Load-carrying vehicle team control method and device and electronic equipment

Abstract

The embodiment of the invention provides a load-carrying vehicle team control method and device and electronic equipment, can be applied to business scenes such as ports, ports, road freight, urban distribution, mines and airports, and comprises the steps that queue request information is sent to a cloud network platform, the queue request information comprises load information of vehicles, and the load information of the vehicles is sent to the cloud network platform; the load information of the vehicles is associated with parking places of the vehicles, and the load information and the parking place information are used for generating queue information of the vehicle team; and controlling the vehicles to form a queue according to the queue information of the vehicle team. According to the load queue vehicle grouping control method provided by the embodiment of the invention, the queue vehicle control information is taken as a consideration condition of grouping, more refined control of the queue vehicles can be realized, and the driving safety of the queue vehicles is greatly improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of queue control technology, and in particular to a method, device, and electronic device for controlling a platoon of heavy-duty vehicles. Background Art

[0002] Truck platooning is a promising direction for autonomous driving in traffic applications. A platoon is a series of vehicles traveling in a longitudinal queue. For an autonomous truck platoon running on an open road, the distance between vehicles is about one vehicle length. Due to the effect of aerodynamics, the air resistance of the platoon members can be greatly reduced at high speeds, achieving a good energy-saving and emission-reduction effect. In addition, platooning collaborative driving based on vehicle-to-vehicle (V2V) communication technology helps to increase road capacity and improve road safety.

[0003] Furthermore, under the leadership of the manually driven pilot vehicle in the truck platoon, the use of V2V information sharing in real time can reduce the burden on the driver of the following vehicle or even eliminate the need for a driver of the following vehicle. Before the platoon is driven, the platoon vehicles need to determine the pilot vehicle and platoon partners. Then, how to determine the relevant vehicles is the prerequisite for ensuring the stable driving of the platoon vehicles. Summary of the invention

[0004] The embodiments of the present application provide a method, device, and electronic device for controlling a platoon of heavy-duty vehicles, which use platoon vehicle control information as a consideration for platooning, thereby enabling more refined control of platoon vehicles and greatly improving the driving safety of platoon vehicles.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a heavy-duty vehicle team, comprising:

[0006] Sending queue request information, the queue request information including the load information of the vehicle, the load information of the vehicle being associated with the stopover location of the vehicle, and the load information and the stopover location information being used to generate queue information of the vehicle team;

[0007] According to the queue information of the vehicle team, the vehicles are controlled to form a queue.

[0008] In a possible implementation, the load information includes first load information and second load information, and the second load information includes a load floating space;

[0009] The queue information of the vehicle team is generated according to the first load information, the load floating space, the vehicle information and the stopover information.

[0010] In a possible implementation, the stopover information includes first stopover information and second stopover information, the first stopover information is associated with the first load information, and the second stopover information is associated with the first load information and the second load information.

[0011] In a possible implementation, the queue includes a first vehicle and a second vehicle, the stopover information of the first vehicle includes first stopover information and second stopover information, the first stopover information is associated with the first load information, and the second stopover information is associated with the second load information;

[0012] The stop location information of the second vehicle includes first stop location information and second stop location information, the first stop location information is associated with the third load information, and the second stop location information is associated with the fourth load information;

[0013] When the first stopover information of the vehicles is consistent, and the third load information is between the first load information and the load floating space determined according to the first load information and the second load information, the first vehicle and the second vehicle form a team;

[0014] When the second stopover information of the vehicles is consistent and the fourth load information is between the first load information and the load floating space determined according to the first load information and the second load information, the first vehicle and the second vehicle form a team.

[0015] In a second aspect, an embodiment of the present application provides a method for controlling a heavy-duty vehicle team, comprising:

[0016] receiving queue request information, the queue request information including the load information of the vehicle, the load information of the vehicle being associated with a stopover location of the vehicle;

[0017] Generating queue information of the vehicle team according to the load information and the stopover information;

[0018] Sending queue information to the platoon vehicles.

