Control method, control device, vehicle and readable storage medium based on a companion car group

Abstract

The present application relates to the technical field of intelligent driving, in particular to a control method and device based on a companion vehicle group, a vehicle and a readable storage medium. The companion vehicle group includes multiple vehicles, and inter-vehicle communication is established among the multiple vehicles. The control method based on the companion vehicle group includes: determining relative position information of the vehicle in the companion vehicle group; obtaining road information and driving information of each vehicle in the companion vehicle group; determining a companion driving strategy according to the driving information of each vehicle, the relative position information of the vehicle in the companion vehicle group and the road information; and controlling the vehicle to drive according to the companion driving strategy. By determining the relative position information of the vehicle in the companion vehicle group, combining the driving information of other vehicles in the companion vehicle group and the road information, and formulating the companion driving strategy, the vehicles in the companion vehicle group are controlled through inter-vehicle communication and cooperation, the overall driving path of the companion vehicle group is optimized, and the safety and driving efficiency of the companion vehicle group are improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and specifically to a control method, control device, vehicle, and readable storage medium based on a tour bus group. Background Technology

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

[0003] Among the related technologies, a vehicle-following control method has been proposed. By activating the vehicle's control system, the vehicle can automatically follow a vehicle in front, achieving acceleration and deceleration while following.

[0004] The following problems exist in implementing the above embodiments:

[0005] When multiple friends organize a trip together, using the aforementioned car-following method results in ineffective coordination between the vehicles. Each vehicle automatically follows its own car-following control, leading to a lack of inter-vehicle collaborative driving capabilities. This results in problems such as large distances between vehicles and significant differences in arrival times, negatively impacting the overall travel experience. Summary of the Invention

[0006] The purpose of this invention is to provide a technology in the field of intelligent driving, specifically relating to a control method, control device, vehicle, and readable storage medium based on a tour group, in order to solve the problems in the prior art where there is a lack of inter-vehicle cooperative driving function among vehicles traveling together, resulting in large distances between vehicles and large differences in arrival times, which affect the experience of traveling together.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] In some technical solutions, a control method based on a tour bus group is provided. The tour bus group includes multiple vehicles, and the multiple vehicles establish inter-vehicle communication. The control method includes: determining the relative position information of the vehicle in the tour bus group; acquiring road information and driving information of each vehicle in the tour bus group; determining a tour driving strategy based on the driving information of each vehicle, the relative position information of the vehicle in the tour bus group, and the road information; and controlling the vehicle to drive according to the tour driving strategy.

[0009] The control method based on a tour bus group disclosed herein determines the relative position of the vehicle within the tour bus group, and, in conjunction with the driving information of other vehicles in the group and road information, formulates a tour bus driving strategy. The vehicle's movement is then controlled according to this strategy. This enables vehicle-to-vehicle communication and collaborative control among the vehicles in the tour bus group, optimizing the overall driving path of the group and improving the safety and efficiency of tour bus trips.

[0010] Furthermore, the steps for determining the escort driving strategy based on the driving information of each vehicle, the relative position of the vehicle in the escort vehicle group, and road information include: determining the target vehicle to follow based on the driving information of each vehicle and the relative position of the vehicle in the escort vehicle group; and determining the escort driving strategy based on road information and the driving trajectory of the target vehicle to follow.

[0011] In this technical solution, by selecting a suitable target vehicle and coordinating with it, the acceleration and deceleration processes can be optimized, reducing the driver's workload and providing a smoother and more comfortable driving experience. By combining road information and the target vehicle's trajectory to determine the escort driving strategy, the entire convoy's movement becomes more coordinated, reducing traffic interference within the convoy and improving overall convoy efficiency.

[0012] Furthermore, the steps for determining the target following vehicle based on the driving information of each vehicle and the relative position information of this vehicle in the escort vehicle group include: if the relative position information of this vehicle in the escort vehicle group is at the front, this vehicle is designated as the target following vehicle in the escort vehicle group; if the relative position information of this vehicle in the escort vehicle group is in the middle or rear, information on vehicles in front of this vehicle in the escort vehicle group is obtained, and the target following vehicle is determined based on the information on vehicles in front of this vehicle.

