Control method and control device based on accompanying train set, vehicle and readable storage medium

Abstract

The invention relates to the technical field of intelligent driving, in particular to a control method and device based on an accompanying train set, a vehicle and a readable storage medium. The accompanying traveling vehicle group comprises a plurality of vehicles, inter-vehicle communication is established among the plurality of vehicles, and the control method based on the accompanying traveling vehicle group comprises the following steps: determining relative position information of the vehicle in the accompanying traveling vehicle group; obtaining road information and driving information of each vehicle in the accompanying train group; determining an accompanying traveling strategy according to the traveling information of each vehicle, the relative position information of the vehicle in the accompanying traveling vehicle group and the road information; and controlling the vehicle to run according to the accompanying running strategy. By determining the relative position information of the vehicle in the accompanying traveling vehicle set and combining the traveling information of other vehicles in the accompanying traveling vehicle set and the road information, an accompanying traveling strategy is formulated. Therefore, through inter-vehicle communication and cooperative control among the vehicles in the accompanying traveling vehicle set, the overall traveling path of the accompanying traveling vehicle set is optimized, and the traveling safety and traveling efficiency of the accompanying traveling vehicle set are improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a control method, a control device, a vehicle and a readable storage medium based on an escort vehicle group. Background Art

[0002] With the development of autonomous driving technology, the autonomous driving capabilities of vehicles are constantly improving. However, most existing autonomous driving systems focus on the control of a single vehicle and lack the function of coordinated driving between vehicles.

[0003] In the related technology, a following vehicle control method is proposed, which activates the control system of the own vehicle so that the own vehicle follows a vehicle in front for automatic driving, thereby achieving acceleration and deceleration of the following vehicle.

[0004] In the process of implementing the above embodiment, there are the following problems:

[0005] When multiple friends organize a trip together, the above-mentioned following vehicle method is used, so that there is no effective coordination between the vehicles traveling together, and the vehicles traveling together automatically follow the vehicle according to their own following vehicle control, resulting in a lack of vehicle-to-vehicle coordinated driving function between the vehicles traveling together, resulting in large distances between vehicles and large differences in the time it takes to arrive at the destination, affecting the experience of traveling together. Summary of the invention

[0006] The purpose of the present invention is to provide a field of intelligent driving technology, specifically to a control method, a control device, a vehicle and a readable storage medium based on a companion vehicle group, so as to solve the problems in the prior art that there is a lack of vehicle-to-vehicle collaborative driving function between vehicles traveling together, the distance between vehicles is large, the time difference at the destination is large, and the like affects the experience of traveling together.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] In some technical schemes, a control method based on an escort vehicle group is provided, in which a plurality of vehicles are included in the escort vehicle group, and vehicle-to-vehicle communication is established between the plurality of vehicles. The control method includes: determining the relative position information of the vehicle in the escort vehicle group; obtaining road information and driving information of each vehicle in the escort vehicle group; determining an escort driving strategy according to the driving information of each vehicle, the relative position information of the vehicle in the escort vehicle group, and the road information; and controlling the driving of the vehicle according to the escort driving strategy.

[0009] The control method based on the escort car group provided by the present disclosure determines the relative position information of the vehicle in the escort car group, and combines the driving information of other vehicles in the escort car group and the road information to formulate an escort driving strategy. And according to the escort driving strategy, the driving of the vehicle is controlled. In this way, the vehicles in the escort car group can optimize the overall driving path of the escort car group through vehicle-to-vehicle communication and coordinated control, thereby improving the safety and driving efficiency of the escort car group.

[0010] Furthermore, based on the driving information of each vehicle, the relative position information of the vehicle in the escort vehicle group and the road information, the step of determining the escort driving strategy includes: determining the target following vehicle based on the driving information of each vehicle and the relative position information of the vehicle in the escort vehicle group; determining the escort driving strategy based on the road information and the driving trajectory of the target following vehicle.

[0011] In this technical solution, by selecting a suitable target following vehicle and cooperating with the target following vehicle, the acceleration and deceleration process can be optimized, and the burden on the driver of the vehicle can be reduced, providing a smoother and more comfortable driving experience. Combining road information and the driving trajectory of the target following vehicle, the accompanying driving strategy is determined, making the driving of the entire convoy more coordinated, reducing traffic interference within the convoy, and improving the overall efficiency of the convoy.

[0012] Furthermore, based on the driving information of each vehicle and the relative position information of the vehicle in the escort vehicle group, the step of determining the target following vehicle includes: when the relative position information of the vehicle in the escort vehicle group is the front, taking the vehicle as the target following vehicle in the escort vehicle group; when the relative position information of the vehicle in the escort vehicle group is the middle or rear, obtaining the vehicle information in front of the vehicle in the escort vehicle group, and determining the target following vehicle based on the vehicle information in front of the vehicle.

[0013] In this technical solution, when the vehicle is located at the front of the escort group, it is the lead vehicle, and the other vehicles in the escort group are behind it. Therefore, the vehicle will serve as the target following vehicle of the escort group. When the vehicle serves as the lead vehicle, it can independently determine the driving strategy, set the driving rhythm for the entire team, and improve the overall coordination of the team. When the vehicle is located in the middle or rear of the escort group, it is necessary to obtain information about the vehicle in front. According to the information of the vehicle in front, select a suitable vehicle as the target following vehicle. By selecting a suitable target following vehicle, a stable distance between vehicles in the team can be maintained.

[0014] Furthermore, based on the information of the vehicle in front of the vehicle, the step of determining the target following vehicle includes: when the vehicles in front of the vehicle include the best following vehicle, obtaining the lane information of the best following vehicle; when the best following vehicle and the vehicle are located in the same lane, taking the best following vehicle as the target following vehicle; when the best following vehicle and the vehicle are located in adjacent lanes, obtaining the first driving information of the vehicle in the adjacent lane and the second driving information of the best following vehicle; judging whether the lane changing condition is met based on the driving information of the vehicle, the first driving information and the second driving information; when the lane changing condition is met, taking the best following vehicle as the target following vehicle; when the lane changing condition is not met, determining the target following vehicle based on other vehicles in the escort vehicle group located in front of the vehicle.

