[0114] The queue activation result is used to indicate whether the queue driving function of the first vehicle is activated.

[0115] In one possible implementation, in the process of activating the queue, the first queue controller first receives an activation queue instruction from the first cockpit controller, triggers a queue activation behavior according to the activation queue instruction, so as to activate the queue travel function of the first vehicle, and then obtains an execution notification message including a queue activation result, so as to indicate whether the queue travel function of the first vehicle is activated according to the queue activation result, thereby providing a clear basis for subsequent queue travel operations of the vehicles.

[0116] S902: If the queue activation result indicates that the queue travel function of the first vehicle has been successfully activated, the first queue controller reads the queue configuration file of the first vehicle and determines the initial role of the first vehicle according to the role authority configuration information in the queue configuration file.

[0117] In one possible implementation, if the queue activation result is used to indicate that the queue driving function of the first vehicle has been successfully activated, the first queue controller sends the queue activation result to the first cockpit controller for voice broadcast, such as "activation successful". When the first vehicle is successfully activated, the first queue controller reads the queue configuration file of the first vehicle and determines the initial role of the first vehicle according to the role authority configuration information in the queue configuration file. At the same time, the first on-board unit of the first vehicle broadcasts a notification through V2V communication technology to vehicles with queue functions within the preset communication range that the first vehicle has been successfully activated. The preset communication range can be selected according to actual conditions. For example, the preset communication range can be selected as 200M-300M.

[0118] In another possible implementation, if the queue activation result indicates that the activation of the queue driving function of the first vehicle has failed, the first queue controller sends the queue activation result to the first cockpit controller for voice broadcast, such as "activation failed". Since the queue function of the first vehicle is not activated, the vehicle queue function will not be started for the subsequent first vehicle.

[0119] It should be noted that in the use of all queue functions of the vehicle, the first step is to activate the queue function, otherwise, no queue function can be executed.

[0120] The present application provides a queue driving control method, in which the queue instruction in the method is an activation queue instruction, wherein the activation queue instruction is: a queue instruction with a preset activation keyword obtained by the first cockpit controller, so that the activation queue instruction can be identified by the preset activation keyword, and the activation process of the queue driving function can be quickly started, reducing the possibility of manual intervention and misidentification, and improving the operation efficiency and accuracy of the entire system. The first queue controller executes the queue behavior corresponding to the queue instruction, and obtains an execution notification message corresponding to the queue execution result. The specific process is as follows: the first queue controller starts the queue activation behavior based on the activation queue instruction to activate the queue driving function of the first vehicle, and then generates an execution notification message including the queue activation result; the queue activation result is used to indicate whether the queue driving function of the first vehicle is activated; if the queue activation result indicates that the queue driving function of the first vehicle has been successfully activated, the first queue controller reads the queue configuration file of the first vehicle, wherein the introduction of the queue configuration file enables the system to flexibly configure the queue roles and permissions of different vehicles, adapt to different driving scenarios and requirements, and enhance the scalability and adaptability of the system. The initial role of the first vehicle is determined based on the role permission configuration information in the queue configuration file. This role allocation method based on the queue configuration file ensures the safety and orderliness of vehicles in the queue and avoids safety hazards caused by role conflicts or improper permissions.

[0121] Optionally, the queue instruction in the above method may be an exit queue instruction, and the exit queue instruction may be a queue instruction with a preset exit keyword obtained by the first cockpit controller. The preset creation keyword may be selected according to actual conditions, for example, the preset creation keyword may be exit queue.

[0122] In one possible implementation, the driver (or user) of the first vehicle with the queue function creates a keyword (such as exit the queue) through a set preset, and voice inputs "exit the queue", and the first cockpit controller converts the voice input into an exit queue instruction.

[0123] In another possible implementation method, the driver (or user) of the first vehicle with the queue function needs to call the preset name of the voice assistant for voice wake-up each time using the voice assistant. When the voice assistant responds, the voice input is made to the first vehicle according to the preset creation keyword (such as exit the queue), and the first cockpit controller converts the voice input into an exit queue instruction.

[0124] In a possible implementation embodiment, the method uses the first queue controller to execute the queue behavior corresponding to the queue instruction, and obtains the execution notification message corresponding to the queue execution result, which may include: The first queue controller is used to determine whether the first vehicle is in the queue according to the current role of the first vehicle, and obtain an execution notification message including a queue exit result.

[0125] The queue exit result is used to indicate that the first vehicle is in the queue and the queue travel function exit fails; or, the queue exit result is used to indicate that the first vehicle is not in the queue and the queue travel function exits successfully.