[0013] In this technical solution, when this vehicle is at the very front of the escort vehicle group, it acts as the lead vehicle, with all other vehicles in the group following behind. Therefore, this vehicle serves as the target vehicle for the escort vehicle group. When acting as the lead vehicle, it can autonomously determine its driving strategy, setting the pace for the entire convoy and improving overall coordination. When this vehicle is in the middle or rear of the escort vehicle group, it needs to obtain information about the vehicles ahead. Based on this information, a suitable vehicle is selected as the target vehicle to follow. By selecting an appropriate target vehicle, a stable distance can be maintained within the convoy.

[0014] Furthermore, the steps for determining the target following vehicle based on the vehicle information ahead of the vehicle include: if the optimal following vehicle is among the vehicles ahead of the vehicle, obtaining the lane information of the optimal following vehicle; if the optimal following vehicle is in the same lane as the vehicle, designating the optimal following vehicle as the target following vehicle; if the optimal following vehicle is in an adjacent lane as the vehicle, obtaining the first driving information of the vehicles in the adjacent lane and the second driving information of the optimal following vehicle; determining whether lane-changing conditions are met based on the vehicle's driving information, the first driving information, and the second driving information; if lane-changing conditions are met, designating the optimal following vehicle as the target following vehicle; if lane-changing conditions are not met, determining the target following vehicle based on other vehicles in the escort vehicle group located ahead of the vehicle.

[0015] In this technical solution, the optimal following vehicle refers to the vehicle most suitable as a target vehicle among multiple vehicles in the escort vehicle group, selected through comprehensive evaluation. When the optimal following vehicle is identified among the vehicles in front of the current vehicle, its current lane is further determined. If the optimal following vehicle is in the same lane as the current vehicle, it is directly designated as the target following vehicle. Selecting the optimal following vehicle as the target helps maintain the convoy's rhythm and safety. If the optimal following vehicle is in an adjacent lane, it is necessary to further determine whether a lane change is possible. This is done by using the current vehicle's driving information, the first driving information of vehicles in the adjacent lane, and the second driving information of the optimal following vehicle to determine if the conditions for a safe lane change are met. The conditions for a safe lane change need to consider factors such as lane unobstructed traffic, safe distance, and speed matching. If the determination result is that the lane change conditions are met, a lane change operation is performed, and the optimal following vehicle is designated as the target following vehicle. If the lane change conditions are not met, a new target following vehicle is determined based on other vehicles in the escort vehicle group that are in front of the current vehicle. By assessing lane conditions and lane-changing scenarios, safety during following is ensured, and traffic accidents caused by improper lane changes are reduced.

[0016] Furthermore, if the optimal following vehicle is not among the vehicles in front of the vehicle, the steps for determining the target following vehicle based on the information of the vehicles in front of the vehicle include: obtaining the lane information of other vehicles in the escort vehicle group that are in front of the vehicle; designating the vehicle in the same lane as the vehicle as the target following vehicle; if the lanes of other vehicles are not the same as the vehicle's, determining the third driving information of the vehicle in the adjacent lane and the fourth driving information of the vehicle behind the vehicle in the escort vehicle group in the adjacent lane; determining whether the lane change conditions are met based on the third driving information, the fourth driving information, and the vehicle's driving information; if the lane change conditions are met, designating the corresponding vehicle as the target following vehicle; if the lane change conditions are not met, then automatically driving based on the driving information of other vehicles in the escort vehicle group.

[0017] In this technical solution, when the optimal following vehicle is unavailable, a vehicle in the same or adjacent lane is selected as the target following vehicle based on the lane information and driving information of the vehicle ahead. This improves the driving safety and efficiency of the fleet, enhances its adaptability and reliability in complex traffic environments, helps improve the overall performance of the fleet, and also provides drivers with a safer and more convenient driving environment.

[0018] Furthermore, the steps for determining the escort driving strategy based on road information and the target vehicle's trajectory, with the optimal following vehicle as the target vehicle, include: determining the following route based on road information and the optimal vehicle's trajectory; obtaining the speeds of other vehicles in the escort vehicle group and the optimal vehicle's speed to determine the vehicle's driving parameters; and determining the escort driving strategy based on the following route and the vehicle's driving parameters.

[0019] In this technical solution, the following path of the vehicle is determined based on road information and the trajectory of the optimal following vehicle. Furthermore, by combining the speed information of other vehicles in the escort group with the speed of the optimal following vehicle, the vehicle's speed can be adjusted. An escort driving strategy is formulated by combining the following path and the vehicle's driving parameters. This approach improves the vehicle's stability by following the optimal following vehicle while also referencing the driving information of other vehicles in the group to ensure coordination among the vehicles and prevent vehicles from falling behind.

