Load-carrying vehicle queue control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a load-carrying vehicle queue control method and device, electronic equipment and a storage medium, can be applied to business scenes such as ports, ports, road freight, urban distribution, mines and airports, and comprises the steps that a vehicle queue is determined, and the vehicle queue comprises a first vehicle and a second vehicle; receiving first queue control strategy information, wherein the first queue control strategy information is generated based on the load information of the first vehicle and the second vehicle; and controlling the vehicle queue to run according to the first queue control strategy information. During queue control, the weight information is taken as a consideration variable, a dynamic control strategy is generated, and the safety of queue vehicle operation is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of autonomous driving technology, and in particular to a method, device, electronic device and storage medium for controlling a fleet of heavy-duty vehicles. Background Art

[0002] A platoon is a series of vehicles traveling in a longitudinal queue. For a self-driving truck platoon 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 when running at high speeds, achieving a good energy-saving and emission-reduction effect. However, when platoon vehicles are driving, controlling the smooth operation of different vehicles is a complex problem involving multiple factors, especially in self-driving or fleet management, which will directly affect the vehicle's acceleration ability, braking distance and steering stability.

[0003] Therefore, how to determine the control strategy of the queue so that the vehicles in the queue can run smoothly is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a method, device, electronic device and storage medium for controlling a heavy-duty vehicle queue. When controlling the queue, weight information is used as a consideration variable to generate a dynamic control strategy, which helps to improve the safety of the operation of the queue vehicles.

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

[0006] determining a vehicle train, the vehicle train comprising a first vehicle and a second vehicle;

[0007] Receiving first queue control strategy information, where the first queue control strategy information is generated based on load information of the first vehicle and the second vehicle;

[0008] The vehicle queue is controlled to travel according to the first queue control strategy information.

[0009] In a possible implementation, the first queue control strategy information is generated based on load information of the first vehicle and the second vehicle, and includes:

[0010] When the load of the first vehicle is greater than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the first vehicle, and the first vehicle is determined to be a leading vehicle; or,

[0011] When the load of the first vehicle is less than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the second vehicle, and the second vehicle is determined to be a lead vehicle; or,

[0012] The load information of the first vehicle and the second vehicle is calculated, and an average load value is taken. The first queue control strategy information is generated according to the average load value, and a vehicle whose load indicated by the load information is close to the average load value is determined as a leading vehicle.

[0013] In a possible implementation, the method further includes:

[0014] When the first vehicle is a pilot vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then determining whether the load information after the change satisfies a generation condition of the first queue control information;

[0015] If not, second queue control information generated according to the changed load information is received, and the second queue control information is used to control the travel of the vehicle queue.

[0016] In a possible implementation, the method further includes:

[0017] When the first vehicle is a pilot vehicle and passes through a first waypoint, the load of the vehicles in the platoon changes, and then it is determined whether a change rate of the load information after the change satisfies a generation condition of the first platoon control information;

[0018] If not, second queue control information generated according to the changed load information is received, and the second queue control information is used to control the travel of the vehicle queue.

[0019] In a possible implementation, the method further includes:

[0020] When the first vehicle is a lead vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then it is determined whether the load information of the first vehicle and the second vehicle meets the conditions for platoon driving;

[0021] If not met, the vehicle queue will be disbanded; or the freight party will be prompted to increase or decrease the load capacity of the vehicle.

[0022] In a possible implementation, the determining whether the load information of the first vehicle and the second vehicle meets the conditions for platoon travel includes:

[0023] Determine a load change rate of a single vehicle according to the load information of the first vehicle or the second vehicle at the starting point and the load information when passing through the first waypoint;

[0024] When the load change rate is less than a threshold value, the conditions for platoon driving are met;

[0025] When the load change rate is greater than the threshold, the conditions for platoon driving are not met.

[0026] In a second aspect, an embodiment of the present application provides a method for controlling a heavy-duty vehicle queue, comprising:

[0027] Acquire information to determine a vehicle queue, the vehicle queue comprising a first vehicle and a second vehicle;

[0028] generating first platoon control strategy information according to the load information of the first vehicle and the second vehicle;

[0029] Sending first queue control strategy information, where the first queue control strategy information is used to control the travel of the vehicle queue.