[0126] In one possible implementation, in the process of exiting the queue, the first queue controller determines the current role of the first vehicle and whether the first vehicle is traveling in a queue according to the exit queue instruction input by voice. If the current role of the first vehicle is a pilot vehicle or a follower vehicle, it means that the first vehicle is traveling in a queue, and the first cockpit controller will make a voice announcement such as "Unable to exit the queue". This means that the queue driving function of the first vehicle has failed to exit. If the current role of the first vehicle is not a pilot vehicle or a follower vehicle, it means that the first vehicle is no longer traveling in a queue. The first cockpit controller can generate a queue exit result according to the exit queue instruction, obtain an execution notification message of the queue exit result, and send the queue exit result to the first cockpit controller. The first cockpit controller will make a voice announcement according to the queue exit result, such as "Exit the queue successfully", which means that the queue driving function of the first vehicle has successfully exited. At this time, the queue function of the first vehicle is closed.

[0127] It should be noted that the last step in the use of all queuing functions of the vehicle is to exit the queuing function. Otherwise, if there are other vehicles with queuing functions in the future, they can rejoin the new queuing process according to the above steps. If the vehicle successfully exits the queuing function, it will start from activating the queuing function if it needs to use the queuing function again.

[0128] The queue driving control method provided by the present application, when the queue instruction in the above method is an exit queue instruction, wherein the exit queue instruction is a queue instruction with a preset exit keyword obtained by the first cockpit controller, so as to identify the exit queue instruction through the preset exit keyword, thereby ensuring the accuracy and efficiency of instruction identification. At the same time, the queue state of the vehicle is judged according to its current role, further improving the accuracy and reliability of the queue management function. The first queue controller executes the queue behavior corresponding to the queue instruction, and obtains an execution notification message corresponding to the queue execution result. The specific process is as follows: the first queue controller first determines whether the first vehicle is in the queue according to the current role of the first vehicle, so as to flexibly process the request to exit the queue according to the actual situation of the vehicle (whether it is in the queue). This flexibility helps to adapt to different driving scenarios and user needs. And generate an execution notification message of the queue exit result, providing instant feedback to the driver (or user), so that the driver can clearly understand the exit status of the queue driving function, which helps to improve the driver's satisfaction and trust. The queue exit result is used to indicate that the first vehicle is in the queue and the queue driving function fails to exit; or, the queue exit result is used to indicate that the first vehicle is not in the queue and the queue driving function exits successfully. Therefore, this application ensures the safety of vehicles when exiting the queue and avoids potential traffic conflicts and dangers through strict queue management and exit mechanism.

[0129] To facilitate understanding of the above-mentioned platoon travel control method, the embodiment of the present application further provides an example of a process of the platoon travel control method, which is further described in conjunction with the accompanying drawings as follows: Fig.10 A schematic diagram of a process flow of a platoon driving control method provided in an embodiment of the present application Figure 9 .like Fig.10 As shown, the schematic diagram provided by the embodiment of the present application Figure 9 This may include: S1001. Using a first queue controller to execute an activation queue behavior corresponding to a current role of a first vehicle according to a queue instruction as an activation queue instruction, and obtaining an execution notification message including a queue activation result.

[0130] Specifically, each time the driver (or user) of the first vehicle with the queue function uses the voice assistant, he needs to call the preset name of the voice assistant to wake it up. When the voice assistant answers, he creates a keyword (such as activating queue driving or turning on queue driving) according to the preset setting to make a voice input to the first vehicle. The first cockpit controller converts the voice input into an activation queue instruction. The first queue controller receives the activation queue instruction from the first cockpit controller, triggers the queue activation behavior according to the activation queue instruction, so as to activate the queue driving function of the first vehicle, and then obtains an execution notification message including the queue activation result, so as to indicate whether the queue driving function of the first vehicle is activated according to the queue activation result, thereby providing a clear basis for the subsequent queue driving operations of the vehicle.

[0131] S1002: If the queue activation result indicates that the queue travel function of the first vehicle has been successfully activated, the first queue controller reads the queue configuration file of the first vehicle and determines the initial role of the first vehicle according to the role authority configuration information in the queue configuration file.

[0132] Specifically, if the queue activation result is used to indicate that the queue driving function of the first vehicle has been successfully activated, the first queue controller sends the queue activation result to the first cockpit controller for voice broadcast, such as "activation successful". When the first vehicle is successfully activated, the first queue controller reads the queue configuration file of the first vehicle and determines the initial role of the first vehicle according to the role authority configuration information in the queue configuration file. At the same time, the first on-board unit of the first vehicle broadcasts a notification through V2V communication technology to vehicles with a queue function within a preset communication range that the first vehicle has been successfully activated.

[0133] If the queue activation result indicates that the activation of the queue driving function of the first vehicle has failed, the first queue controller sends the queue activation result to the first cockpit controller for voice broadcast, such as "activation failed". Since the queue function of the first vehicle has not been activated, the vehicle queue function will not be started for the subsequent first vehicle.

[0134] S1003: Using the first queue controller to execute a queue creation behavior corresponding to the current role of the first vehicle according to the queue creation instruction, and obtain an execution notification message including a queue creation result.