[0015] In this technical solution, the best following vehicle refers to the vehicle that is most suitable as the following target among the multiple vehicles in the escort vehicle group through comprehensive evaluation. Among the vehicles located in front of the vehicle, the best following vehicle is identified, and the lane where the best following vehicle is currently located is further determined. If the best following vehicle is in the same lane as the vehicle, the best following vehicle is directly used as the target following vehicle. Selecting the best following vehicle as the target following vehicle helps to maintain the driving rhythm and safety of the team. If the best following vehicle is located in an adjacent lane, it is necessary to further determine whether it can change lanes and follow the vehicle. Then, the driving information of the vehicle, the first driving information of the vehicle in the adjacent lane, and the second driving information of the best following vehicle are used to determine whether the conditions for safe lane change are met. The conditions for safe lane change need to consider lane unblocking, safe distance, speed matching, etc. If the judgment result is that the lane change conditions are met, the lane change operation is performed, and the best following vehicle is used as the target following vehicle. If the lane change conditions are not met, the target following vehicle is re-determined based on other vehicles located in front of the vehicle in the escort vehicle group. By judging lane conditions and lane-changing conditions, safety is ensured during the following process and traffic accidents caused by improper lane changes are reduced.

[0016] Furthermore, when the optimal following vehicle is not included in the vehicles in front of the vehicle, the step of determining the target following vehicle based on the vehicle information in front of the vehicle includes: obtaining lane information of other vehicles in the escort vehicle group in front of the vehicle; taking the vehicle in the same lane as the vehicle as the target following vehicle; when the lanes of other vehicles are different from those of the vehicle, determining the third driving information of the vehicle in the adjacent lane to the vehicle, and the fourth driving information of the vehicle in the adjacent lane behind the vehicle in the escort vehicle group; judging whether the lane change condition is met based on the third driving information, the fourth driving information and the driving information of the vehicle; if the lane change condition is met, taking the corresponding vehicle as the target following vehicle; if the lane change condition is not met, automatically driving according to the driving information of other vehicles in the escort vehicle group.

[0017] In this technical solution, when the optimal following vehicle is not available, a vehicle in the same lane or an adjacent lane is selected as the target following vehicle based on the lane information and driving information of the vehicle in front. This improves the driving safety and efficiency of the fleet, improves the adaptability and reliability in complex traffic environments, helps to improve the overall performance of the fleet, and also provides a safer and more convenient driving environment for drivers.

[0018] Furthermore, taking the optimal following vehicle as the target following vehicle, and determining the accompanying driving strategy according to the road information and the driving trajectory of the target following vehicle, the steps include: determining the following path according to the road information and the driving trajectory of the optimal following vehicle; obtaining the driving speeds of other vehicles in the accompanying vehicle group and the driving speed of the optimal following vehicle to determine the driving parameters of the vehicle; determining the accompanying driving strategy according to the following path and the driving parameters of the vehicle.

[0019] In this technical solution, the following path of the vehicle is determined based on the road information and the driving trajectory of the optimal following vehicle. In addition, the driving speed information of other vehicles in the accompanying vehicle group and the driving speed of the optimal following vehicle are combined to adjust the driving speed of the vehicle. The accompanying driving strategy is formulated based on the following path and the driving parameters of the vehicle. In this way, the vehicle can improve its driving stability by following the optimal following vehicle, and at the same time, it can refer to the driving information of other vehicles in the vehicle group to meet the collaborative relationship between the vehicles in the vehicle group and avoid the situation where vehicles fall behind.

[0020] Furthermore, when the vehicle is used as the target following vehicle of the escort vehicle group, the steps of determining the escort driving strategy according to the road information and the driving trajectory of the target following vehicle include: obtaining road navigation information to determine the driving path; obtaining the driving speed and vehicle information of other vehicles in the escort vehicle group; determining the driving strategy of the vehicle according to the driving speed and vehicle information of other vehicles; determining the escort driving strategy according to the driving path and the driving strategy of the vehicle.

[0021] In this technical solution, when this vehicle serves as the target following vehicle of the escort group, it formulates an escort driving strategy by integrating road information and driving information of vehicles within the fleet, thereby improving the driving safety and efficiency of the fleet, reducing the burden on drivers of other vehicles, and providing a more relaxed and pleasant driving experience.

[0022] As a pilot vehicle, this vehicle needs to obtain the latest road navigation information, including route planning, traffic conditions, estimated arrival time, etc., to determine the driving path. Based on the road navigation information obtained, this vehicle determines the best driving path to avoid potential obstacles such as congestion and construction sections. Through the vehicle-to-vehicle communication system, this vehicle collects key information such as the driving speed, location, and vehicle status of other vehicles in the escort group. Based on the driving speed and vehicle information of other vehicles, as well as its own driving intentions and vehicle performance, this vehicle determines the appropriate driving strategy, including speed, acceleration, following distance, etc. Combined with the determined driving path and the driving strategy of this vehicle, an escort driving strategy is formulated to ensure the safety, coordination, and efficiency of the fleet.

[0023] Furthermore, the step of determining the relative position information of the vehicle in the escort vehicle group includes: obtaining the position information of all vehicles in the escort vehicle group; along the direction of travel, according to the position information of all vehicles, determining the relative position information of the vehicle in the escort vehicle group; wherein the relative position information includes being located in front, in the middle or at the rear of the escort vehicle group.

[0024] In this technical solution, the relative position of the vehicle is determined by acquiring and analyzing the position information of all vehicles in the escort vehicle group, which helps the vehicle to adopt different driving strategies according to different positions and improve the orderliness and coordination of the fleet's driving.

[0025] Furthermore, before the step of determining the relative position information of the vehicle in the escort vehicle group, it also includes: obtaining vehicle information of each vehicle in the escort vehicle group and personnel information in each vehicle; and determining the optimal following vehicle in the escort vehicle group based on the vehicle information in the escort vehicle group and personnel information in each vehicle.

[0026] In this technical solution, by obtaining the vehicle information and occupant information of each vehicle in the escort group, and analyzing and determining the optimal following vehicle in the escort group based on the collected vehicle information and personnel information, it helps to optimize the driving order and driving strategy of the fleet, improve the overall efficiency and coordination of the fleet, and improve the overall comfort and satisfaction of the fleet.

[0027] In some technical solutions, a control device based on an escort car group is provided, comprising a processor and a memory storing program instructions, wherein the processor is configured to execute a control method based on an escort car group as described in any of the above technical solutions when running the program instructions.