[0030] In a possible implementation, generating first queue control strategy information according to the load information of the first vehicle and the second vehicle includes:

[0031] When the load of the first vehicle is greater than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the first vehicle, and the first vehicle is determined to be a leading vehicle; or,

[0032] When the load of the first vehicle is less than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the second vehicle, and the second vehicle is determined to be a lead vehicle; or,

[0033] The load information of the first vehicle and the second vehicle is calculated, and an average load value is taken. The first queue control strategy information is generated according to the average load value, and a vehicle whose load indicated by the load information is close to the average load value is determined as a leading vehicle.

[0034] In a possible implementation, the method further includes:

[0035] When the first vehicle is a pilot vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then determining whether the load information after the change satisfies a generation condition of the first queue control information;

[0036] If not, second queue control information generated according to the changed load information is sent, and the second queue control information is used to control the travel of the vehicle queue.

[0037] In a possible implementation, the method further includes:

[0038] When the first vehicle is a pilot vehicle and passes through a first waypoint, the load of the vehicles in the platoon changes, and then it is determined whether a change rate of the load information after the change satisfies a generation condition of the first platoon control information;

[0039] If not, second queue control information generated according to the changed load information is sent, and the second queue control information is used to control the travel of the vehicle queue.

[0040] In a possible implementation, the method further includes:

[0041] When the first vehicle is a lead vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then it is determined whether the load information of the first vehicle and the second vehicle meets the conditions for platoon driving;

[0042] If not, an instruction to disband the vehicle queue is sent; or the freight forwarder is prompted to increase or decrease the vehicle's load capacity.

[0043] In a possible implementation, the determining whether the load information of the first vehicle and the second vehicle meets the conditions for platoon travel includes:

[0044] Determine a load change rate of a single vehicle according to the load information of the first vehicle or the second vehicle at the starting point and the load information when passing through the first waypoint;

[0045] When the load change rate is less than a threshold value, the conditions for platoon driving are met;

[0046] When the load change rate is greater than the threshold, the conditions for platoon driving are not met.

[0047] In a third aspect, an embodiment of the present application provides a load-carrying vehicle queue control device, comprising:

[0048] a determining unit, configured to determine a vehicle queue, wherein the vehicle queue includes a first vehicle and a second vehicle;

[0049] A receiving unit, configured to receive first queue control strategy information, where the first queue control strategy information is generated based on load information of the first vehicle and the second vehicle;

[0050] A control unit is used to control the vehicle queue to travel according to the first queue control strategy information.

[0051] In a possible implementation manner, the determining unit is configured to:

[0052] When the load of the first vehicle is greater than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the first vehicle, and the first vehicle is determined to be a leading vehicle; or,

[0053] When the load of the first vehicle is less than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the second vehicle, and the second vehicle is determined to be a lead vehicle; or,

[0054] The load information of the first vehicle and the second vehicle is calculated, and an average load value is taken. The first queue control strategy information is generated according to the average load value, and a vehicle whose load indicated by the load information is close to the average load value is determined as a leading vehicle.

[0055] In a possible implementation, the control unit is further configured to:

[0056] When the first vehicle is a pilot vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then determining whether the load information after the change satisfies a generation condition of the first queue control information;

[0057] If not, second queue control information generated according to the changed load information is received, and the second queue control information is used to control the travel of the vehicle queue.

[0058] In a possible implementation, the control unit is further configured to:

[0059] When the first vehicle is a pilot vehicle and passes through a first waypoint, the load of the vehicles in the platoon changes, and then it is determined whether a change rate of the load information after the change satisfies a generation condition of the first platoon control information;

[0060] If not, second queue control information generated according to the changed load information is received, and the second queue control information is used to control the travel of the vehicle queue.

[0061] In a possible implementation, the control unit is further configured to:

[0062] When the first vehicle is a lead vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then it is determined whether the load information of the first vehicle and the second vehicle meets the conditions for platoon driving;

[0063] If not met, the vehicle queue will be disbanded; or the freight party will be prompted to increase or decrease the load capacity of the vehicle.

[0064] In a possible implementation manner, the device further includes a determining unit, configured to:

[0065] Determine a load change rate of a single vehicle according to the load information of the first vehicle or the second vehicle at the starting point and the load information when passing through the first waypoint;

[0066] When the load change rate is less than a threshold value, the conditions for platoon driving are met;

[0067] When the load change rate is greater than the threshold, the conditions for platoon driving are not met.