[0020] Furthermore, when this vehicle is the target vehicle in the escort vehicle group, the steps to determine the escort driving strategy based on road information and the target vehicle's driving trajectory include: obtaining road navigation information and determining the driving route; obtaining the driving speed and vehicle information of other vehicles in the escort vehicle group; determining the driving strategy of this vehicle based on the driving speed and vehicle information of other vehicles; and determining the escort driving strategy based on the driving route and the driving strategy of this vehicle.

[0021] In this technical solution, when this vehicle serves as the target vehicle in the escort vehicle group, it formulates an escort driving strategy by comprehensively considering road information and the driving information of other vehicles in the fleet. This improves the driving safety and efficiency of the fleet, reduces the burden on the drivers of other vehicles, and provides a more relaxed and enjoyable driving experience.

[0022] As the lead vehicle, this vehicle needs to acquire the latest road navigation information, including route planning, traffic conditions, and estimated arrival time, to determine the driving path. Based on the acquired road navigation information, this vehicle determines the optimal driving path to avoid potential obstacles such as congestion and construction zones. Through the vehicle-to-vehicle communication system, this vehicle collects key information such as the speed, location, and vehicle status of other vehicles in the escort group. Based on the speed and vehicle information of other vehicles, as well as its own driving intentions and vehicle performance, this vehicle determines a suitable driving strategy, including speed, acceleration, and following distance. Combining the determined driving path and its own driving strategy, a comprehensive escort driving strategy is formulated to ensure the safety, coordination, and efficiency of the convoy.

[0023] Further, the step of determining the relative position information of this vehicle within the escort vehicle group includes: obtaining the position information of all vehicles in the escort vehicle group; determining the relative position information of this vehicle within the escort vehicle group along the direction of travel based on the position information of all vehicles; wherein, the relative position information includes being located in front of, in the middle of, or behind 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. This helps the vehicle to adopt different driving strategies according to different positions, thereby improving the orderliness and coordination of the convoy.

[0025] Furthermore, before determining the relative position of the vehicle within the escort vehicle group, the process includes: obtaining vehicle information for each vehicle in the escort vehicle group and information about the people inside each vehicle; and determining the optimal accompanying vehicle in the escort vehicle group based on the vehicle information and the information about the people inside each vehicle.

[0026] In this technical solution, by acquiring vehicle information and passenger 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 and passenger 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 a tour bus is provided, including a processor and a memory storing program instructions, wherein the processor is configured to execute the control method based on the tour bus as described in any of the above technical solutions when running the program instructions.

[0028] In some technical solutions, a vehicle is provided, including: a vehicle body; and a control device based on a tour bus as described in any of the above technical solutions, the control device being installed on the vehicle body.

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

[0030] The beneficial effects of this invention are as follows: By determining the relative position of the vehicle within the escort vehicle group, and combining this information with the driving information of other vehicles in the group, as well as road information, an escort driving strategy is formulated. The vehicle's movement is then controlled according to this strategy. This allows for inter-vehicle communication and collaborative control among the vehicles in the escort vehicle group, optimizing the overall driving path of the group and improving the safety and efficiency of the escort vehicle trips. Attached Figure Description

[0031] Figure 1 A flowchart of a control method based on a tour bus group is provided as an embodiment of the present invention;

[0032] Figure 2 A flowchart of a control method based on a tour bus group, as provided in another embodiment of the present invention;

[0033] Figure 3 A schematic diagram of the lane distribution of the escort vehicle group provided in one embodiment of the present invention;

[0034] Figure 4 A flowchart of a control method based on a tour bus group, as provided in another embodiment of the present invention;

[0035] Figure 5 A flowchart of a control method based on a tour bus group, as provided in another embodiment of the present invention;

[0036] Figure 6 A flowchart of a control method based on a tour bus group, as provided in another embodiment of the present invention;

[0037] Figure 7 A flowchart of a control method based on a tour bus group, as provided in another embodiment of the present invention;

[0038] Figure 8 This is a structural diagram of a control device based on a tour bus group, provided as an embodiment of the present invention. Detailed Implementation

[0039] The embodiments of the present invention will be described below 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 content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed 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 and 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 representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0041] In some embodiments, combined with Figure 1 As shown, a control method based on a tour bus group is provided. The tour bus group includes multiple vehicles, and inter-vehicle communication is established between the multiple vehicles. The control method includes:

[0042] S101, Determine the relative position of this vehicle within the escort vehicle group.