[0135] Specifically, the first queue controller reads the role authority configuration information of the first vehicle in the queue configuration file of the first vehicle, and determines whether the current role of the first vehicle is the potential pilot vehicle role according to whether the read role authority configuration information of the first vehicle is the potential pilot vehicle role authority configuration information. If so, that is, the role authority configuration information of the queue configuration file of the first vehicle is the potential pilot vehicle role authority configuration information, then the driver (or user) of the first vehicle with the queue function needs to call the preset name of the voice assistant to wake it up every time when using the voice assistant. When the voice assistant responds, the first vehicle is voice-inputted according to the preset creation keyword (such as creating a queue), and the first cockpit controller converts the voice input into a queue creation instruction. The first queue controller creates a vehicle queue with the first vehicle as the pilot vehicle, and obtains an execution notification message including the queue creation result; if not, that is, the role authority configuration information of the queue configuration file of the first vehicle is not the potential pilot vehicle role authority configuration information, then the current role of the first vehicle is the free vehicle role, and the first queue controller does not execute the creation of a vehicle queue with the first vehicle as the pilot vehicle.

[0136] When the current role of the first vehicle is a potential pilot vehicle role, the first queue controller is used to create a vehicle queue with the first vehicle as the pilot vehicle, and obtains an execution notification message including the queue creation result. The first queue controller sends the queue creation result to the first vehicle-mounted unit and the first cockpit controller at the same time, and the first cockpit controller voice broadcasts such as "the queue has been successfully created". The first vehicle-mounted unit will obtain the current vehicle status information and the execution notification message, as well as the positioning information of the first vehicle obtained by the first vehicle-mounted unit, and package them into a first Internet of Vehicles message, and broadcast them to other vehicles through V2V communication technology, so that the vehicle-mounted units of other vehicles can obtain the first Internet of Vehicles message, and then the queue controllers of other vehicles will parse the first Internet of Vehicles message, obtain a notification of successful queue creation, and voice broadcast a notification of successful queue creation such as "the queue is ready".

[0137] At the same time, the first Internet of Vehicles message is also used to enable the second queue controller of the second vehicle to obtain and parse the first Internet of Vehicles message, and then determine whether it meets the preset potential following vehicle conditions based on the current role of the second vehicle, the current vehicle status information of the second vehicle (such as vehicle speed), the positioning information of the first vehicle, the positioning information of the second vehicle, and the current vehicle status information (such as vehicle speed) of the remaining vehicles.

[0138] S1004: Using the first queue controller to execute a queue joining behavior corresponding to the current role of the first vehicle according to the queue instruction as a queue joining instruction, and obtaining an execution notification message including a queue joining request.

[0139] Specifically, the first queue controller first parses the Internet of Vehicles messages of other vehicles, and calculates based on the positioning information in the Internet of Vehicles messages of other vehicles and the current positioning information of the first vehicle. If the lateral positioning difference between the current positioning information of the first vehicle and the other vehicles is within 2.0m, and the longitudinal positioning difference is the smallest among other vehicles, then the other vehicle is judged to be the front vehicle. The current role of the front vehicle is further judged. If the current role of the front vehicle is the pilot vehicle role or the following vehicle role, it means that the front vehicle is already in the queue, the first vehicle meets the potential following vehicle conditions, the current role of the first vehicle is switched to the potential following vehicle role, and the voice broadcast reminds the driver to "become a potential following vehicle". Then, every time the driver (or user) of the first vehicle with a queue function uses the voice assistant, he needs to call the preset name of the voice assistant to wake it up. When the voice assistant responds, the voice input is made to the first vehicle according to the preset creation keyword (such as joining the queue). The first cockpit controller converts the voice input into a queue joining instruction. The first queue controller of the first vehicle generates a queue joining request according to the queue joining instruction, and then generates an execution notification message including the queue joining request. At the same time, the vehicle status information of the first vehicle, the execution notification message of the queue joining request and the positioning information of the first vehicle are packaged into a first vehicle network message, and broadcasted to other vehicles through the V2V communication technology, so that the third on-board unit in the third vehicle whose current role is the pilot vehicle role receives the first vehicle network message (such as the queue joining request), and forwards it to the third cockpit controller of the third vehicle through the preset queue local area network bus, so that the third cockpit controller pushes the queue joining request (such as voice broadcast) such as "a queue joining request of the first vehicle ID xxx is found, please process", and then the driver of the third vehicle voice inputs a preset joining keyword (such as "agree to join"), and the third cockpit controller converts the voice input into CAN data of a queue joining agreement response. After the third on-board unit receives the corresponding CAN data of the queue joining agreement response, it broadcasts it to the first vehicle of the potential following vehicle role that initiated the request through the V2V communication technology, and the first vehicle of the potential following vehicle role executes the queue joining behavior according to the CAN data of the queue joining agreement response. If the driver of the third vehicle inputs a preset joining keyword (such as "refuse to join") by voice, the first vehicle in the potential following vehicle role will not switch its potential following vehicle role after receiving the information returned by the V2V communication technology, and the first vehicle will continue to be in an independent driving state.

[0140] S1005: Using the first queue controller to execute a leaving queue behavior corresponding to the current role of the first vehicle according to the queue instruction as a leaving queue instruction, and obtaining an execution notification message including a leaving queue request.