[0019] In a possible implementation, the method further includes: querying preset load queue control strategy information according to the load information, and sending the load queue control strategy information to the platoon vehicles.

[0020] In a possible implementation, the method further includes: configuring a load threshold for the load information, or querying the load threshold according to the load information;

[0021] A load floating space is generated according to the load threshold, and the load floating space is used to generate queue information of the vehicle team.

[0022] In a third aspect, an embodiment of the present application provides a load-carrying vehicle team control device, comprising:

[0023] A sending module, used to send queue request information, wherein the queue request information includes the load information of the vehicle, the load information of the vehicle is associated with the stopover location of the vehicle, and the load information and the stopover location information are used to generate queue information of the vehicle team;

[0024] A control module is used to control the vehicles to form a queue according to the queue information of the vehicle team.

[0025] In a possible implementation, the load information includes first load information and second load information, and the second load information includes a load floating space;

[0026] The control module is used to generate the queue information of the vehicle team according to the first load information, the load floating space, the vehicle information and the stopover information.

[0027] In a possible implementation, the stopover information includes first stopover information and second stopover information, the first stopover information is associated with the first load information, and the second stopover information is associated with the first load information and the second load information.

[0028] In a possible implementation, the queue includes a first vehicle and a second vehicle, the stopover information of the first vehicle includes first stopover information and second stopover information, the first stopover information is associated with the first load information, and the second stopover information is associated with the second load information;

[0029] The stop location information of the second vehicle includes first stop location information and second stop location information, the first stop location information is associated with the third load information, and the second stop location information is associated with the fourth load information;

[0030] When the first stopover information of the vehicles is consistent, and the third load information is between the first load information and the load floating space determined according to the first load information and the second load information, the first vehicle and the second vehicle form a team;

[0031] When the second stopover information of the vehicles is consistent and the fourth load information is between the first load information and the load floating space determined according to the first load information and the second load information, the first vehicle and the second vehicle form a team.

[0032] In a fourth aspect, an embodiment of the present application provides a load-carrying vehicle team control device, comprising:

[0033] A receiving module, configured to receive queue request information, wherein the queue request information includes the load information of the vehicle, and the load information of the vehicle is associated with a stopover location of the vehicle;

[0034] A generating module, used for generating queue information of the vehicle team according to the load information and the stopover information;

[0035] The sending module is used to send queue information to the platoon vehicles.

[0036] In a possible implementation, the generating module is further used to: query preset load queue control strategy information according to the load information, and send the load queue control strategy information to the platoon vehicles.

[0037] In a possible implementation, the generating module is further used to: configure a load threshold for the load information, or query the load threshold according to the load information;

[0038] A load floating space is generated according to the load threshold, and the load floating space is used to generate queue information of the vehicle team.

[0039] In a fifth aspect, an embodiment of the present application further provides an electronic device, the electronic device comprising:

[0040] at least one processor;

[0041] and a memory communicatively coupled to the at least one processor;

[0042] Among them, the memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor to enable the electronic device to execute a method corresponding to any embodiment in the first aspect of the embodiments of the present application or a method corresponding to any embodiment in the second aspect.

[0043] In the sixth aspect, the embodiments of the present application also provide a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed by a processor, they are used to implement any method of the first aspect of the embodiments of the present application or a method corresponding to any embodiment in the second aspect.

[0044] In the seventh aspect, the present disclosure further provides a computer program product, which includes computer execution instructions, which, when executed by a processor, are used to implement a method such as any embodiment corresponding to the first aspect of the present disclosure or a method corresponding to any embodiment in the second aspect.