[0028] In some technical solutions, a vehicle is provided, comprising: a vehicle body; and a control device based on an escort vehicle group as described in any of the above technical solutions, wherein the control device is installed on the vehicle body.

[0029] In some technical solutions, a readable storage medium is provided, which stores program instructions. When the program instructions are executed, the computer is used to execute the control method based on the escort vehicle group as described in any of the above technical solutions.

[0030] The beneficial effects of the present invention are as follows: by determining the relative position information of the vehicle in the escort vehicle group, and combining the driving information of other vehicles in the escort vehicle group and the road information, an escort driving strategy is formulated. And according to the escort driving strategy, the driving of the vehicle is controlled. In this way, the vehicles in the escort vehicle group can optimize the overall driving path of the escort vehicle group through vehicle-to-vehicle communication and coordinated control, thereby improving the safety and driving efficiency of the escort vehicle group. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A flow chart of a control method based on an escort vehicle group provided by one embodiment of the present invention;

[0032] Figure 2 A flowchart of a control method based on an escort vehicle group provided in yet another embodiment of the present invention;

[0033] Figure 3 A schematic diagram of the distribution of a group of escort vehicles provided in a lane according to an embodiment of the present invention;

[0034] Figure 4 A flowchart of a control method based on an escort vehicle group provided in yet another embodiment of the present invention;

[0035] Figure 5 A flowchart of a control method based on an escort vehicle group provided in yet another embodiment of the present invention;

[0036] Figure 6 A flowchart of a control method based on an escort vehicle group provided in yet another embodiment of the present invention;

[0037] Figure 7 A flowchart of a control method based on an escort vehicle group provided in yet another embodiment of the present invention;

[0038] Figure 8 A structural diagram of a control device based on an escort vehicle group provided for one embodiment of the present invention. DETAILED DESCRIPTION

[0039] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0040] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0041] In some embodiments, in combination Figure 1 As shown, a control method based on an escort vehicle group is provided, wherein the escort vehicle group includes multiple vehicles, and vehicle-to-vehicle communication is established between the multiple vehicles. The control method includes:

[0042] S101, determining the relative position information of the vehicle in the accompanying vehicle group.

[0043] S102, obtaining road information and driving information of each vehicle in the escort vehicle group.

[0044] S103, determining an escort driving strategy according to the driving information of each vehicle, the relative position information of the vehicle in the escort vehicle group, and the road information.

[0045] S104, controlling the vehicle to travel according to the accompanying driving strategy.

[0046] The control method based on the escort car group provided by the present disclosure determines the relative position information of the vehicle in the escort car group, and combines the driving information of other vehicles in the escort car group and the road information to formulate an escort driving strategy. And according to the escort driving strategy, the driving of the vehicle is controlled. In this way, the vehicles in the escort car group can optimize the overall driving path of the escort car group through vehicle-to-vehicle communication and coordinated control, thereby improving the safety and driving efficiency of the escort car group.

[0047] By adopting the control method provided by the present invention, through workshop communication and collaborative control, compared with the single following mode in the related technology, the present invention can coordinate the distance between vehicles in the accompanying vehicle group and share the driving information of the vehicles, thereby improving the consistency of the accompanying vehicle group, avoiding the situation where some vehicles leave the group too quickly or fall behind too slowly, thereby improving the driving efficiency and travel experience of the accompanying travel.

[0048] In some embodiments, in combination Figure 1 As shown, a control method based on an escort vehicle group is provided, wherein the escort vehicle group includes multiple vehicles, and vehicle-to-vehicle communication is established between the multiple vehicles. The control method includes:

[0049] S201, determining the relative position information of the vehicle in the accompanying vehicle group.

[0050] Optionally, the position of the vehicle in the escort vehicle group, such as the front, middle or rear, is determined through vehicle-mounted sensors, a GPS positioning system and vehicle-to-vehicle communication technology.

[0051] S202, obtaining road information and driving information of each vehicle in the escort vehicle group.

[0052] Optionally, road information is obtained through a navigation system, and the road information includes but is not limited to traffic regulations, speed limits, traffic flow, road conditions, etc.

[0053] Optionally, the vehicle's driving information includes driving speed, acceleration, steering angle, lane position, etc.

[0054] S203, determining a target following vehicle according to the driving information of each vehicle and the relative position information of the vehicle in the accompanying vehicle group.

[0055] According to the driving information of each vehicle and the relative position information of the vehicle in the escort group, the relative position information includes the front, middle or rear of the group, and a suitable vehicle is selected as the target following vehicle to improve the following effect of each vehicle in the escort group, maintain a stable vehicle distance, and improve driving safety.

[0056] S204, determining an accompanying driving strategy according to the road information and the driving trajectory of the target following vehicle.

[0057] Combining road information and the driving trajectory of the target following vehicle, the accompanying driving strategy can dynamically adapt to different traffic conditions, such as traffic congestion, road construction or sudden accidents. And by coordinating with other vehicles in the group, it can optimize the acceleration and deceleration process, maintain the distance between vehicles, make the driving of the entire team more coordinated, reduce traffic interference within the team, and improve the overall efficiency of the team.

[0058] S205, controlling the vehicle to travel according to the accompanying driving strategy.

[0059] In this embodiment, by selecting a suitable target following vehicle and cooperating with the target following vehicle, the acceleration and deceleration process can be optimized, and the burden on the driver of the vehicle can be reduced, providing a smoother and more comfortable driving experience. Combining road information and the driving trajectory of the target following vehicle, the accompanying driving strategy is determined, making the driving of the entire convoy more coordinated, reducing traffic interference within the convoy, and improving the overall efficiency of the convoy.

[0060] Combination Figure 3 As shown, the escort vehicle group includes multiple vehicles. For example, as shown in the figure, the escort vehicle group takes 4 vehicles as an example, and the 4 vehicles are C1, C2, C3 and C4. The 4 vehicles can communicate with each other to achieve information sharing.

[0061] In some embodiments, in combination Figure 4 As shown, a control method based on an escort vehicle group is provided, wherein the escort vehicle group includes multiple vehicles, and vehicle-to-vehicle communication is established between the multiple vehicles. The control method includes:

[0062] S401, when the relative position information of the own vehicle in the escort vehicle group is that it is the front, the own vehicle is used as the target following vehicle of the escort vehicle group.

