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

Abstract

The embodiment of the invention provides a vehicle formation driving control method, a vehicle formation driving system and a storage medium, and relates to the technical field of automatic driving. The vehicle formation driving control method comprises the steps that when pilot vehicles of a vehicle formation detect that parking is needed, a current distance control strategy is selected based on the driving speed of the vehicle formation and the distance between adjacent vehicles; sending the selected spacing control strategy to each vehicle in the vehicle formation; and each vehicle in the vehicle formation completes parking according to the spacing control strategy. According to the invention, the safety and continuity of the vehicle formation during parking can be effectively improved, and the parking efficiency of the vehicle formation is improved.

Description

Technical Field

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

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

[0003] The autonomous driving formation generally maintains a distance of 10-15 meters during driving to deal with emergencies and ensure driving safety. However, when the formation vehicles encounter traffic jams or need to stop for other reasons, maintaining a larger distance will occupy more road space, affecting road traffic efficiency, and there is also the possibility that other vehicles will cut in or pass through, causing danger. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle formation driving control method, a vehicle formation driving system and a storage medium. When a vehicle formation needs to stop, a suitable spacing control strategy can be selected based on the overall vehicle speed of the formation and the vehicle spacing, which can effectively improve the safety and continuity of the vehicle formation when parking and improve the parking efficiency of the vehicle formation.

[0005] To achieve the above-mentioned purpose, the present invention provides a vehicle formation driving control method, which is applied to a vehicle formation including multiple vehicles, and the multiple vehicles are arranged and travel in sequence; the method comprises: when a leading vehicle of the vehicle formation detects that it is necessary to stop, based on the driving speed of the vehicle formation and the distance between adjacent vehicles, the current spacing control strategy is selected; the selected spacing control strategy is sent to each of the vehicles in the vehicle formation; each of the vehicles in the vehicle formation completes parking according to the spacing control strategy.

[0006] The present invention also provides a vehicle formation driving system, comprising: a plurality of vehicles communicating with each other, the plurality of vehicles being arranged in sequence and driving to form a vehicle formation; the vehicles are used to drive based on the above-mentioned vehicle formation driving control method.

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

[0008] In one embodiment, the current spacing control strategy is selected based on the driving speed of the vehicle formation and the set distance between adjacent vehicles, including:

[0009] If the driving speed of the vehicle formation is greater than a preset first speed threshold or the set distance between adjacent vehicles is less than a preset first distance threshold, an overall spacing reduction strategy is selected as the current spacing control strategy, and the overall spacing reduction strategy is that all vehicles in the vehicle formation decelerate synchronously;

[0010] If the speed of the vehicle formation is less than a preset second speed threshold or the set distance between adjacent vehicles is greater than a preset second distance threshold, a creeping spacing reduction strategy is selected as the current spacing control strategy, wherein the creeping spacing reduction strategy is that the vehicles in the vehicle formation slow down to a stop in sequence;

[0011] The first speed threshold is greater than or equal to the second speed threshold, and the first distance threshold is less than or equal to the second distance threshold.

[0012] In one embodiment, the spacing control strategy is an overall spacing reduction strategy, and each of the vehicles in the vehicle formation completes parking according to the spacing control strategy, including:

[0013] The vehicles in the vehicle formation decelerate synchronously, and the distance between each of the vehicles and the vehicle in front is kept greater than a third distance threshold;

[0014] When the driving speed of the vehicle formation is less than the third speed threshold, the distance between each vehicle and the vehicle in front is reduced to a fourth distance threshold, the vehicles in the vehicle formation gradually slow down to stop, and the third distance threshold is greater than the fourth distance threshold.

[0015] In one embodiment, the spacing control strategy is a creeping spacing reduction strategy, and each of the vehicles in the vehicle formation completes parking according to the spacing control strategy, including:

[0016] The lead vehicle decelerates to a stop, and each vehicle in the vehicle formation travels at a set creeping speed when the vehicle in front is in a driving state; when the vehicle in front stops, each vehicle in the vehicle formation starts to decelerate to a stop when the distance between the vehicle in front is less than a fourth distance threshold.