[0045] In summary, the embodiment of the present application provides a method for controlling the formation of a loaded platoon of vehicles, which takes the control information of the platoon vehicles as a consideration for platooning, greatly improving the driving safety of the platoon vehicles. The load information is associated with the stopover, that is, the platoon vehicles can report the stopover information and the estimated weight of the goods loaded or unloaded at the stopover, which is more conducive to platoon driving and can achieve more refined control of the platoon vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0048] Figure 1 An interactive diagram of a heavy-duty vehicle formation provided in an embodiment of the present application;

[0049] Figure 2 A schematic diagram of a method for controlling a team of heavy-duty vehicles is provided for an embodiment of the present application;

[0050] Figure 3 A possible schematic diagram of associating vehicle load information with a vehicle stop provided in an embodiment of the present application;

[0051] Figure 4 A schematic diagram of associating another possible vehicle load information with a vehicle stop provided in an embodiment of the present application;

[0052] Figure 5 A schematic diagram of vehicle teaming information generated by using an embodiment of the present application;

[0053] Figure 6 The present application embodiment provides a flow chart of a method for controlling a team of loaded vehicles;

[0054] Figure 7 A load-carrying vehicle team control device provided in an embodiment of the present application;

[0055] Figure 8 Another load-carrying vehicle team control device provided in an embodiment of the present application;

[0056] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0058] The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The following will describe the embodiments of the present application in conjunction with the accompanying drawings.

[0059] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0060] Most of the existing platoon autonomous driving technology research and development are in the stage of running with empty vehicles. However, in the platooning stage, the vehicle load is not considered. Since the kinetic energy of an object is related to the mass and speed of the object, the greater the mass or speed, the greater the kinetic energy of the object. Therefore, different car models have different car loads, that is, the mass of the car is different. If the speed of the car is the same, the larger the mass, the greater the kinetic energy, and the greater the danger when driving! In order to be fair, the standards for the maximum driving kinetic energy of all vehicles are consistent. Once an accident occurs, the work done to overcome the resistance is the same, and the physical loss caused is the same, so the speed limit of vehicles with large mass should be smaller. This is obviously unreasonable, so considering the load as the primary condition for platooning can greatly improve the safety of platooning.

[0061] Before the vehicles can form a platoon, they need to form a platoon freely on the cloud platform. In previous patents, we usually consider factors such as distance and vehicle type when forming a platoon, and do not consider the vehicle's load. Therefore, this patent combines the load and intervenes in the vehicle platooning process, which can reduce the difficulty of platoon control and make vehicle driving more stable, safer and more efficient.

[0062] Figure 1 An interactive diagram of a heavy-duty vehicle formation provided in an embodiment of the present application. Figure 1In the V2V, vehicles can communicate directly with each other, and the communication can also be but not limited to long-range radio (LoRa, Long Range Radio) module, narrowband Internet of Things (NB-IoT, Narrow Band Internet of Things) module, enhanced machine type communication (eMTC, Enhanced Machine-Type Communication) module, mobile communication, long-term evolution technology vehicle communication (LTE-V, LTE-Vehicle-to-Everything), dedicated short-range communication (DSRC, Dedicated Short-Range Communication), mobile communication, cellular vehicle network (C-V2X, Cellular Vehicle-to-Everything), vehicle wireless communication technology (V2X, Vehicle-to-Everything). It can be understood that in some special scene types, such as when there is no base station signal in the wild, a communication module is installed on the transport vehicle to form a local area network between the vehicles in the team, that is, the pilot vehicle and the following vehicle communicate through the local area network to ensure the safe driving of the vehicle.

[0063] In the disclosed embodiments, the vehicles in the vehicle formation may be, but are not limited to: multiple wheeled mobile robots, wheeled mobile robots, mobile robots, passenger cars, commercial vehicles (e.g., trucks, buses, vans, etc.), special-purpose vehicles (e.g., ambulances, fire trucks, engineering vehicles, rescue vehicles, etc.), agricultural and industrial vehicles (e.g., harvesters, forklifts, etc.), transportation and logistics vehicles (e.g., container trucks, refrigerated trucks, etc.), new energy vehicles (e.g., electric vehicles, hybrid vehicles), and special vehicles (e.g., garbage trucks, sprinkler trucks, etc.).

[0064] Figure 2 A method for controlling a heavy-duty vehicle team is provided for an embodiment of the present application. Figure 2 In the process, steps S201 and S202 are included. Each step is described in detail as follows.