[0063] When this vehicle is at the front of the escort group, it is the leading vehicle, and the other vehicles in the escort group are behind it. Therefore, this vehicle will be the target following vehicle of the escort group. When this vehicle is the leading vehicle, it can combine its own driving strategy with the vehicle information of other vehicles in the group to obtain the escort driving strategy suitable for the leading escort vehicle, set the driving rhythm for the entire team, and improve the overall coordination of the team.

[0064] S402, obtaining road navigation information and determining a driving route.

[0065] As the leading vehicle of the tour group, the vehicle plans the driving route through the GPS positioning navigation system, including route planning, traffic conditions, estimated arrival time, etc. Based on the road navigation information obtained, the vehicle determines the best driving route to avoid potential obstacles such as congestion and construction sections, so as to drive smoothly to the destination.

[0066] S403, obtaining the driving speed and vehicle information of other vehicles in the escort vehicle group.

[0067] The vehicle communication system collects key information such as the speed, location, and vehicle status of other vehicles in the escort group. The speed can be set reasonably from the perspective of the performance and safety of the entire group. The speed cannot be too fast to ensure that the vehicles behind can keep up, and traffic regulations and road speed limit requirements must also be taken into account.

[0068] S404: Determine the driving strategy of the vehicle according to the driving speed and vehicle information of other vehicles.

[0069] S405, determining the accompanying driving strategy according to the driving path and the driving strategy of the vehicle.

[0070] In this embodiment, when this vehicle serves as the target following vehicle of the escort vehicle group, an escort driving strategy is formulated by integrating road information and driving information of vehicles within the convoy, thereby improving the driving safety and efficiency of the convoy, reducing the burden on drivers of other vehicles, and providing a more relaxed and pleasant driving experience.

[0071] As a pilot vehicle, this vehicle needs to obtain the latest road navigation information, including route planning, traffic conditions, estimated arrival time, etc., to determine the driving path. Based on the road navigation information obtained, this vehicle determines the best driving path to avoid potential obstacles such as congestion and construction sections. Through the vehicle-to-vehicle communication system, this vehicle collects key information such as the driving speed, location, and vehicle status of other vehicles in the escort group. Based on the driving speed and vehicle information of other vehicles, as well as its own driving intentions and vehicle performance, this vehicle determines the appropriate driving strategy, including speed, acceleration, following distance, etc. Combined with the determined driving path and the driving strategy of this vehicle, an escort driving strategy is formulated to ensure the safety, coordination, and efficiency of the fleet.

[0072] S406, controlling the vehicle to travel according to the accompanying driving strategy.

[0073] Optionally, the step of determining the driving strategy of the vehicle according to the driving speed and vehicle information of other vehicles includes: collecting the speed, position, acceleration and other information of all vehicles in the escort vehicle group in real time through the vehicle-mounted sensors and the vehicle-to-vehicle communication system. Obtaining the vehicle performance data of the vehicle, such as the maximum speed, acceleration capability, braking performance, etc. By interacting with the drivers of other vehicles, the driving intentions of the drivers of other vehicles, including the expected speed, following vehicle preference, etc., are understood. Considering the impact of environmental factors such as road conditions, traffic rules, and weather conditions on the driving of the vehicle. According to the vehicle performance and driving intention, the initial speed, acceleration and following vehicle distance parameters are set. According to the speed of the vehicle in front of the vehicle in the same lane as the vehicle, the initial speed is dynamically adjusted in combination with the driving intention, vehicle performance, and environmental factors, and the initial acceleration is dynamically adjusted according to the speed difference (the difference between the speed of the vehicle and the speed of the front vehicle), the vehicle safety distance and the vehicle performance, and the initial following vehicle distance is dynamically adjusted according to the speed of the front vehicle, the acceleration of the front vehicle and the safety standard. Among them, the safety standard can be set, including the minimum safety distance, the maximum allowable speed difference, etc. The following data are monitored in real time through on-board sensors and communication systems: the speed and acceleration of the vehicle in front, the speed and acceleration of the vehicle in front, and environmental factors such as road conditions, traffic rules and weather conditions.

[0074] Optionally, the step of determining the escort driving strategy according to the driving path and the driving strategy of the vehicle includes: determining the escort driving strategy according to the driving path of the determined escort vehicle group, including the starting point, the end point, the passing point, the estimated driving time, etc., in combination with the driving strategy of the vehicle and the preset team safety rules. Team safety rules include but are not limited to the minimum following distance, the maximum speed difference, and emergency response measures. Through the vehicle communication system, the driving status and strategy of each vehicle are shared in real time, and the escort driving strategy is adjusted adaptively.

[0075] In some embodiments, when the relative position information of the vehicle in the escort vehicle group is the middle or rear, the vehicle information in front of the vehicle in the escort vehicle group is obtained, and the target following vehicle is determined based on the vehicle information in front of the vehicle.

[0076] In this embodiment, when the vehicle is located in the middle or rear of the accompanying vehicle group, it is necessary to obtain the information of the vehicle in front. According to the information of the vehicle in front, a suitable vehicle is selected as the target following vehicle. By selecting a suitable target following vehicle, a stable distance between vehicles in the convoy can be maintained.

[0077] In some embodiments, in combination Figure 5 As shown, a control method based on an escort vehicle group is provided, wherein the escort vehicle group includes multiple vehicles, and vehicle-to-vehicle communication is established between the multiple vehicles. The control method includes:

[0078] S501, when the relative position information of the vehicle in the escort vehicle group is the middle or the rear, obtaining the vehicle information in front of the vehicle in the escort vehicle group;

[0079] S502: When the vehicle in front of the vehicle includes the best following vehicle, the lane information of the best following vehicle is obtained.

[0080] The best following vehicle refers to the vehicle that is most suitable as the following target among the multiple vehicles in the accompanying vehicle group through comprehensive evaluation. The best following vehicle is identified among the vehicles in front of the vehicle, and the lane in which the best following vehicle is currently located is further determined.

[0081] S503: When the optimal following vehicle and the host vehicle are located in the same lane, the optimal following vehicle is used as the target following vehicle.