[0068] In a fourth aspect, an embodiment of the present application provides a load-carrying vehicle queue control device, comprising:

[0069] an acquisition unit, configured to acquire information for determining a vehicle queue, wherein the vehicle queue includes a first vehicle and a second vehicle;

[0070] a generating unit, configured to generate first queue control strategy information according to load information of the first vehicle and the second vehicle;

[0071] The sending unit is used to send first queue control strategy information, where the first queue control strategy information is used to control the travel of the vehicle queue.

[0072] In a possible implementation manner, the generating unit is used to:

[0073] When the load of the first vehicle is greater than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the first vehicle, and the first vehicle is determined to be a leading vehicle; or,

[0074] When the load of the first vehicle is less than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the second vehicle, and the second vehicle is determined to be a lead vehicle; or,

[0075] The load information of the first vehicle and the second vehicle is calculated, and an average load value is taken. The first queue control strategy information is generated according to the average load value, and a vehicle whose load indicated by the load information is close to the average load value is determined as a leading vehicle.

[0076] In a possible implementation, the generating unit is further configured to:

[0077] When the first vehicle is a pilot vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then determining whether the load information after the change satisfies a generation condition of the first queue control information;

[0078] If not, second queue control information generated according to the changed load information is sent, and the second queue control information is used to control the travel of the vehicle queue.

[0079] In a possible implementation, the generating unit is further configured to:

[0080] When the first vehicle is a pilot vehicle and passes through a first waypoint, the load of the vehicles in the platoon changes, and then it is determined whether a change rate of the load information after the change satisfies a generation condition of the first platoon control information;

[0081] If not, second queue control information generated according to the changed load information is sent, and the second queue control information is used to control the travel of the vehicle queue.

[0082] In a possible implementation manner, the device further includes a determining unit, configured to:

[0083] When the first vehicle is a lead vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then it is determined whether the load information of the first vehicle and the second vehicle meets the conditions for platoon driving;

[0084] If not, an instruction to disband the vehicle queue is sent; or the freight forwarder is prompted to increase or decrease the vehicle's load capacity.

[0085] In a possible implementation manner, the device further includes a determining unit, configured to:

[0086] Determine a load change rate of a single vehicle according to the load information of the first vehicle or the second vehicle at the starting point and the load information when passing through the first waypoint;

[0087] When the load change rate is less than a threshold value, the conditions for platoon driving are met;

[0088] When the load change rate is greater than the threshold, the conditions for platoon driving are not met.

[0089] In a fifth aspect, an embodiment of the present application further provides an electronic device, the electronic device comprising:

[0090] at least one processor;

[0091] and a memory communicatively coupled to the at least one processor;

[0092] 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.

[0093] In a sixth 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.

[0094] In a seventh 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.

[0095] In summary, the load-carrying vehicle queue control method provided in the embodiment of the present application uses weight information as a consideration variable during queue control to generate a dynamic control strategy, which helps to improve the safety of queue vehicle operation. Judging whether the control strategy has changed by the overall weight change of the vehicle queue helps to ensure the optimal control strategy in real time during cargo transportation. Judging whether to change the control strategy by the change in the load weight of a single vehicle makes the control during the queue more refined and the granularity small, which helps to achieve precise control and improve the safety and stability of the overall operation of the vehicle queue. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] 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.

[0097] 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.

[0098] Figure 1 A schematic diagram of the interaction between the platoon vehicles and the cloud network provided in an embodiment of the present application;

[0099] Figure 2 A schematic flow chart of a method for controlling a heavy-duty vehicle queue provided in an embodiment of the present application;

[0100] Figure 3 A schematic flow chart of a method for controlling a heavy-duty vehicle queue provided in an embodiment of the present application;

[0101] Figure 4 A schematic diagram of a load-carrying vehicle queue control device provided in an embodiment of the present application;

[0102] Figure 5 A schematic diagram of a load-carrying vehicle queue control device provided in an embodiment of the present application;

[0103] Figure 6A schematic diagram of an electronic device for controlling a heavy-duty vehicle queue provided in an embodiment of the present application. DETAILED DESCRIPTION

[0104] 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.

[0105] 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.

[0106] 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.