[0065] Step S201: Send queue request information, wherein the queue request information includes the vehicle load information, the vehicle load information is associated with the vehicle's stopover location, and the load information and the stopover location information are used to generate queue information for the vehicle team.

[0066] In a possible implementation, the load information includes first load information and second load information, and the second load information includes a load floating space;

[0067] The queue information of the vehicle team is generated according to the first load information, the load floating space, the vehicle information and the stopover information.

[0068] For example, Figure 3 FIG. 1 is a schematic diagram showing a possible association between vehicle load information and vehicle stop locations provided in an embodiment of the present application. Figure 3 In the process, the vehicle sends a queue request information to the cloud network, and the cloud network can generate the queue information of the vehicle team based on the load information, load floating space, vehicle information and stop information.

[0069] In a possible implementation, the corresponding load set can also be found according to the load information reported by the vehicle. For example, if the load information reported by the vehicle is 1.2 tons, the determined load set is load X1, and the load floating space is {1, 1.2, ... 1.5}.

[0070] In a possible implementation, the corresponding load set can also be found based on the stop information reported by the vehicle. For example, if the stop information includes destination B, the determined load set is load X2, and the load floating space is {1.5, 1.6...2.0}. The advantage of this is that due to load restrictions on some roads, a load and route information mapping table is preset in the cloud. When the load information and destination are reported on the vehicle side, the relevant mapping table can be found immediately. When the reported load information exceeds the maximum weight that the road can bear, an overweight reminder is sent to the owner to remind the owner to change the route point or reduce the transportation of goods. In this way, the damage to the road caused by overweight during driving and the fines caused by overweight can be reduced, reducing the burden on the owner.

[0071] In a possible implementation, the load set interval may also be determined based on the load information and the stopover information. For example, if the stopover information includes destination A and destination B, and the reported load is 1-2 tons, the determined loads are set X1 and set X2.

[0072] In a possible implementation, the first load information and the load floating space are reported, such as the first load information reported is 1 ton, the load floating space is 0.1, combined with the determined stopover information, such as the stopover information is A, the determined load set is X1. If the determined stopover information is B, the load set cannot be determined.

[0073] For example, Figure 4 FIG. 1 is a schematic diagram showing another possible association between vehicle load information and vehicle stop locations provided in an embodiment of the present application. Figure 4In the example, the stopover information includes destination A, which may be associated with multiple load ranges, such as load X1, load X2, and load X3. Without exceeding the road carrying capacity, more set options can be provided for vehicles, which helps to achieve more refined management.

[0074] The above-mentioned load space and destination can be pre-set according to actual needs, that is, the main management personnel or member units of the fleet operation can initiate the setting of the destination and load range. It can also be initiated by private operators.

[0075] The speed limits of vehicles with different loads are also different. In addition to the destination and load, this mapping table can also include the speed range. It provides a reference for the transportation of different goods. For example, frozen fresh goods may require a short transportation time, that is, the owner can choose to join different formations according to the vehicle's load and transportation destination.

[0076] It is understandable that the purpose of setting stopovers is to better control vehicles. If the stopovers have a high degree of repetition, the platoon will operate more stably and safely. In order to more finely control the vehicles, the vehicles can also report the stopover information and the estimated weight of the cargo loaded or unloaded at the stopovers, which is more conducive to the formation of the platoon.

[0077] Alternatively, when the weight change of the cargo at the stopover exceeds the threshold of the vehicles in the platoon, the vehicles that do not meet the weight requirement are kicked out, and the other vehicles continue to form a platoon.

[0078] Alternatively, when the weight change of the cargo at the stopover exceeds the threshold of the vehicles in the queue, the loading and unloading personnel are reminded whether the vehicle continues to join the queue. If so, the cargo weight is increased or reduced to within the weight threshold space.