[0082] S504: Determine a following vehicle path according to the road information and the driving trajectory of the optimal following vehicle.

[0083] The vehicle determines the following path of the vehicle by combining the road information obtained from other vehicles through the navigation system or through vehicle-to-vehicle communication with the driving trajectory of the optimal following vehicle. The following path includes the following distance, following speed, and the predicted driving direction of the target following vehicle.

[0084] S505, obtaining the driving speeds of other vehicles in the accompanying vehicle group and the driving speed of the optimal following vehicle, and determining the driving parameters of the vehicle.

[0085] On the one hand, the driving parameters of the vehicle are determined according to the driving path and speed of the optimal following vehicle so as to maintain a safe distance. On the other hand, the driving speed of other vehicles in the accompanying vehicle group is taken into consideration as a factor in the driving parameters of the vehicle so as to coordinate with the driving speed of other vehicles and make the overall driving of the vehicle group more coordinated.

[0086] S506, determining an accompanying driving strategy according to the following vehicle path and the driving parameters of the vehicle.

[0087] S507, controlling the vehicle to travel according to the accompanying driving strategy.

[0088] In this embodiment, when the optimal following vehicle is in the same lane as the vehicle, the optimal following vehicle is used as the target following vehicle. Selecting the optimal following vehicle as the target following vehicle helps to maintain the driving rhythm and safety of the team. The following path of the vehicle is determined based on the road information and the driving trajectory of the optimal following vehicle. In addition, the driving speed information of other vehicles in the escorting vehicle group and the driving speed of the optimal following vehicle are combined to adjust the driving speed of the vehicle. An accompanying driving strategy is formulated based on the following path and the driving parameters of the vehicle. In this way, the stability of the vehicle's own driving can be improved by following the optimal following vehicle, and at the same time, the driving information of other vehicles in the vehicle group can be referred to to meet the collaborative relationship between the vehicles in the vehicle group and avoid the situation where vehicles fall behind.

[0089] According to the road information and the driving trajectory of the optimal following vehicle, the following path of the vehicle is determined. In addition, the driving speed information of other vehicles in the accompanying group and the driving speed of the optimal following vehicle are combined to adjust the driving speed of the vehicle. Combining the following path and the driving parameters of the vehicle, the accompanying driving strategy is formulated. In this way, the stability of the vehicle can be improved by following the optimal following vehicle, and the driving information of other vehicles in the group can be referred to to meet the coordination relationship between the vehicles in the group and avoid the situation where the vehicle falls behind.

[0090] Optionally, when the optimal following vehicle and the vehicle are located in the same lane, it refers to the optimal following vehicle being the closest to the vehicle in the current lane, that is, the adjacent one.

[0091] In some embodiments, in combination Figure 6 As shown, a control method based on an escort vehicle group is provided, wherein the escort vehicle group includes multiple vehicles, and vehicle-to-vehicle communication is established between the multiple vehicles. The control method includes:

[0092] S601, when the relative position information of the vehicle in the escort vehicle group is the middle or the rear, obtaining the vehicle information in front of the vehicle in the escort vehicle group;

[0093] S602: When the vehicle in front of the vehicle includes the best following vehicle, the lane information of the best following vehicle is obtained.

[0094] S603, when the best following vehicle and the vehicle are located in adjacent lanes, first driving information of the vehicle in the adjacent lane and second driving information of the best following vehicle are obtained.

[0095] Acquiring the first driving information of the vehicle in the adjacent lane refers to acquiring the driving information of the vehicle which is in the same lane as the optimal following vehicle and is located behind the optimal following vehicle.

[0096] S604: Determine whether a lane change condition is met based on the driving information of the vehicle, the first driving information, and the second driving information.

[0097] Whether the vehicle can change lanes safely is determined based on the vehicle's driving information, the first driving information, and the second driving information.

[0098] S605: When the lane change condition is met, the optimal following vehicle is used as the target following vehicle.

[0099] S606: Determine a following vehicle path according to the road information and the driving trajectory of the optimal following vehicle.

[0100] If the lane change conditions are met, the vehicle will be controlled to change lanes to the lane where the best following vehicle is located, so as to achieve following vehicle maintenance control. Combined with road information, the safety of the lane change process is improved.

[0101] S607, obtaining the driving speeds of other vehicles in the accompanying vehicle group and the driving speed of the best following vehicle, and determining the driving parameters of the vehicle.

[0102] S608, determining a companion driving strategy according to the following vehicle path and the driving parameters of the vehicle.

[0103] According to the road information and the driving trajectory of the best following vehicle, the following path of the vehicle is determined. In addition, the driving speed information of other vehicles in the accompanying group and the driving speed of the best following vehicle are combined to adjust the driving speed of the vehicle. The accompanying driving strategy is formulated based on the following path and the driving parameters of the vehicle. In this way, the stability of the vehicle can be improved by following the best following vehicle, and the driving information of other vehicles in the group can be referred to to meet the coordination relationship between the vehicles in the group and avoid the situation where vehicles fall behind.

[0104] S609: When the lane change condition is not met, the lane information of other vehicles in the accompanying vehicle group located in front of the vehicle is obtained.

[0105] S610: The vehicle in the same lane as the vehicle is taken as a target following vehicle.

[0106] Under the current road conditions, if it is not possible to change lanes to the lane where the optimal following vehicle is located, the lane change control is canceled. If there are other vehicles in the accompanying vehicle group in the lane where the vehicle is located, then the vehicle is used as the target following vehicle.

[0107] S611, when the lanes of other vehicles are different from that of the vehicle, determine the third driving information of the vehicle in the adjacent lane to the vehicle and the fourth driving information of the vehicle in the adjacent lane behind the vehicle in the accompanying vehicle group.

[0108] When there are no other vehicles in the accompanying vehicle group in the lane where this vehicle is located, the third driving information of other vehicles in the accompanying vehicle group in the adjacent lane and the fourth driving information of the vehicle behind the vehicle in the accompanying vehicle group are obtained to determine whether the vehicles in the adjacent lane meet the following conditions.

[0109] S612: Determine whether a lane change condition is met based on the third driving information, the fourth driving information and the driving information of the vehicle.

[0110] According to the third driving information, the fourth driving information and the driving information of the vehicle, it is determined whether the vehicle can change lanes successfully, that is, whether the lane change condition is met.