[0141] Specifically, the first vehicle-mounted unit receives and parses the Internet of Vehicles messages of other vehicles, and calculates based on the positioning information in the Internet of Vehicles messages of other vehicles and the current positioning information of the first vehicle. If the lateral positioning difference between the current positioning information of the first vehicle and the other vehicles is within 2.0m, and the longitudinal positioning difference is the smallest among other vehicles, then the other vehicles are judged to be the front vehicles. The current role of the front vehicle is further judged. If the current role of the front vehicle is the leading vehicle role or the following vehicle role, it means that the front vehicle is already in the queue, and the first vehicle meets the potential following vehicle condition. The current role of the first vehicle is switched to the potential following vehicle role, and the voice broadcast reminds the driver to "become a potential following vehicle", and then the current role of the first vehicle is determined to be the following vehicle role. Subsequently, the driver (or user) of the first vehicle with a queue function needs to call the preset name of the voice assistant to wake it up every time he uses the voice assistant. When the voice assistant responds, the voice input is made to the first vehicle according to the preset creation keyword (such as leaving the queue), and the first cockpit controller converts the voice input into a leaving queue instruction. The first queue controller generates a leaving queue request according to the leaving queue instruction, and then generates an execution notification message including the leaving queue request. At the same time, the execution notification message of the queue leaving request is sent to the first vehicle-mounted unit, and the first vehicle-mounted unit packages the vehicle status information of the first vehicle, the queue leaving request execution notification message and the positioning information of the first vehicle into a first vehicle network message, and broadcasts it to other vehicles through the V2V communication technology, so that the fourth vehicle-mounted unit of the fourth vehicle whose current role is the pilot vehicle role is forwarded by the fourth vehicle-mounted unit to the fourth cockpit controller, so that the fourth cockpit controller pushes (such as voice broadcast) the queue leaving request, such as "a request to leave the team with vehicle ID xxx is found, please process it". Subsequently, the voice input of the driver of the fourth vehicle is preset to add keywords (such as "agree to leave"), and the third cockpit controller converts the voice input into CAN data of the consent to leave response. After receiving the corresponding CAN data of the consent to leave response, the fourth vehicle-mounted unit broadcasts it to the first vehicle in the role of the following vehicle that initiated the request through the V2V communication technology, and the first vehicle in the role of the following vehicle executes the queue leaving behavior according to the CAN data of the consent to leave response. If the fourth vehicle's driver's voice input presets a keyword (such as "refuse to leave"), the first vehicle in the following vehicle role will not switch its following vehicle role after receiving the information returned by the V2V communication technology, and the first vehicle will continue to travel in a queue.

[0142] S1006: Using the first queue controller to execute a queue disbanding behavior corresponding to the current role of the first vehicle according to the queue instruction as a queue disbanding instruction, and obtaining an execution notification message including a queue disbanding result.

[0143] Specifically, the first queue controller reads the role authority configuration information of the first vehicle in the queue configuration file of the first vehicle, determines whether the current role of the first vehicle is a potential pilot vehicle role according to the read role authority configuration information of the first vehicle, and then determines whether the first vehicle creates a vehicle queue with the first vehicle as the pilot vehicle. If yes, that is, the current role of the first vehicle is the pilot vehicle role, and a vehicle queue with the first vehicle as the pilot vehicle is created, then the driver (or user) of the first vehicle with the queue function needs to call the preset name of the voice assistant to wake it up every time when using the voice assistant. When the voice assistant responds, the voice input is made to the first vehicle according to the preset creation keyword (such as disbanding the queue), and the first cockpit controller converts the voice input into a disbanding queue instruction. The first queue controller executes the queue disbanding behavior according to the received disbanding queue instruction, and obtains an execution notification message including the queue disbanding result; if no, that is, the current role of the first vehicle is the following vehicle role, the corresponding disbanding queue behavior is not executed.

[0144] When the current role of the first vehicle is the pilot vehicle role, the first cockpit controller will convert the voice input into a queue disbanding instruction. The first queue controller executes the queue disbanding behavior according to the received queue disbanding instruction, and obtains an execution notification message including the queue disbanding result. The first queue controller sends the queue disbanding result to the first on-board unit and the first cockpit controller at the same time. The first cockpit controller voice broadcasts such as "queue disbanded successfully". The first on-board unit will obtain the current vehicle status information and execute the notification message as well as the positioning information of the first vehicle obtained by the first on-board unit, and package it into a first Internet of Vehicles message, so that the fifth vehicle whose current role among other vehicles is the follower vehicle role, the fifth on-board unit of the fifth vehicle receives the first Internet of Vehicles message and sends it to the fifth cockpit controller and the fifth queue controller of the fifth vehicle at the same time, the fifth queue controller receives the queue disbanding instruction in the first Internet of Vehicles message and executes the queue disbanding behavior, and after the queue is successfully disbanded, switches the current role of the fifth vehicle from the follower vehicle role to the potential free vehicle role, and also pushes (such as voice broadcast) a notification message of successful queue disbanding (such as "queue disbanding successful") and an instruction message for manual takeover (such as "please take over manually") through the fifth cockpit controller.