[0079] Alternatively, when initially selecting a queue to join, the dynamic weight change of the vehicle during transportation is determined, and the queue to join is selected based on the dynamic weight change. In this way, the fleet can be more accurately joined to ensure driving safety.

[0080] Vehicle A initiates a platoon request, and the cloud network platform sends the existing queue information. Vehicle A joins the queue according to its needs.

[0081] More specifically, the queue request information also includes the vehicle destination information. The cloud network queries the existing queue information based on the received destination information and / or stopover information. If there is any, the relevant information is sent to the vehicle, and the vehicle determines whether to join according to its own situation. If not, it returns that no relevant information is found, and asks the vehicle whether it needs to establish an initial formation.

[0082] If the vehicle agrees to establish an initial formation, the vehicle model and load information, as well as the expected load floating space, are entered. Optionally, it can also be set by default on the cloud platform. If vehicle A sets a load floating space, the benefit is that when the vehicle loads are basically the same, the formation is more stable and can better ensure vehicle driving safety. The cloud platform creates an initialization queue based on the vehicle model and load information, as well as the destination and stopover information, and the expected load floating space (optional). When other similar vehicles join, a queue is formed.

[0083] Step S202: Control the vehicles to form a queue according to the queue information of the vehicle team.

[0084] In a possible implementation, the stopover information includes first stopover information and second stopover information, the first stopover information is associated with the first load information, and the second stopover information is associated with the first load information and the second load information.

[0085] Exemplarily, in combination with the diagram, the first stopover information includes destination A, and the second stopover information includes destination B, then destination A is associated with a load X1, and destination B is associated with a load X2.

[0086] In a possible implementation, the queue includes a first vehicle and a second vehicle, the stopover information of the first vehicle includes first stopover information and second stopover information, the first stopover information is associated with the first load information, and the second stopover information is associated with the second load information;

[0087] The stop location information of the second vehicle includes first stop location information and second stop location information, the first stop location information is associated with the third load information, and the second stop location information is associated with the fourth load information;

[0088] When the first stopover information of the vehicles is consistent, and the third load information is between the first load information and the load floating space determined according to the first load information and the second load information, the first vehicle and the second vehicle form a team;

[0089] When the second stopover information of the vehicles is consistent and the fourth load information is between the first load information and the load floating space determined according to the first load information and the second load information, the first vehicle and the second vehicle form a team.

[0090] Exemplarily, the stop information of the first vehicle A includes destination A and destination B, destination A is associated with load Z1, and destination B is associated with load Z2. The stop information of the second vehicle B includes destination A and destination B, destination A is associated with load Y2, and destination B is associated with load Y3.

[0091] In a possible implementation, when both vehicle A and vehicle B pass through destination A and destination B, assuming that vehicle A's load Z1 is 2 tons and the associated threshold is 0.5 tons, the load set determined according to Z1 is 2±0.5. If vehicle B's load Y2 is 2.3 tons, which is within the load set of Z1, the first vehicle A and the second vehicle B can form a queue. If Y2 is 3 tons, which is not within the load set of Z1, the first vehicle A and the second vehicle B cannot form a queue.

[0092] In a possible implementation, the first vehicle also includes vehicle A1, when both vehicle A and vehicle B pass through destination A and destination B. Assuming that vehicle A's load Z1 is 2 tons and vehicle A1's load Z2 is 2.5 tons, the associated load range is inferred to be 2-2.5 tons. If Y2 is 2.3 tons, which is within the load set, the first vehicle A, vehicle A1, and the second vehicle B can form a queue. If Y2 is 3 tons, which is not within the load set, the first vehicle A, vehicle A1, and the second vehicle B cannot form a queue.

[0093] It can be understood that, assuming that the load Z1 of vehicle A is 2 tons, the load Z2 of vehicle A1 is 2.5 tons, and the load floating space is 2±0.6 according to the load set determined by vehicle A, then if Y2 is 2.3 tons, which is within the load set, the first vehicle A, vehicle A1 and the second vehicle B can form a queue. If Y2 is 3 tons, which is not within the load set, the first vehicle A, vehicle A1 and the second vehicle B cannot form a queue. In the embodiment of the present application, the first vehicle and the second vehicle both include at least one vehicle. The first vehicle A and vehicle A1 can be vehicles of the same operator with different loads.