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

[0044] S103, based on the driving information of each vehicle, the relative position of this vehicle in the escort vehicle group, and road information, determine the escort driving strategy.

[0045] S104, control the vehicle's movement according to the escort driving strategy.

[0046] The control method based on a tour bus group disclosed herein determines the relative position of the vehicle within the tour bus group, and, in conjunction with the driving information of other vehicles in the group and road information, formulates a tour bus driving strategy. The vehicle's movement is then controlled according to this strategy. This enables vehicle-to-vehicle communication and collaborative control among the vehicles in the tour bus group, optimizing the overall driving path of the group and improving the safety and efficiency of tour bus trips.

[0047] By employing the control method provided in this disclosure, through workshop communication and collaborative control, compared with the single following mode in related technologies, this disclosure can coordinate the distance between vehicles in the escort vehicle group and share vehicle driving information, thereby improving the consistency of the escort vehicle group and avoiding situations where some vehicles leave the group too quickly or fall behind too slowly, thus improving the driving efficiency and travel experience of escort travel.

[0048] In some embodiments, combined with Figure 1 As shown, a control method based on a tour bus group is provided. The tour bus group includes multiple vehicles, and inter-vehicle communication is established between the multiple vehicles. The control method includes:

[0049] S201, Determine the relative position of this vehicle within the escort vehicle group.

[0050] Optionally, the position of the vehicle in the escort vehicle group can be determined by using on-board sensors, GPS positioning system and vehicle-to-vehicle communication technology, such as being located at the front, middle or rear.

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

[0052] Optionally, road information can be obtained through a navigation system, including but not limited to traffic rules, speed limits, traffic flow, and road conditions.

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

[0054] S203: Based on the driving information of each vehicle and the relative position of this vehicle in the escort vehicle group, determine the target vehicle to follow.

[0055] Based on the driving information of each vehicle and its relative position within the escort vehicle group (including the front, middle, or rear of the group), a suitable vehicle is selected as the target vehicle to improve the following effect of each vehicle within the escort vehicle group, maintain a stable distance between vehicles, and enhance driving safety.

[0056] S204 determines the escort driving strategy based on road information and the driving trajectory of the target vehicle.

[0057] By combining road information and the trajectory of the target vehicle, the escort driving strategy can dynamically adapt to different traffic conditions, such as traffic congestion, road construction, or sudden accidents. Furthermore, by coordinating with other vehicles in the convoy, it can optimize acceleration and deceleration processes, maintain vehicle spacing, and make the entire convoy's movement more coordinated, reducing traffic interference within the convoy and improving overall convoy efficiency.

[0058] S205, control the vehicle's movement according to the escort driving strategy.

[0059] In this embodiment, by selecting a suitable target vehicle and coordinating with it, the acceleration and deceleration processes can be optimized, reducing the driver's workload and providing a smoother and more comfortable driving experience. Combining road information and the target vehicle's trajectory to determine the escort driving strategy makes the entire convoy's movement more coordinated, reduces traffic interference within the convoy, and improves 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 consists of 4 vehicles, namely C1, C2, C3 and C4. The 4 vehicles can communicate with each other to achieve information sharing.

[0061] In some embodiments, combined with Figure 4 As shown, a control method based on a tour bus group is provided. The tour bus group includes multiple vehicles, and inter-vehicle communication is established between the multiple vehicles. The control method includes:

[0062] S401, if the relative position information of this vehicle in the escort vehicle group is the foremost, this vehicle will be designated as the target vehicle of the escort vehicle group.

[0063] When this vehicle is at the very front of the escort vehicle group, it acts as the lead vehicle, with all other vehicles in the group following behind. Therefore, this vehicle will serve as the target vehicle for the escort vehicle group. When acting as the lead vehicle, it can combine its own driving strategy with information from other vehicles in the group to develop a suitable escort driving strategy, setting the driving rhythm for the entire convoy and improving the overall coordination of the convoy.

[0064] S402: Obtain road navigation information and determine the driving route.

[0065] As the lead vehicle in the tour group, it uses a GPS positioning and navigation system to plan the route, including route planning, traffic conditions, and estimated arrival time. Based on the acquired road navigation information, the vehicle determines the optimal route to avoid potential obstacles such as congestion and construction sites, ensuring a smooth journey to the destination.