[0017] In one embodiment, the method further comprises:

[0018] When the vehicle formation resumes driving, determining a start-up control strategy for the vehicle formation based on current road condition information;

[0019] Each vehicle in the vehicle formation starts and travels according to the start control strategy.

[0020] In one embodiment, determining the start control strategy of the vehicle formation based on the current road condition information includes:

[0021] If the road condition information indicates that the current road condition is poor, determining a sequential start strategy as the start control strategy;

[0022] If the road condition information indicates that the current road condition is good, a synchronous start strategy is determined as the start control strategy.

[0023] In one embodiment, the start control strategy is a sequential start strategy, and each vehicle in the vehicle formation starts and drives according to the start control strategy, including:

[0024] The pilot vehicle starts to travel, and each of the vehicles in the vehicle formation starts to travel when the distance between the vehicle and the leading vehicle is greater than a third distance threshold.

[0025] In one embodiment, the start control strategy is a synchronous start strategy, and each vehicle in the vehicle formation starts and drives according to the start control strategy, including:

[0026] All vehicles in the vehicle formation start driving synchronously, and the distance between each of the vehicles and the vehicle in front gradually increases to a third distance threshold. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a specific flow chart of the vehicle platoon driving control method according to the first embodiment of the present invention;

[0028] Figure 2 yes Figure 1 A specific flow chart of step 101 of the vehicle platoon driving control method;

[0029] Figure 3 It is a specific flow chart of the vehicle platoon driving control method according to the second embodiment of the present invention. DETAILED DESCRIPTION

[0030] The following will be described in detail with reference to the accompanying drawings to provide a clearer understanding of the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0031] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0032] Unless the context requires otherwise, throughout the specification and claims, the word "comprise" and variations such as "include" and "have" should be construed in an open, inclusive sense, ie, should be interpreted as "including, but not limited to."

[0033] References throughout the specification to "one embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0034] As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "or / and" unless the context clearly dictates otherwise.

[0035] In the following description, in order to clearly show the structure and working mode of the present invention, many directional words will be used for description, but the words "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", "down", etc. should be understood as convenient terms and should not be understood as restrictive terms.

[0036] A first embodiment of the present invention relates to a vehicle platoon driving control method, which is applied to a vehicle platoon including a plurality of vehicles, and is mainly used for parking control of the vehicle platoon during driving.

[0037] Multiple vehicles in a vehicle formation are arranged in sequence and travel in a row; vehicles in a vehicle formation can communicate with each other, namely V2V communication, and short-range radio technology (DSRC) is used to communicate between vehicles; for example, vehicles communicate with each other through an on-board unit OBU (vehicle-to-vehicle), and the on-board unit can obtain information about the surrounding environment through on-board sensors, such as the speed, location, and driving status warnings of surrounding vehicles. Vehicles can exchange various information in real time through V2V communication, and the exchanged information includes but is not limited to text, pictures, audio, and video.

[0038] In addition, the vehicle platoon driving system architecture may also include a cloud platform, a roadside unit and a V2X (Vehicle to Everything) wireless communication part, which refers to the technology for vehicles to exchange and communicate information with the surrounding environment (including other vehicles, pedestrians, road infrastructure and networks, etc.), including: V2I (Vehicle-to-Infrastructure), V2C (Vehicle-to-Cloud) and the above-mentioned V2V wireless communications.

[0039] The vehicles in a vehicle formation include a lead vehicle and a follower vehicle; the lead vehicle is generally the frontmost vehicle in the formation, and the follower vehicle is the other vehicles behind the lead vehicle in the vehicle formation. During driving, the follower vehicle can be switched to the lead vehicle as needed; the lead vehicle is the decision maker of the entire formation behavior (including formation creation, formation disbanding, vehicles joining the formation, and vehicles leaving the formation, etc.), and controls and makes decisions on the formation behavior. The follower vehicle, as all other vehicles behind the lead vehicle in the formation, has the ability to maintain a reasonable safe distance from the vehicle in front. Among them, the lead vehicle in the vehicle formation leads the entire formation according to the set driving path, and the driving path can be the navigation path of the lead vehicle from the departure point to the destination.

