Vehicle control method and device, vehicle and storage medium

Abstract

The embodiment of the invention is suitable for the technical field of intelligent traffic, and provides a vehicle control method and device, a vehicle and a storage medium, the method is applied to a first vehicle, and the method comprises the steps that when it is detected that a current road section meets a congested road section condition, a V2X formation function is triggered; the V2X formation function is used for performing formation on the first vehicle and the second vehicle which use the V2X formation function; and forming a motorcade with the second vehicle based on the V2X formation function, and driving in the emergency lane corresponding to the current road section. By adopting the method, the optimization effect of the congested road can be improved, and the time required for the vehicle to pass through the congested road is shortened.

Description

Technical Field

[0001] The present application belongs to the field of intelligent transportation technology, and in particular, relates to a vehicle control method, device, vehicle and storage medium. Background Art

[0002] Holidays are the peak season for people to travel, which is especially reflected in the number of vehicles on the highway. Usually, when traveling during holidays, it is very easy to encounter traffic jams on highways due to traffic accidents. In traffic management, road congestion usually affects driving safety. At present, when alleviating road congestion, it is usually the staff of the transportation department who manage the vehicles on the congested road section after understanding the cause of the congestion to clear the vehicles on the congested road section.

[0003] However, the above methods are more limited by the experience of the staff, and it takes a long time to understand the cause of congestion, formulate unblocking plans and implement unblocking plans, which will further increase the degree of road congestion and the length of time vehicles take to pass through congested roads.

[0004] Based on this, the optimization method based on manual experience has the problem of poor optimization effect on congested roads and a long time required for vehicles to pass through congested roads. Summary of the invention

[0005] The embodiments of the present application provide a vehicle control method, device, vehicle and storage medium, which can solve the problem that the optimization effect of congested roads is poor and the time required for vehicles to pass through congested roads is long.

[0006] In a first aspect, an embodiment of the present application provides a vehicle control method, which is applied to a first vehicle, and the method includes:

[0007] When it is detected that the current road section meets the congested road section condition, the V2X formation function is triggered; the V2X formation function is used to form a formation for the first vehicle and the second vehicle using the V2X formation function;

[0008] Based on the V2X platooning function, the vehicle forms a convoy with the second vehicle and drives in the emergency lane corresponding to the current road section.

[0009] In a second aspect, an embodiment of the present application provides a vehicle control device, applied to a first vehicle, the device comprising:

[0010] A trigger module, configured to trigger a V2X formation function when detecting that a current road section meets a congested road section condition; the V2X formation function is configured to form a formation for a first vehicle and a second vehicle using the V2X formation function;

[0011] The formation module is used to form a convoy with the second vehicle based on the V2X convoy function and drive in the emergency lane corresponding to the current road section.

[0012] In a third aspect, an embodiment of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of the first aspect described above when executing the computer program.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method of the first aspect described above is implemented.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a vehicle, enables the vehicle to execute the method of the first aspect.

[0015] Compared with the prior art, the beneficial effect of the embodiments of the present application is that when it is detected that the current road section meets the congested road section conditions, the first vehicle can first trigger the V2X formation function, and then form a fleet with other second vehicles that also trigger the V2X formation function to obtain the road authority to drive in the emergency lane corresponding to the current road section. In this way, based on the V2X formation function, when driving in the emergency lane, the first vehicle and the second vehicle in the fleet can achieve real-time perception and interaction between vehicles through V2X, which helps to reduce the risk of traffic accidents and improve road safety. In addition, since the road authority to drive in the emergency lane is obtained, the number of congested vehicles in the current road section can be reduced, the road capacity and the optimization effect of road congestion can be improved. In addition, the time required for vehicles to pass through congested roads is reduced.

[0016] In a sixth aspect, an embodiment of the present application provides a vehicle control method, which is applied to an ETC device, and the method includes:

[0017] Broadcast wake-up signal, which is used to wake up each vehicle in the current road section and establish communication connection with each vehicle;

[0018] When receiving identification information including an identification of any vehicle, the position of the vehicle at the current moment is determined according to the time and phase difference when the vehicle receives the wake-up signal and replies to the identification information; the vehicle is the vehicle that responds to the wake-up signal;

[0019] The location is sent to the vehicle; the vehicle is used to trigger the V2X platooning function when it determines that the current road section meets the congested section conditions based on the location; the V2X platooning function is used to platoon the vehicle with other vehicles using the V2X platooning function to form a convoy to travel in the emergency lane corresponding to the current road section.

