Load-carrying formation vehicle cooperative control method, device and equipment and storage medium

Abstract

The embodiment of the invention provides a load formation vehicle cooperative control method. The method comprises the following steps: obtaining load information of a running queue vehicle and value information of transported goods; determining speed control models of the vehicles in the queue, and sorting the speed control models of the vehicles in the queue according to the load information and the value information of the transported goods to obtain a target speed control model; and according to the target speed control model, controlling the driving speed of the queue vehicles. In the embodiment of the invention, the speed control models of the vehicles are sequenced based on the load of any vehicle in the queue and the value information of the transported goods to obtain the target control speed model for controlling the driving of the queue, so that the driving safety and stability of the vehicles in the queue can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle networking technology, and in particular, to a method, device, equipment and storage medium for collaborative control of load-carrying platoon vehicles. Background Art

[0002] Vehicle platooning refers to multiple vehicles traveling in a longitudinal queue, with the distance between two vehicles in the queue being much lower than the normal distance between vehicles. The extremely low distance between vehicles, coupled with platooning cooperative driving based on vehicle-to-vehicle (V2V) communication technology, helps to increase road capacity and improve road safety.

[0003] Under the leadership of the pilot vehicle in a 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 the driver of the following vehicle. Therefore, truck platooning is a promising direction for autonomous driving in traffic applications. Summary of the invention

[0004] The embodiments of the present application provide a method, device, equipment and storage medium for collaborative control of load-carrying platoon vehicles, which can improve the safety and stability of platoon vehicle travel.

[0005] In a first aspect, an embodiment of the present application provides a method for cooperatively controlling vehicles in a load formation, comprising:

[0006] Obtain the load information of the vehicles in the moving queue and the value of the transported goods;

[0007] Determining the speed control model of the vehicles in the queue, and sorting the speed control models of the vehicles in the queue according to the load information and the value information of the transported goods to obtain a target speed control model;

[0008] The traveling speed of the vehicles in the queue is controlled according to the target speed control model.

[0009] In a possible implementation, the platoon vehicles include a first vehicle and a second vehicle, and the load of the first vehicle and the load of the second vehicle belong to the same load set;

[0010] The first vehicle corresponds to a first value of the transported goods, and the second vehicle corresponds to a second value of the transported goods;

[0011] Determining that the speed control model of the first vehicle is a first speed control model, and the speed control model of the second vehicle is a second control model;

[0012] When the first value is greater than the second value, the first speed control model is the target speed control model;

[0013] When the first value is smaller than the second value, the second speed control model is the target speed control model.

[0014] In a possible implementation, when the first speed model is the target speed model and the first vehicle is a pilot vehicle;

[0015] The platoon of vehicles further includes a third vehicle, and the driving distance between the first vehicle and the second vehicle is controlled to be a first distance, and the driving distance between the second vehicle and the third vehicle is controlled to be a second distance according to the first speed model;

[0016] The first interval is greater than the second interval.

[0017] In a possible implementation, the method further includes: determining the pilot vehicle according to the load information and the value information of the transported goods;

[0018] When the platoon vehicles pass through a first waypoint, if the first value corresponding to the first vehicle is greater than the second value corresponding to the second vehicle, the first vehicle is determined to be a leading vehicle;

[0019] When the platoon vehicles pass through a second waypoint, if the first value corresponding to the first vehicle is less than the second value corresponding to the second vehicle, the second vehicle is determined to be the lead vehicle.

[0020] In a possible implementation, the load of the first vehicle and the load of the second vehicle belong to the same load set, including:

[0021] The load of the first vehicle and the load of the second vehicle satisfy the conditions for platoon travel.

[0022] In a possible implementation, the load information is obtained through periodic measurement of a weight sensor installed on the vehicle, and the measurement period of the load sensor is associated with the stopover of the vehicle.

[0023] In a second aspect, an embodiment of the present application provides a coordinated control device for load-carrying platoon vehicles, comprising:

[0024] An acquisition module is used to acquire the load information of the vehicles in the moving queue and the value information of the transported goods;

[0025] a determination module, configured to determine a speed control model of the vehicles in the queue, and to sort the speed control models of the vehicles in the queue according to the load information and the value information of the transported goods, so as to obtain a target speed control model;

[0026] A control module is used to control the travel speed of the vehicles in the queue according to the target speed control model.