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

[0067] The workshop communication system collects key information such as the speed, location, and vehicle status of other vehicles in the escort vehicle group. This allows for the rational setting of driving speeds from the perspective of the overall performance and safety of the group. The speed cannot be too high; it must ensure that the vehicles behind can keep up, while also complying with traffic regulations and road speed limits.

[0068] S404 determines the vehicle's driving strategy based on the speed and information of other vehicles.

[0069] S405, based on the driving route and the vehicle's driving strategy, determine the escort driving strategy.

[0070] In this embodiment, when this vehicle is the target vehicle of the escort vehicle group, the escort driving strategy is formulated by comprehensively considering road information and driving information of vehicles within the fleet. This improves the driving safety and efficiency of the fleet, reduces the burden on the drivers of other vehicles, and provides a more relaxed and enjoyable driving experience.

[0071] As the lead vehicle, this vehicle needs to acquire the latest road navigation information, including route planning, traffic conditions, and estimated arrival time, to determine the driving path. Based on the acquired road navigation information, this vehicle determines the optimal driving path to avoid potential obstacles such as congestion and construction zones. Through the vehicle-to-vehicle communication system, this vehicle collects key information such as the speed, location, and vehicle status of other vehicles in the escort group. Based on the speed and vehicle information of other vehicles, as well as its own driving intentions and vehicle performance, this vehicle determines a suitable driving strategy, including speed, acceleration, and following distance. Combining the determined driving path and its own driving strategy, a comprehensive escort driving strategy is formulated to ensure the safety, coordination, and efficiency of the convoy.

[0072] S406, control the vehicle's movement according to the escort driving strategy.

[0073] Optionally, the steps for determining the driving strategy of this vehicle based on the speed and vehicle information of other vehicles include: collecting real-time information such as speed, position, and acceleration of all vehicles in the escort vehicle group through onboard sensors and a vehicle-to-vehicle communication system; acquiring vehicle performance data of this vehicle, such as maximum speed, acceleration capability, and braking performance; understanding the driving intentions of other vehicle drivers through interaction, including desired speed and following preferences; considering the impact of environmental factors such as road conditions, traffic rules, and weather conditions on the driving of this vehicle; setting initial speed, acceleration, and following distance parameters based on vehicle performance and driving intentions; dynamically adjusting the initial speed based on the speed of the vehicle ahead in the same lane as this vehicle, combined with driving intentions, vehicle performance, and environmental factors; dynamically adjusting the initial acceleration based on the speed difference (the difference between the speed of this vehicle and the speed of the vehicle ahead), the safe distance between vehicles, and vehicle performance; and dynamically adjusting the initial following distance based on the speed and acceleration of the vehicle ahead, and safety standards. Safety standards can be set, including minimum safe distance and maximum permissible speed difference. The system monitors the following data in real time through onboard sensors and communication systems: the vehicle's speed and acceleration; the speed and acceleration of the vehicle in front; and environmental factors such as road conditions, traffic rules, and weather conditions.

[0074] Optionally, the steps for determining the escort driving strategy based on the driving route and the vehicle's driving strategy include: determining the escort driving strategy based on the determined driving route of the escort vehicle group, including the starting point, destination, waypoints, and estimated travel time, combined with the vehicle's driving strategy and pre-set fleet safety rules. Fleet safety rules include, but are not limited to, minimum following distance, maximum speed difference, and emergency response measures. The driving status and strategies of each vehicle are shared in real time through the onboard communication system, and the escort driving strategy is adjusted accordingly.

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

[0076] In this embodiment, when the vehicle is located in the middle or rear of the escort vehicle group, it is necessary to obtain information about the vehicles ahead. Based on the information about the vehicles ahead, a suitable vehicle is selected as the target vehicle to follow. By selecting a suitable target vehicle to follow, a stable distance can be maintained within the convoy.

[0077] In some embodiments, combined with Figure 5 As shown, a control method based on a tour bus group is provided. The tour bus group includes multiple vehicles, and inter-vehicle communication is established between the multiple vehicles. The control method includes:

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

[0079] S502: If the vehicles in front of this vehicle include the optimal following vehicle, obtain the lane information of the optimal following vehicle.