[0020] In a seventh aspect, an embodiment of the present application provides a vehicle control device, using an ETC device, the device comprising:

[0021] A broadcast module is used to broadcast a wake-up signal, which is used to wake up each vehicle in the current road section and establish a communication connection with each vehicle;

[0022] A location determination module, for determining the location of the vehicle at the current moment according to the time and phase difference when the vehicle receives the wake-up signal and replies to the identification information upon receiving the identification information including the identification of any vehicle; the vehicle is the vehicle that responds to the wake-up signal;

[0023] The position sending module is used to send the position to the vehicle; the vehicle is used to trigger the V2X platooning function when it determines that the current road section meets the congested section conditions based on the position; the V2X platooning function is used to platoon the vehicle with other vehicles using the V2X platooning function to form a convoy to travel in the emergency lane corresponding to the current road section.

[0024] In an eighth aspect, an embodiment of the present application provides a roadside device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of the second aspect described above when executing the computer program.

[0025] In a ninth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method of the second aspect described above is implemented.

[0026] In the tenth aspect, an embodiment of the present application provides a computer program product, which, when running on a vehicle, enables the roadside equipment to execute the method of the second aspect.

[0027] Compared with the prior art, the beneficial effect of the embodiments of the present application is that the ETC device can wake up each vehicle in the current section by broadcasting a wake-up signal and establish a communication connection with each vehicle. Then, when the identification information containing the vehicle identification is received, the position of the vehicle at the current moment can be determined and sent to the vehicle based on the time and phase difference when the vehicle receives the wake-up signal and replies to the identification information. At this time, the vehicle can trigger the V2X formation function when it is determined that the current section meets the congested section conditions, so as to form a convoy with other vehicles using the V2X formation function through the V2X formation function, so that they form a convoy and travel in the emergency lane corresponding to the current section. In this way, the road's traffic capacity and the optimization effect of road congestion can be improved. Furthermore, the time required for vehicles to pass through congested roads is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 is a flow chart of an implementation of a vehicle control method provided by an embodiment of the present application;

[0030] Figure 2 This is a schematic diagram of an implementation method of forming a fleet in a vehicle control method provided in an embodiment of the present application;

[0031] Figure 3 is a flow chart of an implementation of a vehicle control method provided by another embodiment of the present application;

[0032] Figure 4 is a timing diagram of a vehicle control method provided in an embodiment of the present application;

[0033] Figure 5 is a structural schematic diagram of a vehicle control device provided by an embodiment of the present application;

[0034] Figure 6 is a structural schematic diagram of a vehicle provided by an embodiment of the present application;

[0035] Figure 7 is a structural schematic diagram of a vehicle control device provided by another embodiment of the present application;

[0036] Figure 8 It is a structural schematic diagram of a vehicle provided in one embodiment of the present application. DETAILED DESCRIPTION

[0037] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0038] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0039] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0040] During holidays or dangerous weather (fog or heavy rain), it is very easy to encounter traffic jams caused by traffic accidents, which affects driving safety. In order to pass through the congested road, car owners usually wait for traffic department staff to clear the road; and some car owners may drive their vehicles in the emergency lane.

[0041] However, the first method takes a long time and may further increase the traffic congestion during the waiting process. The second method violates the Road Traffic Safety Law.

[0042] Based on this, in order to quickly pass through a congested road section and alleviate the degree of road congestion, the embodiment of the present application provides a vehicle control method, which is applied to any vehicle in a congested road section. Specifically, a congested road section usually has a large number of vehicles. At this time, each vehicle can use the above vehicle control method to quickly pass through the congested road section.

[0043] See also Figure 1 , Figure 1 A flow chart of a vehicle control method according to an embodiment of the present application is shown, and the method comprises the following steps:

[0044] S101. When it is detected that the current road section meets the congested road section condition, a V2X formation function is triggered; the V2X formation function is used to form a formation for a first vehicle and a second vehicle using the V2X formation function.

[0045] In one embodiment, the congested road section condition is a pre-set judgment condition for determining whether the current road section is a congested road section. The congested road section condition may include multiple conditions, and when it is detected that the current road section meets any congested road section condition, it can be determined that the current road section is a congested road section.

[0046] Among them, satisfying the congested road section conditions includes but is not limited to the current time being within a preset time period, or the feedback result of the roadside equipment of the current road section is a congestion result, or the feedback result of the map module in the first vehicle is a congestion result, and there is no limitation on this.

[0047] Exemplarily, the preset time period may be a day, or a certain time period within a day. Specifically, the preset time period may be a holiday or a rush hour.

[0048] In another embodiment, there may be roadside equipment in the current road section that can communicate and interact with the first vehicle and other second vehicles, such as a roadside edge perception system or an ETC device.

[0049] Specifically, the roadside edge perception system includes computer equipment, roadside communication equipment and roadside perception equipment. Among them, the computer equipment can be deployed along the road to cooperate with other traffic systems to complete traffic information processing and decision-making. It also includes equipment such as multi-access edge computing units or data processing units. The roadside communication equipment is used to wirelessly communicate with the vehicle's on-board equipment. The communication method includes but is not limited to V2X (Vehicle to Everything, wireless information exchange between the vehicle and the outside world), or dedicated short-range communication (Dedicated Short Range Communication, DSRC) and other methods, which are not limited to this. Roadside perception equipment is used to perceive the traffic environment and road traffic conditions. It is usually a camera device and radar equipment installed on the roadside.