[0040] The specific process of the vehicle platoon driving control method of this embodiment is as follows: Figure 1 shown.

[0041] Step 101 : When a leading vehicle of a vehicle formation detects that it needs to stop, the leading vehicle selects a current spacing control strategy based on the driving speed of the vehicle formation and the distance between adjacent vehicles.

[0042] Specifically, in the vehicle formation, at least the lead vehicle is equipped with a detection sensor, and of course all vehicles may be equipped with detection sensors, including but not limited to cameras, lidars, millimeter-wave radars, etc.; after the convoy sets off, the vehicle formation drives on the road according to the set driving path and following mode. During the normal driving of the vehicle formation, the following vehicles behind the lead vehicle all adopt the tracking mode, that is, they follow the driving trajectory of the lead vehicle.

[0043] Vehicles in a vehicle formation (whether they are lead vehicles or follower vehicles) will collect road information ahead through detection sensors during driving; the lead vehicle will determine that it needs to stop when there is an obstacle ahead that cannot be circumvented, there is a traffic jam ahead, or it receives a manual or cloud-based stop instruction; and based on the driving speed of the vehicle formation and the distance between adjacent vehicles, the current spacing control strategy is selected. There are two commonly used spacing control strategies, namely: overall spacing reduction strategy and creeping spacing reduction strategy.

[0044] For an example, see Figure 2 In step 101, selecting the current spacing control strategy based on the driving speed of the vehicle formation and the distance between adjacent vehicles includes the following sub-steps:

[0045] In sub-step 1011, if the driving speed of the vehicle formation is greater than a preset first speed threshold or the set distance between adjacent vehicles is less than a preset first distance threshold, an overall spacing reduction strategy is selected as the current spacing control strategy. The overall spacing reduction strategy is to synchronously decelerate all vehicles in the vehicle formation.

[0046] In sub-step 1012, if the driving speed of the vehicle formation is less than a preset second speed threshold or the set distance between adjacent vehicles is greater than a preset second distance threshold, a creeping spacing reduction strategy is selected as the current spacing control strategy. The creeping spacing reduction strategy is that the vehicles in the vehicle formation slow down to a stop in sequence; wherein the first speed threshold is greater than or equal to the second speed threshold, and the first distance threshold is less than or equal to the second distance threshold.

[0047] Specifically, the vehicle formation will travel at a set speed and the distance between adjacent vehicles will be maintained at a set distance. The set distance can also be a range (for example, 10-15 meters), that is, the speed of each vehicle in the vehicle formation deviates slightly from the driving speed, so it can be approximately considered that all vehicles maintain the same driving speed and the distance between adjacent vehicles is maintained almost the same.

[0048] When the leading vehicle needs to stop, it will determine whether the driving speed of the vehicle formation is greater than a preset first speed threshold (for example, 60 yards), and whether the current distance between vehicles (which can be the mean or median of the distance between all vehicles) is less than a preset first distance threshold (for example, 10m). If the driving speed of the vehicle formation is greater than the preset first speed threshold, it means that the overall driving speed of the vehicle formation is faster; if the current distance between vehicles is less than the preset first distance threshold, it means that the distance between adjacent vehicles in the vehicle formation is larger; in these two cases, the overall distance reduction strategy can be adopted as the distance control strategy when the vehicle formation stops. At this time, the distance between vehicles in the vehicle formation as a whole is gradually reduced, which can avoid parking safety risks caused by excessive vehicle speed and too close vehicle distance.