[0107] Platoon vehicles are often the most widely used in the logistics and transportation industry, mainly for transporting goods. However, during the transportation process, they may pass through different cargo stations. Due to different cargo types and transportation requirements, the load of the platoon vehicles may change. At this time, we need to adjust the control strategy of the platoon vehicles to better ensure driving safety.

[0108] Figure 1 A schematic diagram of the interaction between the platoon vehicles and the cloud network provided in the embodiment of the present application. Figure 1 In the example, a platoon of 3 vehicles is used. At the departure point, trucks with loads of 1 to 3 are successfully platooned according to the platooning conditions. The conditions for successful platooning mainly consider:

[0109] (1) Single vehicle load capacity;

[0110] (2) Meet the vehicle load threshold of the platoon (that is, when a vehicle initiates a platoon on the platform, the weight of the vehicle's cargo will be estimated, and based on this weight, a load threshold will be set. Vehicles that meet the platoon load threshold can apply to join. This is done to better ensure driving safety and take into account cost reduction and growth);

[0111] (3) Optional, communication network stability during the entire driving process. This can be obtained through historical driving big data, with priority given to the communication stability of vehicles of the same model. If there are no vehicles of the same model, the communication conditions of other models of vehicles can also be considered, and the communication stability during the driving process of the formation can be estimated based on the historical communication conditions of other vehicles. It mainly refers to the continuous values ​​such as the communication success rate or signal strength of other vehicles in history.

[0112] (4) Vehicle-to-vehicle communication fluency. In the initial stage of the formation, the vehicle-to-vehicle communication fluency is tested. After the formation of the queue at the starting point, the three vehicles send a driving request to the cloud. The cloud network receives the request and generates the first queue control strategy based on the request and the weight information of each vehicle in the queue. The cloud network sends the first queue control strategy, including the vehicle's speed, acceleration, lateral control strategy, longitudinal control strategy and other information. The vehicles in the queue drive based on the control strategy.

[0113] When the vehicle reaches waypoint 1, assuming that the load 1-3 becomes the load 4-6, at this time, in order to better ensure vehicle safety, the queue control strategy also needs to change.

[0114] That is, after the load becomes 4-6, the weight change information is sent to the cloud network, and the cloud network determines whether the control strategy of the platoon vehicle needs to be changed based on the reported load information if the load between the platoon vehicles meets the conditions for platoon operation. If so, a second control strategy is generated based on the load information. After receiving the second control strategy, the platoon vehicle controls the vehicle to continue driving based on the control strategy. If the difference between the loads 4-6 is large and it is not possible to safely control the vehicle to continue driving, it is determined that it does not meet the conditions for continuing platoon driving, and the platoon is disbanded. Or the weight change between the vehicles is notified to change to meet the conditions for normal platoon driving.

[0115] exist 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.

[0116] 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.).

[0117] Figure 2 A flow chart of a method for controlling a heavy-duty vehicle platoon is provided in an embodiment of the present application. When controlling a platoon, weight information is used as a variable to generate a dynamic control strategy, which helps to improve the safety of platoon vehicle operation. Figure 2 Step S201, step S202 and step S203 included in the embodiment are described in detail.

[0118] Step S201: Determine a vehicle queue, where the vehicle queue includes a first vehicle and a second vehicle.

[0119] It can be understood that in the embodiment of the present application, the first vehicle and the second vehicle are vehicles in a queue. The first vehicle may include multiple vehicles, and the second vehicle may also include multiple vehicles. Before the vehicles travel in a platoon, they need to form a free platoon on the cloud platform. After the vehicle queue is formed, it is necessary to control the vehicle queue. In previous patents, we usually consider factors such as distance and vehicle type, and do not consider the vehicle load. Therefore, this patent intervenes in the control strategy after the vehicle queue is formed in combination with the load, which can improve the stability of the platoon operation and make the vehicle queue travel safer and more efficient.

[0120] Step S202: Receive first queue control strategy information, where the first queue control strategy information is generated based on load information of the first vehicle and the second vehicle.

[0121] In a possible implementation, the first queue control strategy information is generated based on load information of the first vehicle and the second vehicle, and includes:

[0122] When the load of the first vehicle is greater than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the first vehicle, and the first vehicle is determined to be a leading vehicle; or,

[0123] When the load of the first vehicle is less than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the second vehicle, and the second vehicle is determined to be a lead vehicle; or,

[0124] The load information of the first vehicle and the second vehicle is calculated, and an average load value is taken. The first queue control strategy information is generated according to the average load value, and a vehicle whose load indicated by the load information is close to the average load value is determined as a leading vehicle.