[0050] Based on this, the roadside perception device can first collect the first image of each vehicle located in the current road section. Afterwards, if the similarity between the identified vehicle and the vehicle identified in the first image in the second image collected after the preset collection time is greater than the preset similarity, and the total number of vehicles greater than the preset similarity is greater than the preset number of vehicles, it can be determined that the vehicle has not moved within the preset collection time. Based on this, the computer device can generate information containing congestion results based on the above traffic information, and send it to the first vehicle through the roadside communication device. Among them, the above preset similarity and preset number of vehicles can be set according to actual conditions, and there is no limitation on this.

[0051] As for the ETC device, it is an electronic non-stop toll collection system, which is mainly suitable for highways or bridge and tunnel scenes with heavy traffic. The ETC device can usually broadcast a wake-up signal in real time or at preset intervals to wake up each vehicle in the current section and establish a communication connection with each vehicle respectively. At this time, when each vehicle receives the wake-up signal, it usually returns identification information containing its own vehicle identification to the ETC device. At this time, the ETC device can determine the number of responses of each vehicle to the wake-up signal based on the identification information returned by each vehicle. Then, when the number of responses of any vehicle is greater than the preset number, it can be determined that the current section meets the congested section conditions. Finally, information containing congestion results can be generated and sent to each vehicle.

[0052] The signal frame format and preset number of the wake-up signal can be preset, which will not be described in detail. The identification information can be the vehicle license plate, or the preset mobile phone number of the owner, or virtual information (virtual license plate or virtual mobile phone number) processed according to a preset encryption method, which is not limited.

[0053] It is understandable that when the number of responses of any vehicle is greater than the preset number, it can be considered that at least one vehicle has stayed in the current road section for a long time. Therefore, it can be determined that the current road section meets the congested road section condition.

[0054] In another embodiment, in order to improve the recognition accuracy of determining whether the current road section is a congested road section, the number of vehicles whose response times are greater than a preset number can also be counted. Then, when the number of vehicles is greater than the preset number, it is determined that the current road section meets the congested road section condition.

[0055] For the map module, the car owner usually enters the starting point and the end point in the map module in the vehicle-mounted device when driving. At this time, the map module can plan the driving route from the starting point to the end point. In addition, for the congested section in the driving route, the driving module will also cover the section in the driving route with a preset display color. At this time, the map module can generate information containing congestion results when it is determined that the vehicle has driven to the congested section. Among them, because the map module is set in the vehicle-mounted device, the information can be directly obtained by the vehicle.

[0056] In another embodiment, the first vehicle may also obtain its first position at the current moment, and then determine that the current road section meets the congested road section condition when the distance difference between the first position and the second position at the historical moment is less than a preset distance.

[0057] In one embodiment, the above historical moment and the preset distance can be set in advance. For example, the first vehicle can obtain the first position once every preset time. In this case, the historical moment can be the time when the first position was last obtained.

[0058] It is understandable that when the distance between the first position and the second position is less than the preset distance, it can be considered that the first vehicle has not moved in the current section for a long time or has moved a small distance. Therefore, it can be determined that the current section meets the above congested section condition.

[0059] The first position can be obtained by an inertial navigation module provided in the first vehicle, or by communication with a differential positioning server, or by the above-mentioned roadside equipment, without limitation. In this embodiment, the first vehicle can obtain the first position by using the above-mentioned methods at the same time, or can select one of the methods to obtain the first position according to the actual scene of the current road section.

[0060] Exemplarily, it can be obtained preferentially through the inertial navigation module; and, when the vehicle cannot receive the positioning signal, if the current road section has roadside equipment, it can be obtained through the roadside equipment; and, when the positioning signal cannot be received and the current road section does not have roadside equipment, it can be obtained through the differential positioning server.

[0061] It is understandable that, when the inertial sensor loses the positioning signal, it will infer the first position of the first vehicle by extrapolation. Therefore, in the scenario where the positioning signal is lost, the first position it locates may have a large error. In addition, it costs a certain amount of money to obtain the first position from the differential positioning server. Based on this, the priority of obtaining the first position can be as described in the above example.

[0062] In this embodiment, taking the roadside device as an ETC device as an example, it has been explained above that the ETC device can establish a communication connection with each vehicle by broadcasting a wake-up signal, and each vehicle will also return identification information containing its own identification to the ETC device. Based on this, taking the first vehicle as an example, the ETC device can determine the relative distance and relative angle of the first vehicle relative to the ETC device based on the time and phase difference when the first vehicle receives the wake-up signal and replies to the identification information. Then. Based on the preset latitude and longitude information, determine the first position of the first vehicle.