[0027] In a possible implementation, the platoon vehicles include a first vehicle and a second vehicle, and the load of the first vehicle and the load of the second vehicle belong to the same load set;

[0028] The first vehicle corresponds to a first value of the transported goods, and the second vehicle corresponds to a second value of the transported goods;

[0029] The determining module is used to determine that the speed control model of the first vehicle is a first speed control model, and the speed control model of the second vehicle is a second control model;

[0030] When the first value is greater than the second value, the first speed control model is the target speed control model;

[0031] When the first value is smaller than the second value, the second speed control model is the target speed control model.

[0032] In a possible implementation, when the first speed model is the target speed model and the first vehicle is a pilot vehicle;

[0033] The platoon of vehicles further includes a third vehicle, and the driving distance between the first vehicle and the second vehicle is controlled to be a first distance, and the driving distance between the second vehicle and the third vehicle is controlled to be a second distance according to the first speed model;

[0034] The first interval is greater than the second interval.

[0035] In a possible implementation, the determination module is further used to: determine the pilot vehicle according to the load information and the value information of the transported goods;

[0036] When the platoon vehicles pass through a first waypoint, if the first value corresponding to the first vehicle is greater than the second value corresponding to the second vehicle, the first vehicle is determined to be a leading vehicle;

[0037] When the platoon vehicles pass through a second waypoint, if the first value corresponding to the first vehicle is less than the second value corresponding to the second vehicle, the second vehicle is determined to be the lead vehicle.

[0038] In a possible implementation, the load of the first vehicle and the load of the second vehicle belong to the same load set, including:

[0039] The load of the first vehicle and the load of the second vehicle satisfy the conditions for platoon travel.

[0040] In a possible implementation, the load information is obtained through periodic measurement of a weight sensor installed on the vehicle, and the measurement period of the load sensor is associated with the stopover of the vehicle.

[0041] In a third aspect, an embodiment of the present application further provides an electronic device, the electronic device comprising:

[0042] at least one processor;

[0043] and a memory communicatively coupled to the at least one processor;

[0044] 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.

[0045] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, in which computer-readable storage medium is stored computer execution instructions, which, when executed by a processor, are used to implement any method of the first aspect of the embodiment of the present application.

[0046] In a fifth aspect, the present disclosure further provides a computer program product, which includes computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the method of any embodiment corresponding to the first aspect of the present disclosure.

[0047] In summary, in the embodiment of the present application, based on the load and value information of the transported goods of any vehicle in the queue, the speed control models of the vehicles are sorted to obtain a target control speed model for controlling the travel of the queue, which can improve the safety and stability of the travel of the vehicles in the queue. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] 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.

[0049] 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.

[0050] Figure 1 An interactive diagram of a heavy-duty vehicle formation provided in an embodiment of the present application;

[0051] Figure 2 A schematic flow chart of a method for cooperative control of load-carrying platoon vehicles provided in an embodiment of the present application;

[0052] Figure 3 A schematic diagram of a coordinated control device for load-carrying platoon vehicles provided in an embodiment of the present application;

[0053] Figure 4 An electronic device for cooperative control of load-carrying platoon vehicles is provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] The embodiment of the present application provides a method, device, equipment and storage medium for coordinated control of load-carrying platoon vehicles, which can improve the safety and stability of platoon vehicles. In the embodiment of the present application, based on the load and value information of the transported goods of any vehicle in the platoon, the speed control models of the vehicles are sorted to obtain a target control speed model for controlling the platoon, which can improve the safety and stability of the platoon vehicles.

[0059] 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.).

[0060] Figure 2 A method for cooperative control of vehicles in a load-carrying formation is provided for an embodiment of the present application, comprising step S201, step S202 and step S203. Among them:

[0061] Step S201: Obtain the load information of the vehicles in the moving queue and the value information of the transported goods.

[0062] In a possible implementation, the load information is obtained through periodic measurement of a weight sensor installed on the vehicle, and the measurement period of the load sensor is associated with the stopover of the vehicle.

[0063] In the embodiment of the present application, when measuring the load information of the vehicle, a high-precision load sensor can be installed on the suspension system or chassis of the vehicle to measure and record the load of the vehicle in real time. Or the load measurement cycle is set to be associated with the vehicle's stopover, and a measurement is performed every time the vehicle arrives at a stopover and the vehicle completes loading or unloading of goods. Or the load sensor measures the load based on the interaction with the ECU on the vehicle side (at this time, the ECU instructs the ECU to control the load sensor to measure the weight according to the instructions of the cloud network platform). Or when the vehicle passes through the stopover, the device synchronizes the load information to the roadside unit RSU in real time, and the roadside unit uploads the vehicle's load to the cloud network vehicle queue. When the load information is obtained in this way, the number of communication channels established by the vehicle can be reduced, because the vehicle is in real time communicating with the roadside RSU during driving. When the load information is uploaded to the RSU, there is no need to re-establish a communication channel with the load measurement device, which can greatly reduce the communication pressure of the vehicle.