[0125] It is understandable that after the formation of the queue, the overall control strategy information of the pilot vehicle and the queue needs to be determined. One way is to compare the load information of the vehicles in the queue. During the comparison process, it can be completed between the vehicles in the queue, or the vehicles in the queue can report the information to the cloud network. The cloud network sends the compared information to the vehicles in the queue and generates the first queue control information based on the load information. If the cloud network generates the first queue control information based on the load of the first vehicle, the first vehicle is the pilot vehicle of the queue vehicles, and vice versa, the second vehicle is the pilot vehicle of the queue vehicles. When the average load information of the first vehicle and the second vehicle is taken, the pilot vehicle is determined based on which load information is close to the average load information according to the load information currently reported by the first vehicle or the second vehicle, and the vehicle corresponding to the close load information is used.

[0126] It can be understood that when generating the first queue control strategy information according to the load information of the platoon vehicles, whether the first queue control strategy information is generated according to the load information of a single vehicle or according to the load information of the entire platoon of vehicles, the load used is set with a threshold. For example, if the load used is 2 tons and the threshold is 0.2, then the weight information between the interval {1.8, 2.2} can be used to generate the first queue control strategy information. The advantage of this is that when the platoon vehicles pass through different waypoints, the load will change. If it is within the change interval, the first queue control strategy information is still used; if it is outside the change interval, the second queue control strategy information is regenerated according to the following scheme.

[0127] In a possible implementation, the method further includes: when the first vehicle is a pilot vehicle and passes through a first waypoint, if the loads of the first vehicle and the second vehicle change, determining whether the load information after the change meets a generation condition of the first queue control information;

[0128] If not, second queue control information generated according to the changed load information is received, and the second queue control information is used to control the travel of the vehicle queue.

[0129] It is understandable that during the operation of the platoon vehicles, multiple waypoints will be passed, including the first waypoint. When passing the waypoints, the load of the first vehicle or the second vehicle will change. If the change range exceeds the load range corresponding to the generation of the first platoon control strategy information, a request is made to the cloud to regenerate the second platoon control strategy information.

[0130] In a possible implementation, the method further includes: when the first vehicle is a pilot vehicle and passes through a first waypoint, the load of the vehicles in the queue changes, and then determining whether a change rate of the load information after the change satisfies a generation condition of the first queue control information;

[0131] If not, second queue control information generated according to the changed load information is received, and the second queue control information is used to control the travel of the vehicle queue.

[0132] It is understandable that during the operation of the platoon vehicles, they will pass through multiple waypoints, including the first waypoint. When passing through the waypoints, the load of the platoon vehicles will change. If the change range exceeds the load range corresponding to the generation of the first platoon control strategy information, a request is made to the cloud to regenerate the second platoon control strategy information.

[0133] It can be understood that in the embodiment of the present application, the queue vehicles can also report load information, and the cloud network pre-stores a table of queue control strategy information. The table is searched according to the load information, and the load control strategy information is directly issued. This helps to reduce computing power and improve resource utilization.

[0134] Step S203: Control the vehicle queue to travel according to the first queue control strategy information.

[0135] In a possible implementation, the method further includes: when the first vehicle is a lead vehicle and passes through a first waypoint, if the loads of the first vehicle and the second vehicle change, determining whether the load information of the first vehicle and the second vehicle meets the conditions for platoon travel;

[0136] If not met, the vehicle queue will be disbanded; or the freight party will be prompted to increase or decrease the load capacity of the vehicle.

[0137] It is understandable that in the embodiment of the present application, when the load of the first vehicle or the second vehicle changes greatly, it is more dangerous to continue driving at this time. For example, when passing the first waypoint, all the goods of the first vehicle are unloaded, and the goods of the second vehicle remain unchanged. At this time, it is obviously inappropriate to use the first queue control strategy information generated according to the first vehicle. At this time, the second queue control strategy information is generated according to the second vehicle information, and the second vehicle is determined to be the leading vehicle. It is also possible to decide to disband the queue as needed.