[0063] Specifically, the ETC device may be pre-set with its own longitude and latitude information. Then, after determining the relative distance and relative angle between each first vehicle and itself, the longitude and latitude information of itself may be processed to obtain the longitude and latitude information of the first vehicle. At this time, the longitude and latitude of the first vehicle are the corresponding first position. Then, the ETC device may send the first position to the first vehicle based on the received identification information.

[0064] Among them, the method of determining the relative distance and relative angle based on the time and phase difference of the wake-up signal transmission and reception is an existing technology and will not be described in detail.

[0065] The above descriptions are various embodiments for detecting whether the current road section meets the congested road section condition.

[0066] In one embodiment, the V2X formation function is used to form a formation for a first vehicle and a second vehicle using the V2X formation function. The second vehicle may also execute the vehicle control method, and in this case, the second vehicle may also be considered as the first vehicle during the execution process. That is, in this embodiment, "first" and "second" are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0067] S102. Form a convoy with the second vehicle based on the V2X platooning function, and drive in the emergency lane corresponding to the current road section.

[0068] In one embodiment, the V2X platooning function can utilize inter-vehicle communication to enable each vehicle to form a platoon and travel in a coordinated manner. In addition, through real-time data transmission and information sharing, each vehicle can sense and communicate with each other to achieve highly coordinated platooning.

[0069] Among them, an emergency lane is usually set up on both sides of the city ring road, expressway and highway for vehicles to drive or park in emergency situations. Based on this, in order to ensure the safety and feasibility of the fleet when driving in the emergency lane, each vehicle in the fleet needs to bear the corresponding regulations and standards support.

[0070] Exemplarily, if the vehicle needs to use the V2X platooning function, the on-board device can display important information such as pre-set legal provisions and precautions in the display interface, and display clickable operations of "Agree" and "Reject". Afterwards, when it is determined that the owner clicks "Agree", it is determined that the vehicle can use the V2X platooning function. Among them, the above important information should also include permission information for driving in the emergency lane. That is, for the first vehicle and the second vehicle that execute the vehicle control method in this embodiment, they need to have the V2X platooning function and the permission to drive in the emergency lane.

[0071] It should be noted that when forming a convoy with the second vehicle, the emergency lane may already have a convoy of the second vehicle, or there may not be a convoy. Figure 2 The steps S201-S205 shown are for driving in the emergency lane. The details are as follows:

[0072] S201. If it is detected based on the V2X platooning function that there is already a platoon in the emergency lane, a joining request message is sent to the pilot vehicle in the platoon.

[0073] In one embodiment, the above-mentioned joining request information may include various information such as identification information of the first vehicle and vehicle driving information (for example, vehicle speed and first position), so that the V2X formation function in the pilot vehicle can decide whether to agree to the first vehicle to join.

[0074] For example, the leading vehicle may refuse the first vehicle to join when the number of second vehicles in the convoy is greater than a preset number, or the lane represented by the first position of the first vehicle is at least one lane away from the emergency lane. Also, when the number of second vehicles in the convoy is less than or equal to the preset number, and the lane represented by the first position of the first vehicle is adjacent to the emergency lane, the leading vehicle may allow the first vehicle to join.

[0075] S202. If confirmation information of consent to join is received, enter the emergency lane based on the coordination instruction generated by the V2X platooning function; the coordination instruction is generated by the V2X platooning function based on the data transmission and information sharing of the second vehicle that has formed the platoon.

[0076] In one embodiment, when the pilot vehicle agrees that the first vehicle joins the convoy, it can not only send a confirmation message to the first vehicle, but also share the driving information of each second vehicle in the convoy. At this time, after the first vehicle receives the confirmation message, the V2X convoy function can generate a coordination instruction based on the driving information of each second vehicle to assist the first vehicle to enter the emergency lane, and transmit and share data with each second vehicle in the convoy.

[0077] S203: If it is detected based on the V2X platooning function that there is no platoon in the emergency lane, platoon composition information is sent to a second vehicle with the V2X platooning function.

[0078] S204. Receive response information from a second vehicle with V2X platooning functionality; the response information includes a second position of the second vehicle that agrees to form a platoon.

[0079] In one embodiment, the response information may include the second position, identification information, and driving information of the second vehicle that agrees to form a convoy, which is not limited to this. The V2X platooning function may generate a coordinated instruction for each second vehicle and the first vehicle to travel in the emergency lane based on the response information of the second vehicle that agrees to form a convoy.

[0080] S205, forming a convoy based on the V2X convoy function to drive in the emergency lane; the V2X convoy function is used to generate a coordinated instruction for each second vehicle and the first vehicle to drive in the emergency lane according to the second position and the first position of the second vehicle that agrees to form the convoy.