[0094] Figure 5 This is a schematic diagram of vehicle team information generated using an embodiment of the present application. Figure 5 In the figure, it is a schematic diagram of the queues formed according to different loads. In queue 1, there are vehicles with loads of 1, 2, and 3. In queue 2, there are vehicles with loads of 4, 5, and 6.

[0095] Figure 6 The present application embodiment provides a flow chart of a method for controlling a platoon of loaded vehicles, including step S601, step S602 and step S603. Each step is described in detail as follows.

[0096] Step S601: receiving queue request information, wherein the queue request information includes the load information of the vehicle, and the load information of the vehicle is associated with the stopover location of the vehicle;

[0097] Step S602: Generate queue information of the vehicle team according to the load information and the stopover information;

[0098] Step S603: Send queue information to the platoon vehicles.

[0099] In a possible implementation, the method further includes: querying preset load queue control strategy information according to the load information, and sending the load queue control strategy information to the platoon vehicles.

[0100] In a possible implementation, the method further includes: configuring a load threshold for the load information, or querying the load threshold according to the load information;

[0101] A load floating space is generated according to the load threshold, and the load floating space is used to generate queue information of the vehicle team.

[0102] In the embodiment of the present application, the cloud network receives the queue request information, generates the queue information of the team according to the load information and the stop information in the queue request information, and after generating the queue information, sends the queue information to the requesting vehicle. In addition, the load threshold value can be configured for the load information according to the load information and the load condition of the road, or the load threshold value of the relevant road can be queried according to the load information, and the embodiment of the present application does not limit this.

[0103] It can be understood that in the embodiments of the present application, the relevant content description can refer to Figures 2 to 5 The possible implementations shown will not be described in detail here.

[0104] In the embodiment of the present application, the information sent by the vehicle to the cloud may include the first information, through which the vehicle queries whether other vehicles have established a formation in the cloud, and determines whether the vehicle meets the conditions for joining the formation according to the existing formation, and decides whether to join the formation.

[0105] In summary, the embodiment of the present application provides a method for controlling the formation of a loaded platoon of vehicles, which takes the control information of the platoon vehicles as a consideration for platooning, greatly improving the driving safety of the platoon vehicles. The load information is associated with the stopover, that is, the platoon vehicles can report the stopover information and the estimated weight of the goods loaded or unloaded at the stopover, which is more conducive to platoon driving and can achieve more refined control of the platoon vehicles.

[0106] Figure 7 A load-carrying vehicle team control device provided in an embodiment of the present application includes:

[0107] A sending module 701 is used to send queue request information, wherein the queue request information includes the load information of the vehicle, the load information of the vehicle is associated with the stopover location of the vehicle, and the load information and the stopover location information are used to generate queue information of the vehicle team;

[0108] The control module 702 is used to control the vehicles to form a queue according to the queue information of the vehicle queue.

[0109] In a possible implementation, the load information includes first load information and second load information, and the second load information includes a load floating space;

[0110] The control module 702 is used to generate the queue information of the vehicle team according to the first load information, the load floating space, the vehicle information and the stopover information.

[0111] In a possible implementation, the device is used to implement the above Figures 2 to 5 A method corresponding to any embodiment.

[0112] Figure 8 Another load-carrying vehicle team control device provided in the embodiment of the present application includes:

[0113] The receiving module 801 is used to receive queue request information, wherein the queue request information includes the load information of the vehicle, and the load information of the vehicle is associated with the stopover place of the vehicle;

[0114] A generating module 802, configured to generate queue information of the vehicle team according to the load information and the stopover information;

[0115] The sending module 803 is used to send queue information to the platoon vehicles.

[0116] In a possible implementation, the device is used to implement the above Figures 2 to 6 A method corresponding to any corresponding embodiment.