[0145] S1007: Using the first queue controller to execute the queue exit behavior corresponding to the current role of the first vehicle according to the queue instruction as the queue exit instruction, and obtaining an execution notification message including the queue exit result.

[0146] Specifically, each time the driver (or user) of the first vehicle with the queue function uses the voice assistant, he needs to call the preset name of the voice assistant to wake it up. When the voice assistant responds, the first vehicle is voice-inputted according to the preset creation keyword (such as exiting the queue). The first cockpit controller converts the voice input into an exit queue instruction. The first queue controller determines the current role of the first vehicle and determines whether the first vehicle is in queue driving according to the exit queue instruction of the voice input. If the current role of the first vehicle is a pilot vehicle or a follower vehicle, it means that the first vehicle is in queue driving, and the first cockpit controller will voice broadcast such as "unable to exit the queue". If the current role of the first vehicle is not a pilot vehicle or a follower vehicle, it means that the first vehicle is no longer in queue driving. The first cockpit controller generates a queue exit result according to the exit queue instruction, obtains an execution notification message of the queue exit result, and sends the queue exit result to the first cockpit controller. The first cockpit controller voice broadcasts according to the queue exit result, such as "exiting the queue successfully". At this time, the queue function of the first vehicle is closed.

[0147] It should be noted that in the use of all queue functions of the vehicle, the first step is to activate the queue function, otherwise, no queue function can be executed. The last step is to exit the queue function, otherwise, if there are other vehicles with queue functions in the future, they can rejoin the new queue driving process according to the above steps. If the vehicle successfully exits the queue function, and the vehicle needs to use the queue function later, it will start again from activating the queue function.

[0148] The platoon driving control method provided by the present application adopts a first platoon controller to execute an activation platoon behavior corresponding to a current role of a first vehicle according to a platoon instruction as an activation platoon instruction, and obtain an execution notification message including a platoon activation result; if the platoon activation result indicates that the platoon driving function of the first vehicle has been successfully activated, the first platoon controller reads a platoon configuration file of the first vehicle, and determines an initial role of the first vehicle according to role authority configuration information in the platoon configuration file; adopts the first platoon controller to execute a creation platoon behavior corresponding to the current role of the first vehicle according to a create platoon instruction as a create platoon instruction, and obtains an execution notification message including a platoon creation result; adopts the first platoon controller to execute a creation platoon behavior corresponding to the current role of the first vehicle according to a create platoon instruction as a create platoon instruction, and obtains an execution notification message including a platoon creation result. Let be a join queue instruction, execute the join queue behavior corresponding to the current role of the first vehicle, and obtain an execution notification message including a join queue request; adopt the first queue controller to be a leave queue instruction according to the queue instruction, execute the leave queue behavior corresponding to the current role of the first vehicle, and obtain an execution notification message including a leave queue request; adopt the first queue controller to be a disband queue instruction according to the queue instruction, execute the disband queue behavior corresponding to the current role of the first vehicle, and obtain an execution notification message including a queue disband result; adopt the first queue controller to be an exit queue instruction according to the queue instruction, execute the exit queue behavior corresponding to the current role of the first vehicle, and obtain an execution notification message including a queue exit result. By inputting queue instructions by voice, the convenience of interaction between the driver and the vehicle system is greatly improved. The driver does not need to manually operate a complex interface, and can focus more on the road conditions during driving, reducing the safety hazards caused by distracted operations, and improving the safety and comfort of driving. At the same time, in the event of bad weather or emergencies, such as traffic jams and road closures, the driver can leave the queue or disband the queue in time through human-computer interaction operations, without affecting the normal driving of other vehicles, ensuring the safety and reliability of the vehicle.

[0149] Based on the same inventive concept, a platoon travel control device is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned platoon travel control method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0150] Fig.11 This is a schematic diagram of the structure of a platoon driving control device provided in an embodiment of the present application. Fig.11 As shown, the platoon travel control device 1100 is applied to a first vehicle equipped with a platoon travel system and a human-machine interaction system, and may include: An acquisition module 1101 is used to acquire a queue instruction using a first cockpit controller in the human-computer interaction system, and send the queue instruction to a first queue controller in the queue driving system; An execution module 1102 is used to use the first queue controller to execute the queue behavior corresponding to the queue instruction, obtain an execution notification message corresponding to the queue execution result, and send the execution notification message to the first cockpit controller and the first on-board unit, so that the first cockpit controller pushes the execution notification message; The packing module 1103 is used to use the first vehicle-mounted unit to pack the execution notification message into a first Internet of Vehicles message, and broadcast it to other vehicles, so that the vehicle-mounted units in the platoon driving systems of the other vehicles forward the first Internet of Vehicles message to the cockpit controllers of the human-computer interaction systems of the other vehicles, and the cockpit controller pushes the execution notification message.