[0064] In an embodiment of the present application, a possible implementation method is that the value information of the goods can be determined based on the insured price provided by the truck. If the insured price is high, it is assumed that the value of the goods is more important.

[0065] Step S202: determine the speed control model of the vehicles in the queue, sort the speed control models of the vehicles in the queue according to the load information and the value information of the transported goods, and obtain a target speed control model.

[0066] In a possible implementation, the platoon vehicles include a first vehicle and a second vehicle, and the load of the first vehicle and the load of the second vehicle belong to the same load set;

[0067] The first vehicle corresponds to a first value of the transported goods, and the second vehicle corresponds to a second value of the transported goods;

[0068] Determining that the speed control model of the first vehicle is a first speed control model, and the speed control model of the second vehicle is a second control model;

[0069] When the first value is greater than the second value, the first speed control model is the target speed control model;

[0070] When the first value is smaller than the second value, the second speed control model is the target speed control model.

[0071] In the embodiment of the present application, the load of the first vehicle and the load of the second vehicle belong to the same load set, that is, before forming a team, each vehicle in the team reports weight information to the cloud network to form different load sets, and only vehicles in the same load set can form a team. One possible way is to assume that the weight reported by the first vehicle is 2 tons, then according to the load threshold of 0.5 tons, the generated set is {1.5 tons,...,2.5 tons}, and the second vehicle can only form a driving team when the load is between 1.5 tons and 2.5 tons, that is, when the load of the first vehicle and the load of the second vehicle belong to the same load set.

[0072] In a possible implementation, the load of the first vehicle and the load of the second vehicle belong to the same load set, including:

[0073] The load of the first vehicle and the load of the second vehicle satisfy the conditions for platoon travel.

[0074] In the embodiment of the present application, the vehicle dynamics model can be established in the following manner: based on vehicle parameters, different vehicle loads and physical principles, a vehicle dynamics model is established. This model can simulate key variables of the vehicle motion state under different loads, such as position, speed, acceleration, front wheel angle and other dynamic behaviors.

[0075] Exemplarily, the model is built through the following steps: Determine vehicle parameters: including the overall size, mass, center of mass position, moment of inertia, etc. of the vehicle.

[0076] (1) Establishing state-space equations: The state-space equations describing the motion of the vehicle are established through mathematical modeling methods, such as Newton's second law and the law of conservation of momentum. The state-space equations include state variables such as position, velocity, acceleration, and control inputs (such as acceleration, steering angle, etc.).

[0077] (2) Considering external factors: During the modeling process, it is also necessary to consider the impact of external factors on vehicle motion, such as road friction, wind resistance, braking force, etc. These factors can be estimated through experimental measurements or empirical formulas and incorporated into the dynamic model.

[0078] (3) Verification and debugging: After the dynamic model is established, verification and debugging are required to ensure the accuracy and reliability of the model. This can be achieved by conducting comparative tests with actual vehicles or by using simulation software (such as CarSim, TruckSim, etc.) for simulation testing.

[0079] Based on the dynamic parameters such as position, speed, acceleration, front wheel angle, etc. obtained by vehicle dynamics modeling under different loads, a speed control model is established, which can predict the acceleration and deceleration performance of the vehicle under different loads. Including:

[0080] Acceleration calculation: Consider factors such as engine output, transmission system efficiency, and friction between tires and the ground to calculate the maximum acceleration of the vehicle under different loads.

[0081] Braking distance calculation: Also taking into account the vehicle mass and tire parameters, estimate the braking distance of the vehicle at different speeds.

[0082] Braking performance evaluation: Evaluate the braking distance and deceleration of the vehicle at different speeds based on the vehicle mass, the friction coefficient between the tire and the ground, and the performance of the braking system.

[0083] Road condition adaptability: Consider the impact of road condition changes (such as ramps and curves) on vehicle speed control, and adjust the speed control model to adapt to different road conditions.

[0084] The cloud obtains the parameters of vehicles with different loads and generates different speed control models. Alternatively, the vehicle generates its own applicable speed model and reports it to the cloud.