[0049] The leading vehicle will also determine whether the driving speed of the vehicle formation is less than a preset second speed threshold (for example, 30 yards), and whether the current distance between vehicles (which can be the mean or median of the distance between all vehicles) is greater than a preset second distance threshold (for example, 15m). If the driving speed of the vehicle formation is less than the preset second speed threshold, it means that the overall speed of the vehicle formation is relatively low; if the current distance between vehicles is greater than the preset second distance threshold, it means that the distance between vehicles is relatively large. In these two cases, a creeping distance reduction strategy can be used as a distance control strategy when the vehicle formation stops. All vehicles in the vehicle formation stop in turn, and can stop safely when the overall speed of the vehicle formation is relatively slow, and stop quickly when the distance between the vehicle formation is too large.

[0050] Step 102: sending the selected spacing control strategy to each of the vehicles in the vehicle formation.

[0051] Specifically, the pilot vehicle sends the determined parking distance control strategy to each vehicle in the vehicle formation through the vehicle communication system.

[0052] Step 103: Each of the vehicles in the vehicle formation completes parking according to the spacing control strategy.

[0053] Specifically, if the spacing control strategy adopted by the vehicle formation is an overall spacing reduction strategy, the vehicles in the vehicle formation decelerate synchronously, and the spacing between each vehicle and the vehicle in front is maintained greater than a third distance threshold (for example, 8m), and the third distance threshold is less than the first distance threshold; when the driving speed of the vehicle formation is less than the third speed threshold (for example, 10 yards), the spacing between each vehicle and the vehicle in front is reduced to a fourth distance threshold (between 1-5m, for example, 2m), and the vehicles in the vehicle formation gradually decelerate to stop, the third distance threshold is greater than the fourth distance threshold, and after the vehicle formation stops, the spacing between adjacent vehicles is maintained at the fourth distance threshold.

[0054] That is to say, while all vehicles in the vehicle formation decelerate synchronously, the vehicles behind the lead vehicle in the formation gradually reduce the distance between vehicles according to the speed change of the lead vehicle (for example, by increasing the magnitude of deceleration), and when the distance between vehicles is reduced to a fourth distance threshold, the distance will no longer be reduced, and all vehicles will decelerate synchronously until the vehicles stop completely. When the vehicle formation stops completely, the distance between vehicles maintains a minimum distance of a fourth preset distance.

[0055] During the process of decelerating or stopping, each vehicle monitors the surrounding environment of the vehicle formation in real time through cameras (front and side cameras) and radar sensors, so as to promptly inform other vehicles in the vehicle formation to make emergency stops or avoid unexpected pedestrians or animals, thereby ensuring the safety of pedestrians and animals.

[0056] If the spacing control strategy adopted by the vehicle formation is a creeping spacing reduction strategy, the leading vehicle decelerates to a stop, and each vehicle in the vehicle formation travels at the set creeping speed when the vehicle in front is in a driving state; when the vehicle in front stops, each vehicle in the vehicle formation starts to decelerate to a stop when the spacing between the vehicle in front is less than a fourth distance threshold.

[0057] That is to say, when the creeping distance reduction strategy begins to be executed, the leading vehicle begins to decelerate until it stops completely, and the vehicles behind the leading vehicle maintain a low creeping speed (for example, 5 yards) after the leading vehicle stops. Each vehicle in the creeping state will detect the distance from the vehicle in front in real time, and start to decelerate to stop when the distance between the vehicle in front is less than a fourth distance threshold (between 1-5m, for example, 2m). As a result, all vehicles in the vehicle formation stop in turn.

[0058] When each vehicle is crawling or parking, it monitors the surrounding environment of the vehicle formation in real time through cameras (front and side cameras) and radar sensors, so as to promptly inform other vehicles in the vehicle formation to perform emergency braking or stop crawling when sudden pedestrians or animals appear, ensuring the safety of pedestrians and animals.

[0059] After the vehicle formation completes parking, each vehicle in the vehicle formation enters sentry mode, turns on the hazard lights, and always senses the surrounding moving obstacles. If there are any approaching and interference, a retrospective record needs to be made, and before the next start, the accompanying safety officer is required to conduct a safety check around the vehicle and manually confirm the safety status before starting the vehicle.