[0117] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Fig. 9 As shown, the electronic device 900 includes: a memory 910 and a processor 920 .

[0118] The memory 910 stores a computer program that can be executed by at least one processor 920. The computer program is executed by at least one processor 920 to enable the electronic device to implement the method provided in any of the above embodiments.

[0119] The memory 910 and the processor 920 may be connected via a bus 930 .

[0120] The relevant instructions can be understood by referring to the relevant descriptions and effects corresponding to the method embodiments, which will not be repeated here.

[0121] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the following Figures 2 to 6 The method provided in any corresponding embodiment.

[0122] Among them, the computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0123] An embodiment of the present application provides a computer program product, which includes computer-executable instructions, which are used to implement the following when the computer-executable instructions are executed by a processor: Figures 2 to 6 The method provided in any corresponding embodiment.

[0124] In the several embodiments provided in the present 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 modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0125] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the disclosure disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope of the present application is indicated by the claims.

[0126] It will be appreciated that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A method for controlling a heavy-duty vehicle team, characterized in that: include: Sending queue request information, the queue request information including the load information of the vehicle, the load information of the vehicle being associated with the stopover location of the vehicle, and the load information and the stopover location information being used to generate queue information of the vehicle team; According to the queue information of the vehicle team, the vehicles are controlled to form a queue.

2. The method according to claim 1, characterized in that The load information includes first load information and second load information, and the second load information includes load floating space; The queue information of the vehicle team is generated according to the first load information, the load floating space, the vehicle information and the stopover information.

3. The method according to claim 2, characterized in that The stopover information includes first stopover information and second stopover information, the first stopover information is associated with the first load information, and the second stopover information is associated with the first load information and the second load information.

4. The method according to claim 3, characterized in that The queue includes a first vehicle and a second vehicle, the stopover information of the first vehicle includes first stopover information and second stopover information, the first stopover information is associated with the first load information, and the second stopover information is associated with the second load information; The stop location information of the second vehicle includes first stop location information and second stop location information, the first stop location information is associated with the third load information, and the second stop location information is associated with the fourth load information; When the first stopover information of the vehicles is consistent, and the third load information is between the first load information and the load floating space determined according to the first load information and the second load information, the first vehicle and the second vehicle form a team; When the second stopover information of the vehicles is consistent and the fourth load information is between the first load information and the load floating space determined according to the first load information and the second load information, the first vehicle and the second vehicle form a team.

5. A method for controlling a heavy-duty vehicle team, characterized in that: include: receiving queue request information, the queue request information including the load information of the vehicle, the load information of the vehicle being associated with a stopover location of the vehicle; Generating queue information of the vehicle team according to the load information and the stopover information; Sending queue information to the platoon vehicles.

6. The method according to claim 5, characterized in that The method further includes: querying preset load queue control strategy information according to the load information, and sending the load queue control strategy information to the platoon vehicles.

7. The method according to claim 5 or 6, characterized in that: The method further includes: configuring a load threshold for the load information, or, querying the load threshold according to the load information; A load floating space is generated according to the load threshold, and the load floating space is used to generate queue information of the vehicle team.

8. A load-carrying vehicle team control device, characterized in that: include: A sending module, used to send queue request information, wherein the queue request information includes the load information of the vehicle, the load information of the vehicle is associated with the stopover location of the vehicle, and the load information and the stopover location information are used to generate queue information of the vehicle team; A control module is used to control the vehicles to form a queue according to the queue information of the vehicle team.

9. A load-carrying vehicle team control device, characterized in that: include: A receiving module, configured to receive queue request information, wherein the queue request information includes the load information of the vehicle, and the load information of the vehicle is associated with a stopover location of the vehicle; A generating module, used for generating queue information of the vehicle team according to the load information and the stopover information; The sending module is used to send queue information to the platoon vehicles.

10. An electronic device, characterized in that: include: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the electronic device to perform the method as described in any one of claims 1 to 4, or the method as described in any one of claims 5 to 7.

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