[0081] In one embodiment, after obtaining the above-mentioned multiple response information, the V2X platooning function can process the response information according to a preset decision model to generate a coordination instruction of the first vehicle. It should be noted that for other second vehicles, their own V2X platooning function can also process the response information according to the decision model to generate their own coordination instructions.

[0082] It should be noted that since the coordinated instruction is used to form a convoy for the first vehicle and the second vehicle to drive in the emergency lane, the V2X platooning function needs to determine the order and speed of the own vehicle entering the emergency lane based on the decision model to improve the safety of the first vehicle and the second vehicle when they enter the emergency lane. That is, the coordinated instruction includes information such as the order and speed of guiding the first vehicle and the second vehicle to achieve platoon driving.

[0083] In another embodiment, when determining the order in which each vehicle enters the emergency lane, the pilot vehicle may be manually designated or determined by the above-mentioned decision model, which is not limited thereto. The decision model may be obtained by pre-training the model according to training data. The training data may be driving information of simulating multiple vehicles using the emergency lane to form a convoy in a plurality of preset scenarios.

[0084] Based on the above explanation of the formation of a convoy, when facing congested roads, the above-mentioned V2X convoy function controls each vehicle to form a convoy and drive in coordination in the emergency lane, which can not only enable real-time perception and interaction between the vehicles in the convoy, improving driving safety, but also improve the traffic capacity of congested roads and reduce traffic congestion. In addition, because the vehicles in the convoy can drive in coordination, the vehicles will be highly synchronized and coordinated when driving, for example, they can accelerate and decelerate in a unified manner. Therefore, it can also reduce unnecessary acceleration and deceleration operations between vehicles, thereby improving fuel efficiency and saving energy, which helps to improve air quality and reduce carbon emissions.

[0085] In this embodiment, when it is detected that the current road section meets the congested road section conditions, the first vehicle can first trigger the V2X formation function, and then form a fleet with other second vehicles that also trigger the V2X formation function to obtain the road authority to drive in the emergency lane corresponding to the current road section. In this way, based on the V2X formation function, when driving in the emergency lane, the first vehicle and the second vehicle in the fleet can achieve real-time perception and interaction between vehicles through V2X, which helps to reduce the risk of traffic accidents and improve road safety. In addition, since the road authority to drive in the emergency lane is obtained, the number of congested vehicles in the current road section can be reduced, the road capacity and the optimization effect of road congestion can be improved. In addition, the time required for vehicles to pass through congested roads is reduced.

[0086] Reference Figure 3 , Figure 3 A schematic flow chart of another vehicle control method provided in an embodiment of the present application is shown, which may specifically include the following steps:

[0087] S301. Broadcast a wake-up signal, where the wake-up signal is used to wake up each vehicle in the current road section and establish a communication connection with each vehicle.

[0088] In this embodiment, the execution subject may be a roadside device, such as a roadside edge sensing system or an ETC device. Specifically, the ETC device is taken as an example for explanation.

[0089] It should be noted that, due to the limited communication range of the roadside equipment, if the above vehicle control method needs to be executed by the roadside equipment to clear the congested road section, a large number of roadside equipment needs to be installed on each road. However, installing a large number of roadside equipment is not suitable for practical scenarios.

[0090] Therefore, for roadside equipment, it can be set up in sections of road where congestion is prone to occur, so as to strike a balance between hardware costs and traffic congestion effects.

[0091] Among them, the above-mentioned wake-up signal and the method of establishing connection with each vehicle based on the wake-up signal have been explained above and will not be explained again.

[0092] S302. When identification information including an identification of any vehicle is received, the position of the vehicle at the current moment is determined according to the time and phase difference when the vehicle receives the wake-up signal and replies to the identification information; the vehicle is the vehicle that responds to the wake-up signal.

[0093] S303, sending the location to the vehicle; the vehicle is used to trigger the V2X platooning function when it determines that the current road section meets the congested section conditions based on the location; the V2X platooning function is used to platoon the vehicle with other vehicles using the V2X platooning function to form a convoy to travel in the emergency lane corresponding to the current road section.

[0094] In one embodiment, determining the position of the vehicle, determining whether the current road section meets the congested road section condition, and the manner in which the vehicle platoons with other vehicles based on the V2X platooning function have all been explained in the above examples and will not be further described.

[0095] It can be understood that, based on the above explanation of the first vehicle and the second vehicle, determining the positions of the vehicles includes determining a first position of the first vehicle and a second position of the second vehicle.

[0096] In this embodiment, the ETC device can wake up each vehicle in the current section by broadcasting a wake-up signal and establish a communication connection with each vehicle. Then, when the identification information containing the vehicle identification is received, the position of the vehicle at the current moment can be determined and sent to the vehicle based on the time and phase difference when the vehicle receives the wake-up signal and replies to the identification information. At this time, the vehicle can trigger the V2X formation function when it determines that the current section meets the congested section conditions based on the position, so as to form a convoy with other vehicles using the V2X formation function through the V2X formation function, so that they form a convoy and travel in the emergency lane corresponding to the current section. In this way, the road's traffic capacity and the optimization effect of road congestion can be improved. Furthermore, the time required for vehicles to pass through congested roads is reduced.