[0060] In this embodiment, when a vehicle formation needs to stop, a spacing control strategy suitable for the current scenario is selected based on the driving speed of the vehicle formation and the distance between adjacent vehicles, and the spacing control strategy is distributed to each vehicle in the vehicle formation, so that each vehicle in the vehicle formation completes parking according to the spacing control strategy; the vehicle formation can select a suitable spacing control strategy based on the overall speed of the formation and the distance between vehicles, which can effectively improve the safety and continuity of the vehicle formation when parking, and improve the parking efficiency of the vehicle formation.

[0061] The second embodiment of the present invention relates to a vehicle platoon driving control method. Compared with the first embodiment, this embodiment provides safe driving of a vehicle platoon when starting after parking.

[0062] Step 201, when the leading vehicle in the vehicle formation detects the need to stop, the leading vehicle selects the current spacing control strategy based on the driving speed of the vehicle formation and the distance between the adjacent vehicles. This is substantially the same as step 101 in the first embodiment and will not be described in detail here.

[0063] Step 202, sending the selected spacing control strategy to each of the vehicles in the vehicle formation. This is substantially the same as step 102 in the first embodiment and will not be described in detail here.

[0064] Step 203, each of the vehicles in the vehicle formation completes parking according to the spacing control strategy. This is substantially the same as step 103 in the first embodiment and will not be described in detail here.

[0065] Step 204, when the vehicle formation resumes driving, a start-up control strategy for the vehicle formation is determined based on current road condition information.

[0066] Step 205: Each vehicle in the vehicle formation starts to travel according to the start control strategy.

[0067] Specifically, when the pilot vehicle finds that there is no traffic jam ahead or receives a start command from the cloud, it determines that the vehicle formation can be started, determines the start control strategy of the vehicle formation based on the current road condition information, and distributes the start control strategy to each vehicle in the vehicle formation. There are two commonly used start control strategies: sequential start strategy and synchronous start strategy.

[0068] If the road condition information indicates that the current road condition is poor, a sequential start strategy is determined as the start control strategy; the road condition information is used to indicate the current road condition, such as poor weather conditions (rainy and snowy weather), icy road surfaces, muddy roads, gravel roads, etc., which indicate that the current road condition is poor. The vehicle may slip or deviate during start-up, so a sequential start strategy can be selected, and the vehicles are started in sequence to avoid safety accidents such as rear-end collisions.

[0069] If the road condition information indicates that the current road condition is good, the synchronous start strategy is determined as the start control strategy. The road condition information is used to indicate the current road condition, such as good weather conditions (sunny, cloudy), no obstacles on the road surface, highways, provincial roads, national roads and other sections, indicating that the current intersection is good, and the vehicle will not slip or deviate when starting, so the synchronous start strategy can be selected, the vehicle formation starts quickly, and no safety accidents will occur.

[0070] If the starting control strategy of the vehicle formation is a sequential starting strategy, the pilot vehicle starts to drive, and each of the vehicles in the vehicle formation starts to drive when the distance between the pilot vehicle and the vehicle in front is greater than the third distance threshold. Specifically, the pilot vehicle starts first, accelerates and starts to drive, and the vehicle behind the pilot vehicle detects the distance between it and the pilot vehicle through a front camera or radar sensor. When it is detected that the distance between it and the pilot vehicle reaches the third distance threshold, the vehicle starts to accelerate and starts to drive. The vehicle behind the vehicle adopts a similar operation, and detects the distance between it and the vehicle in front through a front camera or radar sensor. When it is detected that the distance between it and the vehicle in front reaches the third distance threshold, the vehicle starts to accelerate and starts to drive; and so on, all vehicles start to drive in sequence; wherein each vehicle in the formation stops accelerating when the vehicle speed reaches the set driving speed; the subsequent vehicle formation enters a normal driving state, and all vehicles maintain a safe driving distance and maintain a set driving speed. In another example, the vehicle in front may detect the distance between itself and the parked vehicle behind it, for example, by using vehicle positioning information or collecting the distance traveled by the vehicle, and when the distance between itself and the parked vehicle behind it reaches a third distance threshold, the vehicle-mounted communication system may send a start command to the next vehicle behind it, thereby allowing all vehicles in the vehicle formation to start driving in turn.