[0080] The optimal following vehicle refers to the vehicle among the multiple vehicles in the escort vehicle group that is most suitable as the target vehicle to follow, based on a comprehensive evaluation. Once the optimal following vehicle is identified among the vehicles in front of the current vehicle, its current lane is further determined.

[0081] S503: When the optimal following vehicle is in the same lane as the vehicle, the optimal following vehicle will be used as the target following vehicle.

[0082] S504 determines the following route based on road information and the optimal following vehicle's trajectory.

[0083] By combining road information obtained from other vehicles through navigation systems or inter-vehicle communication with the optimal following vehicle's trajectory, a following path is determined. This following path includes following distance, following speed, and the predicted direction of the target vehicle.

[0084] S505: Obtain the driving speeds of other vehicles in the escort vehicle group and the optimal following vehicle's driving speed to determine the driving parameters of this vehicle.

[0085] On the one hand, the vehicle's driving parameters are determined based on the optimal following vehicle's route and speed to maintain a safe following distance. On the other hand, the driving speeds of other vehicles in the escort vehicle group are taken into consideration as factors in the vehicle's driving parameters to achieve coordination with other vehicles' speeds, making the overall driving of the group more harmonious.

[0086] S506 determines the escort driving strategy based on the following route and the vehicle's driving parameters.

[0087] S507, control the vehicle's movement according to the escort driving strategy.

[0088] In this embodiment, when the optimal following vehicle is in the same lane as the main vehicle, the optimal following vehicle is selected as the target following vehicle. Selecting the optimal following vehicle as the target following vehicle helps maintain the convoy's rhythm and safety. Based on road information and the trajectory of the optimal following vehicle, the main vehicle's following path is determined. Furthermore, by combining the speed information of other vehicles in the escort group with the speed of the optimal following vehicle, the main vehicle's speed can be adjusted. Combining the following path and the main vehicle's driving parameters, an escort driving strategy is formulated. This approach improves the vehicle's stability by following the optimal following vehicle while also referencing the driving information of other vehicles in the convoy to ensure proper coordination between vehicles and prevent vehicles from falling behind.

[0089] Based on road information and the optimal following vehicle's trajectory, the vehicle's following path is determined. Furthermore, by combining the speed information of other vehicles in the escort group with the optimal following vehicle's speed, the vehicle's speed is adjusted. A escort driving strategy is formulated by combining the following path and the vehicle's driving parameters. This approach improves the vehicle's stability by following the optimal following vehicle while also referencing the driving information of other vehicles in the group to ensure coordination between vehicles and prevent vehicles from falling behind.

[0090] Optionally, when the optimal following vehicle is in the same lane as the vehicle, it means that the optimal following vehicle is the closest to the vehicle in the current lane, i.e., the adjacent one.

[0091] In some embodiments, combined with Figure 6 As shown, a control method based on a tour bus group is provided. The tour bus group includes multiple vehicles, and inter-vehicle communication is established between the multiple vehicles. The control method includes:

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

[0093] S602, if the vehicles in front of this vehicle include the optimal following vehicle, obtain the lane information of the optimal following vehicle.

[0094] S603: When the optimal following vehicle and the vehicle are in adjacent lanes, obtain the first driving information of the vehicles in the adjacent lanes and the second driving information of the optimal following vehicle.

[0095] Obtaining the first driving information of vehicles in adjacent lanes refers to obtaining the driving information of vehicles that are in the same lane as the optimal following vehicle and are located behind the optimal following vehicle.

[0096] S604. Based on the vehicle's driving information, first driving information, and second driving information, determine whether the lane change conditions are met.

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

[0098] S605, under the condition of meeting the lane change conditions, selects the optimal following vehicle as the target following vehicle.

[0099] S606 determines the following route based on road information and the optimal following vehicle's trajectory.

[0100] When lane-changing conditions are met, the vehicle is controlled to change lanes to the lane where the optimal following vehicle is located, achieving follow-keeping control. This, combined with road information, enhances the safety of the lane-changing process.

[0101] S607: Obtain the driving speeds of other vehicles in the escort vehicle group and the optimal following vehicle's driving speed to determine the driving parameters of this vehicle.

[0102] S608 determines the escort driving strategy based on the following route and the vehicle's driving parameters.

[0103] Based on road information and the optimal following vehicle's trajectory, the vehicle's following path is determined. Furthermore, by combining the speed information of other vehicles in the escort group with the optimal following vehicle's speed, the vehicle's speed is adjusted. A escort driving strategy is formulated by combining the following path and the vehicle's driving parameters. This approach improves the vehicle's stability by following the optimal following vehicle while also referencing the driving information of other vehicles in the group to ensure coordination between vehicles and prevent any vehicles from falling behind.