[0097] Please refer to Figure 4 , Figure 4It is a timing diagram in a vehicle control method provided by an embodiment of the present application. Among them, the application scenario represented by the timing diagram is explained by taking the first vehicle, the second vehicle and the roadside equipment (ETC equipment) as examples. The ETC equipment can broadcast a wake-up signal to each vehicle (the first vehicle and the second vehicle) in the current section, and then each vehicle can return identification information containing an identification to the ETC device based on the wake-up signal. At this time, the ETC device can determine the position of each vehicle based on the time and phase difference when the wake-up signal is transmitted and received. That is, the first position of the first vehicle and the second position of the second vehicle are determined. Then, it is sent to the first vehicle and the second vehicle based on the identification information. Afterwards, the first vehicle and the second vehicle can respectively determine whether the current section meets the congested section conditions based on the acquired own position and the second position at the historical moment, and when it is determined to be satisfied, the V2X formation function can be triggered respectively, so that the first vehicle and the second vehicle can form a fleet based on the V2X formation function and travel in the emergency lane.

[0098] Among them, the above Figure 4 The corresponding embodiment is only an example of a vehicle control method. For other examples, the above Figure 1 and Figure 4 Reference is made to the steps in the corresponding embodiments and no further explanation is given.

[0099] See also Figure 5 , Figure 5 is a structural block diagram of a vehicle control device provided in an embodiment of the present application. In this embodiment, the vehicle control device is applied to a first vehicle, and the modules included therein are used to execute Figure 1 to Figure 2 For details, please refer to the steps in the corresponding embodiment. Figure 1 to Figure 2 as well as Figure 1 to Figure 2 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 5 The vehicle control device 500 may include: a trigger module 510 and a formation module 520, wherein:

[0100] The trigger module 510 is used to trigger the V2X formation function when it is detected that the current road section meets the congested road section condition; the V2X formation function is used to form a formation for the first vehicle and the second vehicle using the V2X formation function.

[0101] The formation module 520 is used to form a convoy with the second vehicle based on the V2X convoy function and drive in the emergency lane corresponding to the current road section.

[0102] In one embodiment, the trigger module 510 is further configured to:

[0103] A first position of the first vehicle at the current moment is obtained; if the distance between the first position and the second position at the historical moment is less than a preset distance, it is determined that the current road section meets the congested road section condition.

[0104] In one embodiment, the current road section includes an ETC device, and the trigger module 510 is further used to:

[0105] Receive a wake-up signal broadcast by the ETC device; the wake-up signal is used to wake up each vehicle in the congested road section, and enable the ETC device to establish a communication connection with each vehicle respectively; return identification information including the identification of the first vehicle to the ETC device; the ETC device is used to determine the relative distance and relative angle of the first vehicle relative to the ETC device based on the time and phase difference when the first vehicle receives the wake-up signal and replies to the identification information, and determine the first position of the first vehicle based on preset longitude and latitude information; receive the first position sent by the ETC device.

[0106] In one embodiment, the formation module 520 is further configured to:

[0107] If the V2X platooning function detects that there is already a convoy in the emergency lane, a joining request message is sent to the lead vehicle in the convoy; if a confirmation message agreeing to join is received, the vehicle enters the emergency lane based on the coordination instruction generated by the V2X platooning function; the coordination instruction is generated by the V2X platooning function based on the data transmission and information sharing of the second vehicle that has formed a convoy.

[0108] In one embodiment, the formation module 520 is further configured to:

[0109] If it is detected based on the V2X platooning function that there is no platoon in the emergency lane, the platoon formation information is sent to the second vehicle with the V2X platooning function; the response information of the second vehicle with the V2X platooning function is received; the response information includes the second position of the second vehicle that agrees to form a platoon; the platoon formed based on the V2X platooning function travels in the emergency lane; the V2X platooning function is used to generate coordinated instructions for each second vehicle and the first vehicle to travel in the emergency lane according to the second position and the first position of the second vehicle that agrees to form a platoon.

[0110] When it is understood that Figure 5 In the structural block diagram of the vehicle control device shown, each module is used to execute Figure 1 to Figure 2 The steps in the corresponding embodiments, and for Figure 1 to Figure 2 Each step in the corresponding embodiment has been explained in detail in the above embodiment. Figure 1 to Figure 2 as well as Figure 1 to Figure 2 The relevant descriptions in the corresponding embodiments are not repeated here.