[0138] In a possible implementation, the determining whether the load information of the first vehicle and the second vehicle meets the conditions for platooning includes: determining a load change rate of a single vehicle according to the load information of the first vehicle or the second vehicle at a starting point and the load information when passing through the first waypoint;

[0139] When the load change rate is less than a threshold value, the conditions for platoon driving are met;

[0140] When the load change rate is greater than the threshold, the conditions for platoon driving are not met.

[0141] It is understandable that in the embodiment of the present application, the change rate of the load of a single vehicle can be determined when passing through a waypoint. If the change rate is large and greater than a preset threshold, it is determined that the conditions for continuing to travel in a queue are not met. If the change rate is less than a preset threshold, it is determined that the conditions for continuing to travel in a queue are met.

[0142] Similarly, the change rate of the overall load of the queue can be determined at the waypoint. If the change rate is large and greater than a preset threshold, it is determined that the conditions for continuing the queue are not met. If the change rate is less than the preset threshold, it is determined that the conditions for continuing the queue are met.

[0143] Figure 3 A flow chart of a method for controlling a heavy-duty vehicle queue provided in an embodiment of the present application. Figure 3 The process includes step S301, step S302 and step S303. Each step is described in detail as follows.

[0144] Step S301: Acquire information to determine a vehicle queue, where the vehicle queue includes a first vehicle and a second vehicle.

[0145] Step S302: Generate first queue control strategy information according to the load information of the first vehicle and the second vehicle.

[0146] In a possible implementation, generating first queue control strategy information according to the load information of the first vehicle and the second vehicle includes:

[0147] When the load of the first vehicle is greater than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the first vehicle, and the first vehicle is determined to be a leading vehicle; or,

[0148] When the load of the first vehicle is less than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the second vehicle, and the second vehicle is determined to be a lead vehicle; or,

[0149] The load information of the first vehicle and the second vehicle is calculated, and an average load value is taken. The first queue control strategy information is generated according to the average load value, and a vehicle whose load indicated by the load information is close to the average load value is determined as a leading vehicle.

[0150] In a possible implementation, the method further includes:

[0151] When the first vehicle is a pilot vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then determining whether the load information after the change satisfies a generation condition of the first queue control information;

[0152] If not, second queue control information generated according to the changed load information is sent, and the second queue control information is used to control the travel of the vehicle queue.

[0153] In a possible implementation, the method further includes:

[0154] When the first vehicle is a pilot vehicle and passes through a first waypoint, the load of the vehicles in the platoon changes, and then it is determined whether a change rate of the load information after the change satisfies a generation condition of the first platoon control information;

[0155] If not, second queue control information generated according to the changed load information is sent, and the second queue control information is used to control the travel of the vehicle queue.

[0156] Step S303: Send first queue control strategy information, where the first queue control strategy information is used to control the travel of the vehicle queue.

[0157] In a possible implementation, the method further includes:

[0158] When the first vehicle is a lead vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then it is determined whether the load information of the first vehicle and the second vehicle meets the conditions for platoon driving;

[0159] If not, an instruction to disband the vehicle queue is sent; or the freight forwarder is prompted to increase or decrease the vehicle's load capacity.

[0160] In a possible implementation, the determining whether the load information of the first vehicle and the second vehicle meets the conditions for platoon travel includes:

[0161] Determine a load change rate of a single vehicle according to the load information of the first vehicle or the second vehicle at the starting point and the load information when passing through the first waypoint;

[0162] When the load change rate is less than a threshold value, the conditions for platoon driving are met;

[0163] When the load change rate is greater than the threshold, the conditions for platoon driving are not met.

[0164] For more details, please refer to Figure 2 Embodiment: The embodiments of the present application will not be described in detail here.

[0165] In summary, the load-carrying vehicle queue control method provided in the embodiment of the present application uses weight information as a consideration variable during queue control to generate a dynamic control strategy, which helps to improve the safety of queue vehicle operation. Judging whether the control strategy has changed by the overall weight change of the vehicle queue helps to ensure the optimal control strategy in real time during cargo transportation. Judging whether to change the control strategy by the change in the load weight of a single vehicle makes the control during the queue more refined and the granularity small, which helps to achieve precise control and improve the safety and stability of the overall operation of the vehicle queue.