[0151] In an optional implementation, the execution module 1102 is specifically used to: use the first queue controller to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction, and obtain an execution notification message.

[0152] In an optional embodiment, the queue instruction is: create queue instruction, and the create queue instruction is: a queue instruction with a preset creation keyword obtained by the first cockpit controller; the execution module 1102 is specifically used to: use the first queue controller to determine whether the current role of the first vehicle is a potential lead vehicle role; if the current role of the first vehicle is a potential lead vehicle role, use the first queue controller to create a vehicle queue with the first vehicle as the lead vehicle, and obtain an execution notification message including the queue creation result; the first Internet of Vehicles message is also used to enable the second queue controller of the second vehicle whose current role is the free vehicle role among other vehicles to determine whether it meets the preset potential following vehicle conditions based on the current role of the second vehicle. If the preset potential following vehicle conditions are met, it will switch from the current role to the potential following vehicle role and send it to the second cockpit controller of the second vehicle, so that the second cockpit controller of the second vehicle pushes the switching notification message of switching to the potential following vehicle role.

[0153] In an optional embodiment, the packing module 1103 is also used to: use the first queue controller to obtain the current vehicle status information of the first vehicle, and send the current vehicle status information of the first vehicle to the first vehicle-mounted unit; the packing module 1103 is specifically used to: use the first vehicle-mounted unit to pack the current vehicle status information and the execution notification message of the first vehicle into a first Internet of Vehicles message, and broadcast it to each other vehicle; wherein the first Internet of Vehicles message is also used to enable the second queue controller of the second vehicle to determine whether the preset potential following vehicle conditions are met based on the current role of the second vehicle, its own current vehicle status information and the current vehicle status information of the remaining vehicles.

[0154] In an optional implementation, the queue instruction is a join queue instruction, and the join queue instruction is a queue instruction with a preset join keyword obtained by the first cockpit controller; the execution module 1102 is specifically used to: use the first queue controller to determine whether the current role of the first vehicle is a potential follower vehicle role; if the current role of the first vehicle is a potential follower vehicle role, use the first queue controller to generate a join queue request according to the join queue instruction, and obtain an execution notification message including the join queue request; accordingly, the first Internet of Vehicles message is also used to enable the third vehicle-mounted unit of the third vehicle whose current role is the pilot vehicle role to forward the message to the third vehicle-mounted unit of the third vehicle. The cockpit controller enables the third cockpit controller to push a queue joining request; the queue driving control device 1100 is also used to: use the first on-board unit to receive a joining feedback message sent by the third cockpit controller sent by the third on-board unit, and send it to the first queue controller; use the first queue controller to generate a joining notification message according to the joining feedback message and send it to the first cockpit controller, so that the first cockpit controller pushes the joining notification message, and the joining notification message is used to indicate that the joining of the queue is successful or the joining of the queue fails; if the joining notification message indicates that the joining of the queue is successful, use the first queue controller to switch the current role of the first vehicle to the following vehicle role.

[0155] In an optional implementation, the queue instruction is: a leave queue instruction, which is a queue instruction with a preset leave keyword obtained by the first cockpit controller; the execution module 1102 is specifically used to: use the first queue controller to determine whether the current role of the first vehicle is a follower vehicle role; if the current role of the first vehicle is a follower vehicle role, use the first queue controller to generate a leave queue request according to the leave queue instruction, and obtain an execution notification message including the leave queue request; accordingly, the first Internet of Vehicles message is also used to enable the fourth vehicle-mounted unit of the fourth vehicle whose current role is the pilot vehicle role to forward the message to the fourth cockpit controller of the fourth vehicle. The queue driving control device 1100 is further used for: using the first on-board unit to receive a leaving feedback message sent by the fourth on-board unit and sent to the first queue controller; using the first queue controller to generate a leaving notification message according to the leaving feedback message and send it to the first cockpit controller, so that the first cockpit controller pushes the leaving notification message, the leaving notification message is used to indicate the success of leaving the queue or the failure of leaving the queue; if the leaving notification message indicates the success of leaving the queue, using the first queue controller to switch the current role of the first vehicle to the potential following vehicle role.

[0156] In an optional embodiment, the queue instruction is: disband queue instruction, and the disband queue instruction is a queue instruction with a preset disband keyword obtained by the first cockpit controller; the execution module 1102 is specifically used to: use the first queue controller to determine whether the current role of the first vehicle is the lead vehicle role; if the current role of the first vehicle is the lead vehicle role, the first queue controller is used to execute the queue disbanding behavior, and obtain an execution notification message including the queue disbanding result; correspondingly, the first Internet of Vehicles message is also used to forward the fifth on-board unit of the fifth vehicle whose current role is the follower vehicle role among other vehicles to the fifth cockpit controller and the fifth queue controller of the fifth vehicle, so that the fifth queue controller executes the queue disbanding behavior, and after the queue is successfully disbanded, the current role of the fifth vehicle is switched to the free vehicle role, and the notification message of successful queue disbanding and the indication message of manual takeover are also pushed through the fifth cockpit controller.