[0111] Figure 6is a structural block diagram of a vehicle provided by an embodiment of the present application. Figure 6 As shown, the vehicle 600 of this embodiment includes: a processor 610, a memory 620, and a computer program 630 stored in the memory 620 and executable on the processor 610, such as a program of a vehicle control method. When the processor 610 executes the computer program 630, the steps in each embodiment of the above-mentioned vehicle control method are implemented, such as Figure 1 Alternatively, the processor 610 implements the above when executing the computer program 630 Figure 5 The functions of each module in the corresponding embodiment are, for example, Figure 5 For details on the functions of modules 510 to 520, please refer to Figure 5 Related description in the corresponding embodiment.

[0112] Exemplarily, the computer program 630 may be divided into one or more modules, one or more modules are stored in the memory 620, and are executed by the processor 610 to implement the vehicle control method provided in the embodiment of the present application. One or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 630 in the vehicle 600. For example, the computer program 630 may implement the vehicle control method provided in the embodiment of the present application.

[0113] The vehicle 600 may include, but is not limited to, a processor 610 and a memory 620. Those skilled in the art will appreciate that Figure 6 This is only an example of vehicle 600 and does not constitute a limitation of vehicle 600 , which may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the vehicle may also include input and output devices, network access devices, buses, etc.

[0114] The processor 610 may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0115] The memory 620 may be an internal storage unit of the vehicle 600, such as a hard disk or memory of the vehicle 600. The memory 620 may also be an external storage device of the vehicle 600, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. equipped on the vehicle 600. Furthermore, the memory 620 may also include both an internal storage unit of the vehicle 600 and an external storage device.

[0116] Based on the above explanation of the first vehicle and the second vehicle, it can be known that the second vehicle can also execute the above vehicle control method. Therefore, the vehicle can be the first vehicle or the second vehicle.

[0117] An embodiment of the present application provides a computer-readable storage medium, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vehicle control method described in the above embodiments is implemented.

[0118] An embodiment of the present application provides a computer program product. When the computer program product is run on a vehicle, the vehicle executes the vehicle control method in each of the above embodiments.

[0119] In another embodiment, see Figure 7 , Figure 7 : is a structural block diagram of another vehicle control device provided in an embodiment of the present application. In this embodiment, the vehicle control device is applied to a roadside device, such as an ETC device, and the modules included therein are used to execute Figure 3 For details, please refer to the steps in the corresponding embodiment. Figure 3 as well as Figure 3 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 7 , the vehicle control device 700 may include: a broadcast module 710, a position determination module 720 and a position sending module 730, wherein:

[0120] The broadcast module 710 is used to broadcast a wake-up signal, where the wake-up signal is used to wake up each vehicle in the current road section and establish a communication connection with each vehicle.

[0121] The position determination module 720 is used to determine the position of the vehicle at the current moment when receiving identification information containing the identification of any vehicle, based on the time and phase difference when the vehicle receives the wake-up signal and replies to the identification information; the vehicle is the vehicle that responds to the wake-up signal.

[0122] The position sending module 730 is used to send the position to the vehicle; the vehicle is used to trigger the V2X formation function when it determines that the current road section meets the congested section conditions based on the position; the V2X formation function is used to form a convoy with other vehicles using the V2X formation function to travel in the emergency lane corresponding to the current road section.

[0123] In one embodiment, the vehicle control device 700 may include:

[0124] The response number determination module is used to determine the number of responses of any vehicle to the wake-up signal according to the identification information of the vehicle.

[0125] The congested road section determination module is used to determine that the current road section meets the congested road section condition if the number of responses is greater than a preset number and the number of vehicles whose number of responses is greater than the preset number is greater than a preset number.

[0126] When it is understood that Figure 7 In the structural block diagram of the vehicle control device shown, each module is used to execute Figure 3 The steps in the corresponding embodiments, and for Figure 3 Each step in the corresponding embodiment has been explained in detail in the above embodiment. Figure 3 as well as Figure 3 The relevant descriptions in the corresponding embodiments are not repeated here.

[0127] Figure 8 1 is a structural block diagram of a roadside device provided in an embodiment of the present application. For example, ETC equipment. Figure 8 As shown, the roadside equipment 800 of this embodiment includes: a processor 810, a memory 820, and a computer program 830 stored in the memory 820 and executable on the processor 810, such as a program of a vehicle control method. When the processor 810 executes the computer program 830, the steps in each embodiment of the above-mentioned vehicle control method are implemented, such as Figure 3 Alternatively, the processor 810 implements the above when executing the computer program 830 Figure 7 The functions of each module in the corresponding embodiment are, for example, Figure 7 For details on the functions of modules 710 to 730, please refer to Figure 7 Related description in the corresponding embodiment.

[0128] Exemplarily, the computer program 830 may be divided into one or more modules, one or more modules are stored in the memory 820, and are executed by the processor 810 to implement the vehicle control method provided in the embodiment of the present application. One or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 830 in the roadside device 800. For example, the computer program 830 may implement the vehicle control method provided in the embodiment of the present application.