[0085] In a possible implementation, the speed control models of the vehicles in the queue are sorted to obtain a target speed control model, including: in the process of driving a multi-vehicle queue, the speed control models of different vehicles are sorted according to the load and importance of the vehicle (such as the value of the transported goods), and the priority is determined, and the speed stability of important or difficult-to-control vehicles is given priority, that is, the speed control model of the vehicle is selected as the control model of the entire queue. In a possible implementation, in the process of driving a multi-vehicle queue, the speed setting is dynamically adjusted according to the real-time road conditions and vehicle status (such as load changes). In a possible implementation, in the process of driving a multi-vehicle queue, if the pilot vehicle (head vehicle) is a new energy vehicle, the remaining power of the pilot vehicle is detected in real time, and when it is predicted that the power is insufficient to reach the destination, an alarm is issued so as to switch other vehicles to the pilot vehicle in time to ensure that other vehicles travel in the normal formation. Or, when a multi-vehicle formation is formed, the remaining power of each vehicle is considered as whether it meets the conditions of the head vehicle.

[0086] Step S203: Control the travel speed of the vehicles in the queue according to the target speed control model.

[0087] In a possible implementation, when the first speed model is the target speed model and the first vehicle is a pilot vehicle;

[0088] The platoon of vehicles further includes a third vehicle, and the driving distance between the first vehicle and the second vehicle is controlled to be a first distance, and the driving distance between the second vehicle and the third vehicle is controlled to be a second distance according to the first speed model;

[0089] The first interval is greater than the second interval.

[0090] In a possible implementation, the method further includes: determining the pilot vehicle according to the load information and the value information of the transported goods;

[0091] When the platoon vehicles pass through a first waypoint, if the first value corresponding to the first vehicle is greater than the second value corresponding to the second vehicle, the first vehicle is determined to be a leading vehicle;

[0092] When the platoon vehicles pass through a second waypoint, if the first value corresponding to the first vehicle is less than the second value corresponding to the second vehicle, the second vehicle is determined to be the lead vehicle.

[0093] In the embodiment of the present application, it is assumed that there are three vehicles in the platoon, including the first vehicle, the second vehicle and the third vehicle. The speed model determined according to the information of the first vehicle is the first speed model, the speed model determined according to the information of the second vehicle is the second speed model, and the speed model determined according to the information of the third vehicle is the third speed model. When the weights of the three vehicles are the same, the speed model is selected according to the value of the vehicle cargo. Assuming that the cargo value of the first vehicle is the highest, the control model used by the platoon vehicles is determined to be the first speed model. When the weights of the three vehicles are different, and the weight of the first vehicle is greater than the weight of the second vehicle, and the weight of the second vehicle is greater than the weight of the third vehicle, when the cargo value of the first vehicle is the highest, the first speed model of the first vehicle is determined to be the control model for the platoon travel. When the cargo value of the second vehicle is the highest, the cargo value and the weight information of the vehicle are weighted for safety, and the weighted safety result is determined. The target speed control model is determined according to the indication of the safety result.

[0094] It can be understood that the safety of the cargo value and the weight information of the vehicle is weighted to determine the weighted safety result. Assuming that the weight information of the vehicle is X, the value of the cargo in the vehicle is Y, the weighting coefficient of the weight information is a, and the weighting coefficient of the cargo value is b, the weighted result Z is:

[0095] Z=aX+bY

[0096] In summary, in the embodiment of the present application, based on the load and value information of the transported goods of any vehicle in the queue, the speed control models of the vehicles are sorted to obtain a target control speed model for controlling the travel of the queue, which can improve the safety and stability of the travel of the vehicles in the queue.

[0097] Figure 3 A coordinated control device for load-carrying platoon vehicles provided in an embodiment of the present application includes:

[0098] An acquisition module 301 is used to acquire the load information of the vehicles in the moving queue and the value information of the transported goods;

[0099] A determination module 302 is used to determine the speed control model of the vehicles in the queue, and sort the speed control models of the vehicles in the queue according to the load information and the value information of the transported goods to obtain a target speed control model;

[0100] The control module 303 is used to control the driving speed of the vehicles in the queue according to the target speed control model.

[0101] In a possible implementation, the platoon vehicles include a first vehicle and a second vehicle, and the load of the first vehicle and the load of the second vehicle belong to the same load set;

[0102] The first vehicle corresponds to a first value of the transported goods, and the second vehicle corresponds to a second value of the transported goods;

[0103] The determining module is used to determine that the speed control model of the first vehicle is a first speed control model, and the speed control model of the second vehicle is a second control model;

[0104] When the first value is greater than the second value, the first speed control model is the target speed control model;

[0105] When the first value is smaller than the second value, the second speed control model is the target speed control model.