[0166] Figure 4 A schematic diagram of a load vehicle queue control device provided in an embodiment of the present application. It includes a determination unit 401, a receiving unit 402 and a control unit 403. Among them:

[0167] A determining unit 401 is used to determine a vehicle queue, where the vehicle queue includes a first vehicle and a second vehicle;

[0168] A receiving unit 402 is configured to receive first queue control strategy information, where the first queue control strategy information is generated based on load information of the first vehicle and the second vehicle;

[0169] The control unit 403 is used to control the vehicle queue to travel according to the first queue control strategy information.

[0170] In a possible implementation manner, the determining unit is configured to:

[0171] When the load of the first vehicle is greater than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the first vehicle, and the first vehicle is determined to be a leading vehicle; or,

[0172] When the load of the first vehicle is less than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the second vehicle, and the second vehicle is determined to be a lead vehicle; or,

[0173] The load information of the first vehicle and the second vehicle is calculated, and an average load value is taken. The first queue control strategy information is generated according to the average load value, and a vehicle whose load indicated by the load information is close to the average load value is determined as a leading vehicle.

[0174] In a possible implementation, the control unit is further configured to:

[0175] When the first vehicle is a pilot vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then determining whether the load information after the change satisfies a generation condition of the first queue control information;

[0176] If not, second queue control information generated according to the changed load information is received, and the second queue control information is used to control the travel of the vehicle queue.

[0177] In a possible implementation, the control unit is further configured to:

[0178] When the first vehicle is a pilot vehicle and passes through a first waypoint, the load of the vehicles in the platoon changes, and then it is determined whether a change rate of the load information after the change satisfies a generation condition of the first platoon control information;

[0179] If not, second queue control information generated according to the changed load information is received, and the second queue control information is used to control the travel of the vehicle queue.

[0180] In a possible implementation, the control unit is further configured to:

[0181] When the first vehicle is a lead vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then it is determined whether the load information of the first vehicle and the second vehicle meets the conditions for platoon driving;

[0182] If not met, the vehicle queue will be disbanded; or the freight party will be prompted to increase or decrease the load capacity of the vehicle.

[0183] In a possible implementation manner, the device further includes a determining unit, configured to:

[0184] Determine a load change rate of a single vehicle according to the load information of the first vehicle or the second vehicle at the starting point and the load information when passing through the first waypoint;

[0185] When the load change rate is less than a threshold value, the conditions for platoon driving are met;

[0186] When the load change rate is greater than the threshold, the conditions for platoon driving are not met.

[0187] In a possible implementation manner, the device is used to implement any method in the above embodiments.

[0188] Figure 5 A schematic diagram of a load vehicle queue control device provided in an embodiment of the present application. It includes: an acquisition unit 501, a generation unit 502 and a sending unit 503. Among them:

[0189] An acquisition unit 501 is used to acquire information for determining a vehicle queue, where the vehicle queue includes a first vehicle and a second vehicle;

[0190] A generating unit 502, configured to generate first queue control strategy information according to the load information of the first vehicle and the second vehicle;

[0191] The sending unit 503 is used to send first queue control strategy information, where the first queue control strategy information is used to control the travel of the vehicle queue.

[0192] In a possible implementation manner, the generating unit is used to:

[0193] When the load of the first vehicle is greater than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the first vehicle, and the first vehicle is determined to be a leading vehicle; or,

[0194] When the load of the first vehicle is less than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the second vehicle, and the second vehicle is determined to be a lead vehicle; or,

[0195] The load information of the first vehicle and the second vehicle is calculated, and an average load value is taken. The first queue control strategy information is generated according to the average load value, and a vehicle whose load indicated by the load information is close to the average load value is determined as a leading vehicle.

[0196] In a possible implementation, the generating unit is further configured to:

[0197] When the first vehicle is a pilot vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then determining whether the load information after the change satisfies a generation condition of the first queue control information;

[0198] If not, second queue control information generated according to the changed load information is sent, and the second queue control information is used to control the travel of the vehicle queue.

[0199] In a possible implementation, the generating unit is further configured to:

[0200] When the first vehicle is a pilot vehicle and passes through a first waypoint, the load of the vehicles in the platoon changes, and then it is determined whether a change rate of the load information after the change satisfies a generation condition of the first platoon control information;

[0201] If not, second queue control information generated according to the changed load information is sent, and the second queue control information is used to control the travel of the vehicle queue.