[0157] In an optional implementation, the queue instruction is an activation queue instruction, which is: a queue instruction with a preset activation keyword obtained by the first cockpit controller; the execution module 1102 is specifically used to: use the first queue controller to perform queue activation behavior based on the activation queue instruction to activate the queue travel function of the first vehicle, and obtain an execution notification message including a queue activation result; the queue activation result is used to indicate whether the queue travel function of the first vehicle is activated; if the queue activation result indicates that the queue travel function of the first vehicle has been successfully activated, the first queue controller reads the queue configuration file of the first vehicle, and determines the initial role of the first vehicle according to the role authority configuration information in the queue configuration file.

[0158] In an optional implementation, the queue instruction is an exit queue instruction, and the exit queue instruction is a queue instruction with a preset exit keyword obtained by the first cockpit controller; the execution module 1102 is specifically used to: use the first queue controller to determine whether the first vehicle is in the queue according to the current role of the first vehicle, and obtain an execution notification message including a queue exit result; wherein the queue exit result is used to indicate that the first vehicle is in the queue and the queue driving function fails to exit; or, the queue exit result is used to indicate that the first vehicle is not in the queue and the queue driving function exits successfully.

[0159] Optionally, the embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the processor executes the steps of the mobile storage medium platoon driving control method in the above embodiment. The specific implementation method and technical effect are similar and will not be repeated here.

[0160] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0161] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A platoon driving control method, characterized in that: Applied to a first vehicle equipped with a platoon driving system and a human-machine interaction system, the method comprises: Using the first cockpit controller in the human-computer interaction system to obtain a queue instruction, and sending the queue instruction to the first queue controller in the queue driving system; The first queue controller is used to execute the queue behavior corresponding to the queue instruction, obtain an execution notification message corresponding to the queue execution result, and send the execution notification message to the first cockpit controller and the first on-board unit, so that the first cockpit controller pushes the execution notification message; The first vehicle-mounted unit is used to package the execution notification message into a first Internet of Vehicles message, and broadcast it to other vehicles, so that the vehicle-mounted units in the platoon driving systems of the other vehicles forward the first Internet of Vehicles message to the cockpit controllers of the human-computer interaction systems of the other vehicles, and the cockpit controller pushes the execution notification message.

2. The platoon control method according to claim 1, characterized in that: The using the first queue controller to execute the queue behavior corresponding to the queue instruction and obtaining an execution notification message corresponding to the queue execution result includes: The first queue controller is used to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message.

3. The platoon control method according to claim 2, characterized in that: The queue instruction is: a queue creation instruction, and the queue creation instruction is: a queue instruction with a preset creation keyword acquired by the first cockpit controller; The using the first queue controller to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message includes: Determining, using the first platoon controller, whether the current role of the first vehicle is a potential lead vehicle role; If the current role of the first vehicle is a potential lead vehicle role, using the first queue controller to create a vehicle queue with the first vehicle as the lead vehicle, and obtaining the execution notification message including the queue creation result; The first Internet of Vehicles message is also used to enable the second queue controller of the second vehicle among the other vehicles whose current role is the free vehicle role to determine whether the preset potential following vehicle conditions are met based on the current role of the second vehicle. If the preset potential following vehicle conditions are met, the current role will be switched to the potential following vehicle role and sent to the second cockpit controller of the second vehicle, so that the second cockpit controller of the second vehicle pushes the switching notification message of switching to the potential following vehicle role.

4. The platoon driving control method according to claim 3, characterized in that: Before using the first vehicle-mounted unit to package the execution notification message into a first Internet of Vehicles message, the method further includes: acquiring current vehicle status information of the first vehicle using the first queue controller, and sending the current vehicle status information of the first vehicle to the first onboard unit; The using the first vehicle-mounted unit to package the execution notification message into a first Internet of Vehicles message, and broadcasting and sending the message to other vehicles, includes: Using the first vehicle-mounted unit to package the current vehicle state information of the first vehicle and the execution notification message into the first Internet of Vehicles message, and broadcasting and sending the message to each of the other vehicles; The first Internet of Vehicles message is also used to enable the second queue controller of the second vehicle to determine whether the preset potential following vehicle condition is met based on the current role of the second vehicle, its own current vehicle status information and the current vehicle status information of other vehicles.