[0071] If the start control strategy of the vehicle formation is a synchronous start strategy, all vehicles in the vehicle formation start driving synchronously, and the distance between each vehicle and the vehicle in front gradually increases to the third distance threshold. That is to say, all vehicles in the vehicle formation start synchronously, the speed of all vehicles gradually increases, and after the overall speed of the vehicle formation increases to a certain speed (such as the second speed threshold mentioned above), the vehicle formation begins to control the vehicle distance adjustment, such as starting from the pilot vehicle to increase the acceleration in sequence, until the distance between adjacent vehicles in the vehicle formation meets the safe driving distance (for example, between 10-15m), the vehicle formation enters the normal driving state, and all vehicles maintain the safe driving distance and maintain the set driving speed.

[0072] Furthermore, the vehicle formation will be subject to a safety check before starting; before restarting the vehicle formation, the pilot vehicle or cloud server can automatically review the sentinel detection mode images and radar point cloud records of all vehicles to check whether there are any undetected obstacles. If there are recorded pedestrians, animals or objects approaching the vehicle, even if they are no longer detected at the start, an alarm will be issued to remind the accompanying personnel to conduct a safety check.

[0073] During the subsequent normal driving of the vehicle formation, each vehicle still collects data and monitors the vehicle's surrounding environment through cameras, radar sensors and other equipment to ensure that there are no obstacles, people, animals, etc. that affect the vehicle's driving and avoid safety accidents.

[0074] Furthermore, during the driving process of the vehicle formation, the formation control system adjusts the distance between vehicles in real time according to the road conditions and vehicle speed to ensure safety and stability. For example, when the road conditions are poor, a larger distance between vehicles needs to be maintained, and the faster the speed, the greater the distance that needs to be maintained.

[0075] In this embodiment, when the vehicle formation starts driving, a starting control strategy suitable for the vehicle formation is determined based on the current road condition information, thereby improving the safety of the vehicle formation at the time of starting and improving the starting efficiency of the vehicle formation; combined with the parking control strategy in the first embodiment, it is suitable for a formation driving environment that requires frequent parking and starting.

[0076] The third embodiment of the present invention relates to a vehicle formation driving system, comprising: a plurality of vehicles communicating with each other, the plurality of vehicles being arranged in sequence and driving to form a vehicle formation; the vehicles in the vehicle formation driving based on the vehicle formation driving control method in the first or second embodiment.

[0077] The vehicle platoon driving system may also include a cloud platform, a roadside unit, and a V2X (Vehicle to Everything) wireless communication part, which refers to the technology for vehicles to exchange and communicate information with the surrounding environment (including other vehicles, pedestrians, road infrastructure, and networks, etc.), including: V2I (Vehicle-to-Infrastructure), V2C (Vehicle-to-Cloud), and the above-mentioned V2V wireless communications.

[0078] Since the first and second embodiments correspond to this embodiment, this embodiment can be implemented in conjunction with the first and second embodiments. The relevant technical details mentioned in the first and second embodiments are still valid in this embodiment, and the technical effects that can be achieved in the first and second embodiments can also be achieved in this embodiment. In order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the first and second embodiments.

[0079] A fourth embodiment of the present invention relates to a computer-readable storage medium, which is a non-volatile storage medium or a non-transient storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle platoon driving control method in the first or second embodiment are executed.

[0080] Preferred embodiments of the present invention have been described above in detail, but it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide further embodiments.

[0081] These and other changes can be made to the embodiments in light of the above detailed description.In general, in the claims, the terms used should not be considered limited to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which these claims are entitled.