[0202] In a possible implementation manner, the device further includes a determining unit, configured to:

[0203] When the first vehicle is a lead vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then it is determined whether the load information of the first vehicle and the second vehicle meets the conditions for platoon driving;

[0204] If not, an instruction to disband the vehicle queue is sent; or the freight forwarder is prompted to increase or decrease the vehicle's load capacity.

[0205] In a possible implementation manner, the device further includes a determining unit, configured to:

[0206] Determine a load change rate of a single vehicle according to the load information of the first vehicle or the second vehicle at the starting point and the load information when passing through the first waypoint;

[0207] When the load change rate is less than a threshold value, the conditions for platoon driving are met;

[0208] When the load change rate is greater than the threshold, the conditions for platoon driving are not met.

[0209] In a possible implementation manner, the device is used to implement any method in the above embodiments.

[0210] Figure 6 A schematic diagram of a load-carrying vehicle queue control electronic device provided in an embodiment of the present application, such as Figure 6 As shown, the electronic device 600 includes: a memory 610 and a processor 620 .

[0211] The memory 610 stores a computer program that can be executed by at least one processor 620. The computer program is executed by at least one processor 620 to enable the electronic device to implement the method provided in any of the above embodiments.

[0212] The memory 610 and the processor 620 may be connected via a bus 630 .

[0213] 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.

[0214] 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 3 The method provided in any corresponding embodiment.

[0215] 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.

[0216] 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 3 The method provided in any corresponding embodiment.

[0217] 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.

[0218] 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.

Claims

1. A method for controlling a heavy-duty vehicle queue, characterized in that: include: determining a vehicle train, the vehicle train comprising a first vehicle and a second vehicle; Receiving first queue control strategy information, where the first queue control strategy information is generated based on load information of the first vehicle and the second vehicle; The vehicle queue is controlled to travel according to the first queue control strategy information.

2. The method according to claim 1, characterized in that The first queue control strategy information is generated based on the load information of the first vehicle and the second vehicle, and includes: When the load of the first vehicle is greater than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the first vehicle, and the first vehicle is determined to be a leading vehicle; or, When the load of the first vehicle is less than the load of the second vehicle, the first platoon control strategy information is generated according to the load information of the second vehicle, and the second vehicle is determined to be a lead vehicle; or, The load information of the first vehicle and the second vehicle is calculated, and an average load value is taken. The first queue control strategy information is generated according to the average load value, and a vehicle whose load indicated by the load information is close to the average load value is determined as a leading vehicle.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: When the first vehicle is a pilot vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then determining whether the load information after the change satisfies a generation condition of the first queue control information; If not, second queue control information generated according to the changed load information is received, and the second queue control information is used to control the travel of the vehicle queue.

4. The method according to claim 1 or 2, characterized in that: The method further comprises: When the first vehicle is a pilot vehicle and passes through a first waypoint, the load of the vehicles in the platoon changes, and then it is determined whether a change rate of the load information after the change satisfies a generation condition of the first platoon control information; If not, second queue control information generated according to the changed load information is received, and the second queue control information is used to control the travel of the vehicle queue.

5. The method according to claim 1 or 2, characterized in that: The method further comprises: When the first vehicle is a lead vehicle and passes through a first waypoint, the loads of the first vehicle and the second vehicle change, and then it is determined whether the load information of the first vehicle and the second vehicle meets the conditions for platoon driving; If not met, the vehicle queue will be disbanded; or the freight party will be prompted to increase or decrease the load capacity of the vehicle.

6. The method according to claim 5, characterized in that The determining whether the load information of the first vehicle and the second vehicle meets the conditions for platoon driving includes: Determine a load change rate of a single vehicle according to the load information of the first vehicle or the second vehicle at the starting point and the load information when passing through the first waypoint; When the load change rate is less than a threshold value, the conditions for platoon driving are met; When the load change rate is greater than the threshold, the conditions for platoon driving are not met.

7. A load vehicle queue control device, characterized in that: include: a determining unit, configured to determine a vehicle queue, wherein the vehicle queue includes a first vehicle and a second vehicle; A receiving unit, configured to receive first queue control strategy information, where the first queue control strategy information is generated based on load information of the first vehicle and the second vehicle; A control unit is used to control the vehicle queue to travel according to the first queue control strategy information.

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: The computer-executable instructions are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

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