[0111] S613: When the lane change condition is met, the corresponding vehicle is taken as a target following vehicle.

[0112] S614, determining the driving path of the vehicle according to the road information and the driving trajectory of the target following vehicle;

[0113] S615: Determine the driving parameters of the vehicle according to the driving parameters of the target following vehicle and the driving parameters of other vehicles in the accompanying vehicle group. The driving parameters include speed and acceleration.

[0114] S616: Determine the accompanying driving strategy according to the driving path and the driving parameters of the vehicle.

[0115] S617: When the lane change conditions are not met, the automatic driving is performed according to the driving information of other vehicles in the accompanying vehicle group.

[0116] When the lane change conditions are not met, automatic cruise driving is performed based on the driving information of other vehicles and road information. Automatic cruise driving technology is an existing technology and will not be described in detail here.

[0117] S618, controlling the vehicle to travel according to the accompanying driving strategy.

[0118] In this embodiment, when the optimal following vehicle is located in an adjacent lane, it is necessary to further determine whether it is possible to change lanes and follow the vehicle. Then, the driving information of the vehicle, the first driving information of the vehicle in the adjacent lane, and the second driving information of the optimal following vehicle are used to determine whether the conditions for safe lane change are met. The conditions for safe lane change need to consider lane unblocking, safe distance, speed matching, etc. If the judgment result is that the lane change conditions are met, the lane change operation is performed, and the optimal following vehicle is used as the target following vehicle. If the lane change conditions are not met, the target following vehicle is re-determined based on other vehicles in the escort vehicle group located in front of the vehicle. By judging the lane conditions and lane change conditions, the safety of the following process is ensured and traffic accidents caused by improper lane changes are reduced.

[0119] Optionally, the step of determining whether the lane changing condition is met includes: Condition 1: determining that the longitudinal position of the vehicle at a certain moment in the future relative to the current position is greater than the longitudinal position of the following vehicle (the vehicle behind the target following vehicle in the same lane) at a certain moment in the future relative to the current position, and the position difference between the longitudinal position of the vehicle at a certain moment in the future relative to the current position and the longitudinal position of the following vehicle at a certain moment in the future relative to the current position is greater than the sum of the vehicle's body length + the position deviation.

[0120] Condition 2: Determine that the longitudinal position of the vehicle at a certain moment in the future relative to the current time is less than the longitudinal position of the target following vehicle at a certain moment in the future relative to the current time, and the position difference between the longitudinal position of the target following vehicle at a certain moment in the future relative to the current time and the longitudinal position of the vehicle at a certain moment in the future relative to the current time is greater than the sum of the body length of the vehicle + the position deviation.

[0121] When both condition 1 and condition 2 are satisfied, it is determined that the lane change condition is satisfied.

[0122] Optionally, the position deviation ranges from 2 meters to 6 meters.

[0123] Optionally, the formula for predicting the vehicle's position at a certain moment in the future is as follows:

[0124] F(f)=pos1+v×t+0.5×a×t×t, where pos1 is the distance between the other vehicles and the vehicle. When calculating the position of the vehicle, pos1=0; v is the speed of the vehicle, t is the prediction time, and a is the acceleration of the vehicle. The prediction time t can be set according to actual conditions, for example, in the range of 15s to 60s, but is not limited thereto.

[0125] In some embodiments, in combination Figure 7 As shown, a control method based on an escort vehicle group is provided, wherein the escort vehicle group includes multiple vehicles, and vehicle-to-vehicle communication is established between the multiple vehicles. The control method includes:

[0126] S701, when the relative position information of the vehicle in the escort vehicle group is the middle or rear, obtaining the vehicle information in front of the vehicle in the escort vehicle group;

[0127] S702: When the vehicle in front of the vehicle does not include the optimal following vehicle, the lane information of other vehicles in the accompanying vehicle group in front of the vehicle is obtained.

[0128] S703: The vehicle in the same lane as the vehicle is taken as a target following vehicle.

[0129] Vehicles in the same lane refer to vehicles adjacent to your vehicle in front of it.

[0130] S704, when other vehicles in front of the vehicle are in different lanes from the vehicle, determine the third driving information of the vehicle in the adjacent lane to the vehicle and the fourth driving information of the vehicle in the adjacent lane behind the vehicle in the accompanying vehicle group.

[0131] When there are no other vehicles in the accompanying vehicle group in the lane where this vehicle is located, the third driving information of other vehicles in the accompanying vehicle group in the adjacent lane and the fourth driving information of the vehicle in the adjacent lane located behind the vehicle in the accompanying vehicle group are obtained to determine whether the vehicles in the adjacent lane meet the following conditions.

[0132] S705: Determine whether a lane change condition is met based on the third driving information, the fourth driving information and the driving information of the vehicle.

[0133] According to the third driving information, the fourth driving information and the driving information of the vehicle, it is determined whether the vehicle can change lanes successfully, that is, whether the lane change condition is met.

[0134] S706: When the lane change condition is met, the corresponding vehicle is taken as a target following vehicle.

[0135] S707, determining the driving path of the vehicle according to the road information and the driving trajectory of the target following vehicle;

[0136] S708: Determine the driving parameters of the vehicle according to the driving parameters of the target following vehicle and the driving parameters of other vehicles in the accompanying vehicle group. The driving parameters include speed and acceleration.

[0137] S709: Determine the accompanying driving strategy according to the driving path and the driving parameters of the vehicle.

[0138] S710: When the lane change conditions are not met, the automatic driving is performed according to the driving information of other vehicles in the accompanying vehicle group.

[0139] If the lane change conditions are not met, automatic cruise driving is performed based on the driving information of other vehicles and road information. Automatic cruise driving technology is an existing technology and will not be described in detail here.

[0140] S711, controlling the vehicle to drive according to the accompanying driving strategy.

[0141] In this embodiment, by selecting a vehicle in the same lane or an adjacent lane as the target following vehicle based on the lane information and driving information of the vehicle in front when the optimal following vehicle is not available, the driving safety and efficiency of the fleet are improved, the adaptability and reliability in complex traffic environments are improved, and the overall performance of the fleet is improved, while also providing a safer and more convenient driving environment for the driver.

[0142] If the lane change conditions are met, the target vehicle will change lanes and follow the target vehicle. If the target vehicle is in the same lane or the lane change conditions are not met, the target vehicle will maintain the current lane.