[0129] The roadside equipment 800 may include, but is not limited to, a processor 810 and a memory 820. Those skilled in the art will appreciate that Figure 8 It is only an example of the roadside device 800 and does not constitute a limitation of the roadside device 800. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the vehicle may also include input and output devices, network access devices, buses, etc.

[0130] The processor 810 may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0131] The memory 820 may be an internal storage unit of the roadside device 800, such as a hard disk or memory of the roadside device 800. The memory 820 may also be an external storage device of the roadside device 800, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. equipped on the roadside device 800. Furthermore, the memory 820 may also include both an internal storage unit of the roadside device 800 and an external storage device.

[0132] An embodiment of the present application provides another computer-readable storage medium, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vehicle control method as described in the above embodiments is implemented.

[0133] An embodiment of the present application provides another computer program product. When the computer program product runs on a roadside device, the roadside device executes the vehicle control method in each of the above embodiments.

[0134] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: Applied to a first vehicle, the method comprises: When it is detected that the current road section meets the congested road section condition, a V2X formation function is triggered; the V2X formation function is used to form a formation for a first vehicle and a second vehicle using the V2X formation function; Based on the V2X platooning function, a platoon is formed with the second vehicle, and the platoon is driven in the emergency lane corresponding to the current road section.

2. The method according to claim 1, characterized in that The detecting that the current road section meets the congested road section condition includes: Obtaining a first position of the first vehicle at a current moment; If the distance between the first position and the second position at the historical moment is less than a preset distance, it is determined that the current road section meets the congested road section condition.

3. The method according to claim 2, characterized in that The current road section includes an ETC device, and obtaining the first position of the first vehicle at the current moment includes: receiving a wake-up signal broadcast by the ETC device; the wake-up signal is used to wake up each vehicle in the congested road section and enable the ETC device to establish a communication connection with each of the vehicles; Returning identification information including the identification of the first vehicle to the ETC device; the ETC device is used to determine the relative distance and relative angle of the first vehicle relative to the ETC device according to the time and phase difference when the first vehicle receives the wake-up signal and replies to the identification information, and determine the first position of the first vehicle based on preset latitude and longitude information; Receive a first location sent by the ETC device.

4. The method according to claim 1, characterized in that The forming a convoy with the second vehicle based on the V2X convoy function and driving in the emergency lane corresponding to the current road section includes: If it is detected based on the V2X platooning function that there is already a platoon in the emergency lane, sending a joining request message to the pilot vehicle in the platoon; If confirmation information of consent to join is received, the vehicle enters the emergency lane based on the coordination instruction generated by the V2X platooning function; the coordination instruction is generated by the V2X platooning function based on data transmission and information sharing of the second vehicle that has formed a platoon.

5. The method according to any one of claims 1 to 4, characterized in that: The forming a convoy with the second vehicle based on the V2X convoy function and driving in the emergency lane corresponding to the current road section includes: If it is detected based on the V2X platooning function that there is no platoon in the emergency lane, sending platoon composition information to a second vehicle with the V2X platooning function; Receiving response information from a second vehicle having a V2X platooning function; the response information includes a second position of the second vehicle that agrees to form a platoon; A convoy is formed based on the V2X convoy function to drive in the emergency lane; the V2X convoy function is used to generate a coordinated instruction for each of the second vehicles and the first vehicle to drive in the emergency lane according to the second position and the first position of the second vehicle that agrees to form a convoy.

6. A vehicle control method, characterized in that: The ETC device applied to the roadside, the method comprises: Broadcasting a wake-up signal, wherein the wake-up signal is used to wake up each vehicle in the current road section and establish a communication connection with each of the vehicles; When receiving identification information including an identification of any of the vehicles, determining the position of the vehicle at the current moment according to the time and phase difference when the vehicle receives the wake-up signal and replies to the identification information; the vehicle is the vehicle that responds to the wake-up signal; The position is sent to the vehicle; the vehicle is used to trigger a V2X formation function when it is determined that the current road section meets the congested section condition according to the position; the V2X formation function is used to form a convoy with other vehicles using the V2X formation function to travel in the emergency lane corresponding to the current road section.

7. The method according to claim 6, characterized in that The method further comprises: For any of the vehicles, determining the number of times the vehicle responds to the wake-up signal according to the identification information of the vehicle; If the number of responses is greater than a preset number, and the number of vehicles whose number of responses is greater than the preset number is greater than a preset number, it is determined that the current road section meets the congested road section condition.

8. A vehicle control device, characterized in that: Applied to a first vehicle, the device comprises: A trigger module, configured to trigger a V2X formation function when detecting that a current road section meets a congested road section condition; the V2X formation function is configured to form a formation for a first vehicle and a second vehicle using the V2X formation function; A platoon module is used to form a platoon with the second vehicle based on the V2X platooning function and travel in the emergency lane corresponding to the current road section.

9. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 4 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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