5. The platoon driving control method according to claim 2, characterized in that: The queue instruction is a join queue instruction, and the join queue instruction is a queue instruction with a preset join keyword acquired by the first cockpit controller; The using the first queue controller to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message includes: Determining, using the first queue controller, whether the current role of the first vehicle is a potential following vehicle role; If the current role of the first vehicle is a potential following vehicle role, using the first queue controller to generate a queue joining request according to the queue joining instruction, and obtaining the execution notification message including the queue joining request; Correspondingly, the first Internet of Vehicles message is also used to forward the third on-board unit of the third vehicle whose current role is the pilot vehicle role to the third cockpit controller of the third vehicle, so that the third cockpit controller pushes the queue joining request; The method further comprises: Using the first onboard unit to receive the joining feedback message sent by the third cockpit controller and sent by the third onboard unit, and sending the message to the first queue controller; The first queue controller generates a join notification message according to the join feedback message and sends the message to the first cockpit controller, so that the first cockpit controller pushes the join notification message, where the join notification message is used to indicate a success or failure in joining the queue; If the joining notification message indicates that joining the queue is successful, the first queue controller is used to switch the current role of the first vehicle to a following vehicle role.

6. The platoon driving control method according to claim 2, characterized in that: The queue instruction is: a leave queue instruction, which is a queue instruction with a preset leave keyword acquired by the first cockpit controller; The using the first queue controller to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message includes: Determining, using the first queue controller, whether the current role of the first vehicle is a following vehicle role; If the current role of the first vehicle is a follower vehicle role, using the first queue controller to generate a leave queue request according to the leave queue instruction, and obtaining the execution notification message including the leave queue request; Correspondingly, the first Internet of Vehicles message is also used to forward the message to a fourth cockpit controller of the fourth vehicle, which currently plays the role of a pilot vehicle, so that the fourth cockpit controller pushes the queue leaving request; The method further comprises: Using the first onboard unit to receive the leaving feedback message sent by the fourth cockpit controller and sent by the fourth onboard unit, and sending the message to the first queue controller; The first queue controller generates a leaving notification message according to the leaving feedback message and sends the leaving notification message to the first cockpit controller, so that the first cockpit controller pushes the leaving notification message, wherein the leaving notification message is used to indicate a success or failure in leaving the queue; If the leaving notification message indicates that the leaving queue is successful, the first queue controller is used to switch the current role of the first vehicle to a potential following vehicle role.

7. The platoon driving control method according to claim 2, characterized in that: The queue instruction is: a queue disbanding instruction, which is a queue instruction with a preset disbanding keyword acquired by the first cockpit controller; The using the first queue controller to execute the queue behavior corresponding to the current role of the first vehicle according to the queue instruction to obtain the execution notification message includes: Determining, using the first queue controller, whether the current role of the first vehicle is a pilot vehicle role; If the current role of the first vehicle is the pilot vehicle role, the first queue controller is used to execute the queue disbanding behavior, and the execution notification message including the queue disbanding result is obtained; Correspondingly, the first Internet of Vehicles message is also used to forward the fifth on-board unit of the fifth vehicle, whose current role is the following vehicle role among the other vehicles, to the fifth cockpit controller and the fifth queue controller of the fifth vehicle, so that the fifth queue controller executes the queue disbanding behavior, and after the queue is successfully disbanded, switches the current role of the fifth vehicle to the free vehicle role, and also pushes a notification message of successful queue disbanding and an indication message of manual takeover through the fifth cockpit controller.

8. The platoon driving control method according to claim 1, characterized in that: The queue instruction is an activation queue instruction, and the activation queue instruction is: a queue instruction with a preset activation keyword acquired by the first cockpit controller; The using the first queue controller to execute the queue behavior corresponding to the queue instruction and obtaining an execution notification message corresponding to the queue execution result includes: Using the first queue controller to perform a queue activation behavior based on the queue activation instruction to activate the queue travel function of the first vehicle, and obtaining the execution notification message including a queue activation result; the queue activation result is used to indicate whether the queue travel function of the first vehicle is activated; If the queue activation result indicates that the queue travel function of the first vehicle has been successfully activated, the first queue controller reads the queue configuration file of the first vehicle and determines the initial role of the first vehicle according to the role authority configuration information in the queue configuration file.

9. The platoon driving control method according to claim 1, characterized in that: The queue instruction is an exit queue instruction, and the exit queue instruction is a queue instruction with a preset exit keyword acquired by the first cockpit controller; The using the first queue controller to execute the queue behavior corresponding to the queue instruction and obtaining an execution notification message corresponding to the queue execution result includes: Using the first queue controller to determine whether the first vehicle is in the queue according to the current role of the first vehicle, and obtaining the execution notification message including the queue exit result; The queue exit result is used to indicate that the first vehicle is in the queue and the queue travel function exit fails; or, the queue exit result is used to indicate that the first vehicle is not in the queue and the queue travel function exits successfully.

10. A vehicle with a platoon function, characterized in that: The vehicle is equipped with: a platoon driving system and a human-computer interaction system, the platoon driving system includes: a platoon controller and a vehicle-mounted unit, and the human-computer interaction system includes: a cockpit controller; The queue controller, the on-board unit and the cockpit controller are all connected to a preset queue LAN bus, and the queue controller is also connected to a preset vehicle LAN bus to obtain vehicle status information; The queue controller, the on-board unit and the cabin controller are respectively used to execute the steps performed by the queue controller, the on-board unit and the cabin controller in any one of the methods of claims 1 to 9.

Images