[0104] S609: If the lane change conditions are not met, obtain lane information of other vehicles in front of the escort vehicle group.

[0105] S610 identifies vehicles in the same lane as this vehicle as the target vehicle to follow.

[0106] If, under current road conditions, it is not possible to change lanes to the lane where the optimal following vehicle is located, lane change control will be cancelled. If there are other vehicles in the accompanying vehicle group in the lane where this vehicle is located, then that vehicle will be designated as the target following vehicle.

[0107] S611, when other vehicles are not in the same lane as this vehicle, determine the third driving information of the vehicle in the adjacent lane and the fourth driving information of the vehicle in the adjacent lane that is behind the vehicle in the escort vehicle group.

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

[0109] S612, based on the third driving information, the fourth driving information and the driving information of this vehicle, determines whether the lane change conditions are met.

[0110] Based on the third driving information, the fourth driving information, and the vehicle's own driving information, determine whether the vehicle can successfully change lanes, i.e., whether the lane change conditions are met.

[0111] S613: If the lane change conditions are met, the corresponding vehicle will be designated as the target vehicle to follow.

[0112] S614, Determine the vehicle's driving path based on road information and the driving trajectory of the target vehicle following it;

[0113] S615: Determine the vehicle's driving parameters based on the driving parameters of the target vehicle and other vehicles in the escort vehicle group. Driving parameters include speed and acceleration.

[0114] S616 determines the escort driving strategy based on the driving route and the vehicle's driving parameters.

[0115] S617, if the lane-changing conditions are not met, will automatically drive based on the driving information of other vehicles in the escort vehicle group.

[0116] If the conditions for lane changing are not met, the system will automatically cruise based on the driving information of other vehicles and road information. Automatic cruise driving technology is existing technology and will not be described in detail here.

[0117] S618, control the vehicle's movement according to the escort driving strategy.

[0118] In this embodiment, if the optimal following vehicle is located in an adjacent lane, it is necessary to further determine whether a lane change is permissible. This is done by using the vehicle's own driving information, the first driving information of vehicles in the adjacent lane, and the second driving information of the optimal following vehicle to determine if the conditions for a safe lane change are met. The conditions for a safe lane change need to consider factors such as lane unobstructed traffic, safe distance, and speed matching. If the determination result indicates that the lane change conditions are met, a lane change operation is performed, and the optimal following vehicle is selected as the target following vehicle. If the lane change conditions are not met, a new target following vehicle is determined based on other vehicles in the escort vehicle group located ahead of the vehicle. By judging lane conditions and lane change conditions, safety during the following process is ensured, and traffic accidents caused by improper lane changes are reduced.

[0119] Optionally, the steps to determine whether the lane change conditions are met include: Condition 1: Determine that the longitudinal position of the vehicle relative to the current position at a certain future moment is greater than the longitudinal position of the following vehicle (the vehicle behind the target vehicle in the same lane) relative to the current position at a certain future moment, and the position difference between the longitudinal position of the vehicle relative to the current position at a certain future moment and the longitudinal position of the following vehicle relative to the current position at a certain future moment is greater than the sum of the vehicle's body length and position deviation.

[0120] Condition 2: It is determined that the longitudinal position of this vehicle relative to the current position at a certain future moment is less than the longitudinal position of the target following vehicle relative to the current position at a certain future moment, and the position difference between the longitudinal position of the target following vehicle relative to the current position at a certain future moment and the longitudinal position of this vehicle relative to the current position at a certain future moment is greater than the sum of the vehicle's body length and position deviation.

[0121] If both conditions 1 and 2 are met, then the lane change condition is satisfied.

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

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

[0124] F(f) = pos1 + v × t + 0.5 × a × t × t, where pos1 is the distance between other vehicles and the vehicle itself (pos1 = 0 when calculating the vehicle's position); v is the vehicle's velocity; t is the prediction time; and a is the vehicle's acceleration. The prediction time t can be set according to the actual situation, for example, ranging from 15s to 60s, but is not limited to this.