[0106] In a possible implementation, when the first speed model is the target speed model and the first vehicle is a pilot vehicle;

[0107] The platoon of vehicles further includes a third vehicle, and the driving distance between the first vehicle and the second vehicle is controlled to be a first distance, and the driving distance between the second vehicle and the third vehicle is controlled to be a second distance according to the first speed model;

[0108] The first interval is greater than the second interval.

[0109] In a possible implementation, the determination module is further used to: determine the pilot vehicle according to the load information and the value information of the transported goods;

[0110] When the platoon vehicles pass through a first waypoint, if the first value corresponding to the first vehicle is greater than the second value corresponding to the second vehicle, the first vehicle is determined to be a leading vehicle;

[0111] When the platoon vehicles pass through a second waypoint, if the first value corresponding to the first vehicle is less than the second value corresponding to the second vehicle, the second vehicle is determined to be the lead vehicle.

[0112] In a possible implementation, the load of the first vehicle and the load of the second vehicle belong to the same load set, including:

[0113] The load of the first vehicle and the load of the second vehicle satisfy the conditions for platoon travel.

[0114] In a possible implementation, the load information is obtained through periodic measurement of a weight sensor installed on the vehicle, and the measurement period of the load sensor is associated with the stopover of the vehicle.

[0115] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the electronic device 400 includes: a memory 410 and a processor 420 .

[0116] The memory 410 stores a computer program that can be executed by at least one processor 420. The computer program is executed by at least one processor 420 to enable the electronic device to implement the method provided in any of the above embodiments.

[0117] The memory 410 and the processor 420 may be connected via a bus 430 .

[0118] 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.

[0119] 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 Figure 2 The method provided in any corresponding embodiment.

[0120] 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.

[0121] 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: Figure 2 The method provided in any corresponding embodiment.

[0122] 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.

[0123] 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.

[0124] It should be understood 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 cooperative control of loaded platoon vehicles, characterized in that: include: Obtain the load information of the vehicles in the moving queue and the value of the transported goods; Determining the speed control model of the vehicles in the queue, and sorting the speed control models of the vehicles in the queue according to the load information and the value information of the transported goods to obtain a target speed control model; The traveling speed of the vehicles in the queue is controlled according to the target speed control model.

2. The method according to claim 1, characterized in that The platoon vehicles include a first vehicle and a second vehicle, and the load of the first vehicle and the load of the second vehicle belong to the same load set; The first vehicle corresponds to a first value of the transported goods, and the second vehicle corresponds to a second value of the transported goods; Determining that the speed control model of the first vehicle is a first speed control model, and the speed control model of the second vehicle is a second control model; When the first value is greater than the second value, the first speed control model is the target speed control model; When the first value is smaller than the second value, the second speed control model is the target speed control model.

3. The method according to claim 2, characterized in that When the first speed model is the target speed model and the first vehicle is a pilot vehicle; The platoon of vehicles further includes a third vehicle, and the driving distance between the first vehicle and the second vehicle is controlled to be a first distance, and the driving distance between the second vehicle and the third vehicle is controlled to be a second distance according to the first speed model; The first interval is greater than the second interval.

4. The method according to claim 2, characterized in that: The method further includes: determining the pilot vehicle according to the load information and the value information of the transported goods; When the platoon vehicles pass through a first waypoint, if the first value corresponding to the first vehicle is greater than the second value corresponding to the second vehicle, the first vehicle is determined to be a leading vehicle; When the platoon vehicles pass through a second waypoint, if the first value corresponding to the first vehicle is less than the second value corresponding to the second vehicle, the second vehicle is determined to be the lead vehicle.

5. The method according to any one of claims 2 to 4, wherein the load of the first vehicle and the load of the second vehicle belong to the same load set, comprising: The load of the first vehicle and the load of the second vehicle satisfy the conditions for platoon travel.

6. The method according to any one of claims 1 to 5, characterized in that: The load information is obtained by periodically measuring a weight sensor installed on the vehicle, and a period of measurement of the load sensor is associated with a stopover of the vehicle.

7. A coordinated control device for load-carrying platoon vehicles, characterized in that: include: An acquisition module is used to acquire the load information of the vehicles in the moving queue and the value information of the transported goods; a determination module, configured to determine a speed control model of the vehicles in the queue, and to sort the speed control models of the vehicles in the queue according to the load information and the value information of the transported goods, so as to obtain a target speed control model; A control module is used to control the travel speed of the vehicles in the queue according to the target speed control model.

8. 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 claimed in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising computer executable instructions, characterized in that: When the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 6.

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