[0143] In some embodiments, the step of determining the relative position information of the vehicle in the escort vehicle group includes: obtaining the position information of all vehicles in the escort vehicle group. According to the position information of all vehicles, the relative position information of the vehicle in the escort vehicle group is determined along the travel direction. The relative position information includes the position in front, in the middle or at the rear of the escort vehicle group.

[0144] In this embodiment, the relative position of the vehicle is determined by acquiring and analyzing the position information of all vehicles in the escort vehicle group, which helps the vehicle to adopt different driving strategies according to different positions and improve the orderliness and coordination of the team's driving.

[0145] Optionally, the location information of each vehicle in the escort vehicle group is obtained by using vehicle-mounted sensors and GPS positioning systems. The location information of the vehicle is shared with other vehicles through vehicle-to-vehicle communication technology (such as V2V communication), and the location information of other vehicles is received synchronously.

[0146] Optionally, a coordinate system is established based on the traveling direction of the escort vehicle group, with the traveling direction as the X-axis and the lane width direction as the Y-axis. The position information of all vehicles in the escort vehicle group is collected by using on-board sensors (including but not limited to radar, laser radar, camera, ultrasonic sensor, etc.), GPS positioning system, and vehicle communication technology, and the collected position information is analyzed to calculate the distance and relative position between the vehicle and other vehicles in the escort vehicle group, and mark them in the coordinate system so as to determine the relative position between the vehicles. According to the calculation results, the relative position of the vehicle is divided into the following three cases: If the vehicle is in front of the team, the vehicle is determined to be the leading vehicle. If the vehicle is in the middle of the team, the vehicle is determined to be the following vehicle, and the front vehicle is identified as the following target. If the vehicle is behind the team, the vehicle is determined to be the trailing vehicle, and the front vehicle is identified as the following target. Among them, the position update frequency is set (for example, every second or every few hundred milliseconds) so that the position of the vehicle and other vehicles can be updated in time, and then the relative position relationship can be updated in time to adapt to the dynamic changes of the vehicle and make an adaptive escort strategy. In this way, the driving strategy of the vehicle can be adjusted according to the relative position information, such as maintaining a safe distance, selecting an appropriate following mode, etc. Figure 3 As shown, the escort vehicle group is taken as an example with 4 vehicles, namely C1, C2, C3 and C4. The real-time positions of the 4 vehicles are marked in the coordinate system and displayed intuitively through the interactive interface. Among them, the vehicle can be any one of C1, C2, C3 and C4.

[0147] Optionally, the relative position of the vehicle and other vehicles can be displayed in a graphical interface in the vehicle information system to provide intuitive driving assistance information.

[0148] In some embodiments, before determining the relative position information of the vehicle in the escort vehicle group, the method further includes: obtaining vehicle information of each vehicle in the escort vehicle group and information of the personnel in each vehicle. Based on the vehicle information in the escort vehicle group and the information of the personnel in each vehicle, the optimal following vehicle in the escort vehicle group is determined.

[0149] In this embodiment, by obtaining the vehicle information and occupant information of each vehicle in the escort vehicle group, and analyzing and determining the optimal following vehicle in the escort vehicle group based on the collected vehicle information and personnel information, it helps to optimize the driving order and driving strategy of the fleet, improve the overall efficiency and coordination of the fleet, and improve the overall comfort and satisfaction of the fleet.

[0150] Among them, the optimal following vehicle is the optimal following vehicle recommended by comprehensive evaluation based on the vehicle information and personnel information of all vehicles in the escort vehicle group. In the actual escort control process, as mentioned above, the driving information and road information of all vehicles in the escort vehicle group are combined to further determine the target following vehicle for each vehicle. However, in the process of determining the target following vehicle, priority will be given to whether the optimal following vehicle meets the following requirements of the actual road conditions to improve the following effect.

[0151] Optionally, the vehicle information includes but is not limited to the vehicle type (electric vehicle or oil vehicle, oil-electric hybrid) and vehicle age. The personnel information includes driver information and passenger information. The driver information includes but is not limited to driving experience and violation information, age, gender, etc. The passenger information includes but is not limited to infants, the elderly, middle-aged people, etc.

[0152] Optionally, the method of obtaining the vehicle information of each vehicle in the escort vehicle group and the personnel information in each vehicle includes and is limited to: manual entry, photo recognition, etc.

[0153] In some embodiments, the control method further includes: constructing a companion driving control model. The vehicle information and personnel information of the companion vehicle group are input into the constructed companion driving control model, and the companion driving control model is used to output the recommended optimal following vehicle. The companion driving control model includes an interactive interface, a data storage and management module, and an optimal following vehicle determination algorithm. The interactive interface is used for information entry, display information, user operation, etc. The data storage and management module includes a database for storing vehicle information and personnel information. The database can be set with encryption measures to improve information security. The optimal following vehicle determination algorithm includes extracting vehicle information and personnel information from the database. Extracting features such as vehicle type, vehicle age, driver driving experience, violation information, driver age, gender, and passenger type. Assign weights according to the relative importance of each feature. For example, safety has the highest weight, followed by stability, and then driver driving experience and passenger comfort. Score each vehicle, and the scoring formula is: vehicle score = Σ (feature value × corresponding weight). Sort the vehicles according to the score. Select the vehicle with the highest score as the optimal following vehicle. The interactive interface can display the sorting results and the optimal following vehicle information. The weight setting here is not specifically limited here, and can be specifically set according to the actual scenario. For example, the operator is allowed to manually adjust the weight or re-score through the interactive interface.

[0154] Combination Figure 8 As shown, the embodiment of the present disclosure provides a control device based on a group of escort vehicles, including a processor

[0155] The device 80 may further include a processor 800 and a memory 801. Optionally, the device 80 may further include a communication interface 802 and a bus 803. The processor 800, the communication interface 802, and the memory 801 may communicate with each other through the bus 803. The communication interface 802 may be used for information transmission. The processor 800 may call the logic instructions in the memory 801 to execute the control method based on the escort vehicle group of the above embodiment.

[0156] In addition, the logic instructions in the memory 801 described above can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0157] The memory 801 is a computer-readable storage medium that can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 800 executes the function application and data processing by running the program instructions / modules stored in the memory 801, that is, the control method based on the escort vehicle group in the above embodiment is implemented.