Claims

1. A vehicle platoon driving control method, characterized in that: Applied to a vehicle formation including a plurality of vehicles, the plurality of vehicles are arranged and travel in sequence; the method comprises: When the leading vehicle of the vehicle formation detects that it needs to stop, the leading vehicle selects the current spacing control strategy based on the driving speed of the vehicle formation and the distance between the adjacent vehicles; Sending the selected spacing control strategy to each of the vehicles in the vehicle formation; Each of the vehicles in the vehicle formation completes parking according to the spacing control strategy.

2. The vehicle platoon driving control method according to claim 1, characterized in that: The selecting of the current spacing control strategy based on the driving speed of the vehicle formation and the set distance between adjacent vehicles includes: If the driving speed of the vehicle formation is greater than a preset first speed threshold or the set distance between adjacent vehicles is less than a preset first distance threshold, an overall spacing reduction strategy is selected as the current spacing control strategy, and the overall spacing reduction strategy is that all vehicles in the vehicle formation decelerate synchronously; If the speed of the vehicle formation is less than a preset second speed threshold or the set distance between adjacent vehicles is greater than a preset second distance threshold, a creeping spacing reduction strategy is selected as the current spacing control strategy, wherein the creeping spacing reduction strategy is that the vehicles in the vehicle formation slow down to a stop in sequence; The first speed threshold is greater than or equal to the second speed threshold, and the first distance threshold is less than or equal to the second distance threshold.

3. The vehicle platoon driving control method according to claim 2, characterized in that: The spacing control strategy is an overall spacing reduction strategy, and each of the vehicles in the vehicle formation completes parking according to the spacing control strategy, including: The vehicles in the vehicle formation decelerate synchronously, and the distance between each of the vehicles and the vehicle in front is kept greater than a third distance threshold; When the driving speed of the vehicle formation is less than the third speed threshold, the distance between each vehicle and the vehicle in front is reduced to a fourth distance threshold, the vehicles in the vehicle formation gradually slow down to stop, and the third distance threshold is greater than the fourth distance threshold.

4. The vehicle platoon driving control method according to claim 2, characterized in that: The spacing control strategy is a creeping spacing reduction strategy, and each of the vehicles in the vehicle formation completes parking according to the spacing control strategy, including: The lead vehicle decelerates to a stop, and each vehicle in the vehicle formation travels at a set creeping speed when the vehicle in front is in a driving state; when the vehicle in front stops, each vehicle in the vehicle formation starts to decelerate to a stop when the distance between the vehicle in front is less than a fourth distance threshold.

5. The vehicle platoon driving control method according to claim 1, characterized in that: The method further comprises: When the vehicle formation resumes driving, determining a start-up control strategy for the vehicle formation based on current road condition information; Each vehicle in the vehicle formation starts and travels according to the start control strategy.

6. The vehicle platoon driving control method according to claim 5, characterized in that: The step of determining the start control strategy of the vehicle formation based on the current road condition information includes: If the road condition information indicates that the current road condition is poor, determining a sequential start strategy as the start control strategy; If the road condition information indicates that the current road condition is good, a synchronous start strategy is determined as the start control strategy.

7. The vehicle platoon driving control method according to claim 6, characterized in that: The start control strategy is a sequential start strategy, and each vehicle in the vehicle formation starts and drives according to the start control strategy, including: The pilot vehicle starts to travel, and each of the vehicles in the vehicle formation starts to travel when the distance between the vehicle and the leading vehicle is greater than a third distance threshold.

8. The vehicle platoon driving control method according to claim 6, characterized in that: The start control strategy is a synchronous start strategy, and each vehicle in the vehicle formation starts and drives according to the start control strategy, including: All vehicles in the vehicle formation start driving synchronously, and the distance between each of the vehicles and the vehicle in front gradually increases to a third distance threshold.

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

10. A computer-readable storage medium, wherein the computer-readable storage medium is a non-volatile storage medium or a non-transient storage medium, and a computer program is stored thereon, wherein: When the computer program is executed by a processor, the steps of the vehicle platoon driving control method as described in any one of claims 1 to 8 are executed.

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