[0158] The memory 801 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function. The data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 101 may include a high-speed random access memory and may also include a non-volatile memory.

[0159] In some embodiments, a vehicle is provided, comprising: a vehicle body. And a control device based on an escort vehicle group as described in any of the above embodiments, which is arranged in the vehicle body. The installation relationship described here is not limited to placement inside the vehicle body, but also includes installation connections with other components of the vehicle, including but not limited to physical connection, electrical connection or signal transmission connection, etc. It can be understood by those skilled in the art that the control device of the vehicle air conditioner can be adapted to a feasible vehicle body, thereby realizing other feasible embodiments.

[0160] An embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the above-mentioned control method based on the escort vehicle group.

[0161] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes.

[0162] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0163] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods for each specific application to implement the described functions, but such implementations should not be considered to exceed the scope of the embodiments of the present disclosure. The technicians may clearly understand that, for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above may refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0164] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A control method based on an escort vehicle group, characterized in that: The escort vehicle group includes multiple vehicles, and vehicle-to-vehicle communication is established between the multiple vehicles. The control method includes: Determine the relative position information of the vehicle in the group of accompanying vehicles; Obtain road information and driving information of each vehicle in the escort vehicle group; Determine the escort driving strategy according to the driving information of each vehicle, the relative position information of the vehicle in the escort vehicle group and the road information; Control the vehicle's driving according to the escort driving strategy.

2. The control method according to claim 1, characterized in that: According to the driving information of each vehicle, the relative position information of the vehicle in the escort vehicle group and the road information, the steps of determining the escort driving strategy include: According to the driving information of each vehicle and the relative position information of the vehicle in the group of accompanying vehicles, the target following vehicle is determined; Determine the escort driving strategy based on the road information and the driving trajectory of the target following vehicle.

3. The control method according to claim 2, characterized in that: According to the driving information of each vehicle and the relative position information of the vehicle in the accompanying vehicle group, the steps of determining the target following vehicle include: When the relative position information of the vehicle is the frontmost in the escort vehicle group, the vehicle is used as the target following vehicle of the escort vehicle group; When the relative position information of the vehicle in the escort vehicle group is the middle or rear, the vehicle information in front of the vehicle in the escort vehicle group is obtained, and the target following vehicle is determined based on the vehicle information in front of the vehicle.

4. The control method according to claim 3, characterized in that: The steps of determining the target following vehicle according to the vehicle information in front of the vehicle include: When the vehicle in front of the vehicle includes the best following vehicle, the lane information of the best following vehicle is obtained; When the optimal following vehicle and the vehicle are in the same lane, the optimal following vehicle is used as the target following vehicle; When the optimal following vehicle and the vehicle are located in adjacent lanes, first driving information of the vehicle in the adjacent lane and second driving information of the optimal following vehicle are obtained; determining whether a lane change condition is met according to the driving information of the vehicle, the first driving information, and the second driving information; When the lane change conditions are met, the optimal following vehicle is used as the target following vehicle; When the lane change conditions are not met, the target following vehicle is determined based on other vehicles in the escort vehicle group located in front of the vehicle.

5. The control method according to claim 4, characterized in that: When the optimal following vehicle is not included in the vehicles in front of the vehicle, the step of determining the target following vehicle according to the vehicle information in front of the vehicle includes: Obtain lane information of other vehicles in the escort vehicle group located in front of the vehicle; The vehicle in the same lane as the vehicle is regarded as the target following vehicle; In the case that the lanes of the other vehicles are different from those of the vehicle, third driving information of vehicles in lanes adjacent to the vehicle and fourth driving information of vehicles in lanes adjacent to the vehicle behind the vehicle in the accompanying vehicle group are determined; determining whether a lane change condition is met according to the third driving information, the fourth driving information and the driving information of the vehicle; If the lane change conditions are met, the corresponding vehicle will be used as the target following vehicle; If the lane change conditions are not met, the system will drive automatically based on the driving information of other vehicles in the accompanying group.

6. The control method according to claim 4, characterized in that: The optimal following vehicle is used as the target following vehicle, and the steps of determining the accompanying driving strategy according to the road information and the driving trajectory of the target following vehicle include: Determine the following path based on road information and the driving trajectory of the optimal following vehicle; Obtain the driving speed of other vehicles in the escort vehicle group and the driving speed of the best following vehicle to determine the driving parameters of the vehicle; Determine the accompanying driving strategy based on the following vehicle path and the driving parameters of the vehicle.

7. The control method according to claim 3, characterized in that: When the vehicle is used as a target following vehicle of the accompanying vehicle group, the steps of determining the accompanying driving strategy according to the road information and the driving track of the target following vehicle include: Obtain road navigation information and determine the driving route; Obtain the driving speed and vehicle information of other vehicles in the escort vehicle group; Determine the driving strategy of the vehicle based on the driving speed and vehicle information of other vehicles; Determine the accompanying driving strategy based on the driving path and the driving strategy of the vehicle.

8. The control method according to any one of claims 1 to 7, characterized in that: The steps of determining the relative position information of the vehicle in the escort vehicle group include: Get the location information of all vehicles in the escort vehicle group; Along the traveling direction, according to the position information of all vehicles, determine the relative position information of the vehicle in the group of accompanying vehicles; The relative position information includes being located in front, middle or rear of the escort vehicle group.

9. The control method according to any one of claims 1 to 7, characterized in that: Before the step of determining the relative position information of the vehicle in the escort vehicle group, the method further includes: Obtain vehicle information of each vehicle in the escort vehicle group and personnel information in each vehicle; The optimal following vehicle in the escort vehicle group is determined based on the vehicle information in the escort vehicle group and the personnel information in each vehicle.

10. A control device based on a group of escort vehicles, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to execute the control method based on the escort vehicle group as described in any one of claims 1 to 9 when running the program instructions.

11. A vehicle, characterized in that: include: Vehicle body; as well as According to the control device based on the escort vehicle group as described in claim 10, the control device is installed on the vehicle body.

12. A readable storage medium storing program instructions, characterized in that: When the program instructions are executed, the computer is used to execute the control method based on the escort vehicle group as described in any one of claims 1 to 9.

Images