[0125] In some embodiments, combined with Figure 7 As shown, a control method based on a tour bus group is provided. The tour bus group includes multiple vehicles, and inter-vehicle communication is established between the multiple vehicles. The control method includes:

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

[0127] S702: If the optimal following vehicle is not included among the vehicles in front of this vehicle, obtain the lane information of other vehicles in the escort vehicle group that are in front of this vehicle.

[0128] S703, designates vehicles in the same lane as this vehicle as the target vehicle to follow.

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

[0130] S704, when other vehicles in front of this vehicle are not in the same lane as this vehicle, determine the third driving information of the vehicle in the adjacent lane and the fourth driving information of the vehicle in the adjacent lane that is behind the vehicle in the escort vehicle group.

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

[0132] S705, based on the third driving information, the fourth driving information, and the driving information of this vehicle, determines whether the lane change conditions are met.

[0133] Based on the third driving information, the fourth driving information, and the vehicle's own driving information, determine whether the vehicle can successfully change lanes, i.e., whether the lane change conditions are met.

[0134] S706, if the lane change conditions are met, will designate the corresponding vehicle as the target vehicle to follow.

[0135] S707, based on road information and the driving trajectory of the target vehicle, determines the vehicle's driving path;

[0136] S708 determines the vehicle's driving parameters based on the driving parameters of the target vehicle and other vehicles in the escort vehicle group. Driving parameters include speed and acceleration.

[0137] S709 determines the escort driving strategy based on the driving route and the vehicle's driving parameters.

[0138] If the lane-changing conditions are not met, the S710 will automatically drive based on the driving information of other vehicles in the escort vehicle group.

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

[0140] S711, control the vehicle's movement according to the escort driving strategy.

[0141] In this embodiment, when the optimal following vehicle is unavailable, 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 ahead. This improves the driving safety and efficiency of the convoy, enhances its adaptability and reliability in complex traffic environments, helps improve the overall performance of the convoy, and also provides the driver with a safer and more convenient driving environment.

[0142] If the conditions for changing lanes are met, then change lanes to follow the vehicle in question. If the target vehicle is in the same lane or the conditions for changing lanes are not met, then maintain the current lane.

[0143] In some embodiments, the step of determining the relative position information of the vehicle within the escort vehicle group includes: acquiring the position information of all vehicles in the escort vehicle group; and determining the relative position information of the vehicle within the escort vehicle group along the direction of travel based on the position information of all vehicles. The relative position information includes being located in front of, in the middle of, or behind the escort vehicle group.

[0144] In this embodiment, by acquiring and analyzing the position information of all vehicles in the escort vehicle group to determine the relative position of the vehicle, it is helpful for the vehicle to adopt different driving strategies according to different positions, thereby improving the orderliness and coordination of the convoy.

[0145] Optionally, onboard sensors and GPS positioning systems can be used to obtain the location information of each vehicle in the escort vehicle group. Through inter-vehicle communication technology (e.g., V2V communication), the location information of this vehicle can be shared with other vehicles, and the location information of other vehicles can be received synchronously.

[0146] Optionally, a coordinate system is established based on the travel direction of the escort vehicle group, with the travel direction as the X-axis and the lane width direction as the Y-axis. Using onboard sensors (including but not limited to radar, lidar, cameras, ultrasonic sensors, etc.), GPS positioning systems, and inter-vehicle communication technology, the position information of all vehicles in the escort vehicle group is collected. 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 this is marked in the coordinate system to determine the relative positions between vehicles. Based on the calculation results, the relative position of the vehicle is divided into the following three cases: If the vehicle is at the front of the convoy, it is determined to be the lead vehicle. If the vehicle is in the middle of the convoy, it is determined to be a following vehicle, and the vehicle in front is identified as the target to follow. If the vehicle is at the rear of the convoy, it is determined to be a trailing vehicle, and the vehicle in front is identified as the target to follow. A position update frequency is set (e.g., every second or every few hundred milliseconds) to update the position of the vehicle and other vehicles in a timely manner, thereby updating the relative position relationship in a timely manner to adapt to the dynamic changes of vehicles and make appropriate escort strategies. In this way, based on relative position information, the vehicle's driving strategy is adjusted, such as maintaining a safe distance and selecting an appropriate following mode. Combined with... Figure 3 As shown, the escort vehicle team uses four vehicles as an example, namely C1, C2, C3, and C4. The real-time positions of the four vehicles are marked on a coordinate system and displayed intuitively through an interactive interface. The vehicle in question can be any one of C1, C2, C3, or C4.

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

[0148] In some embodiments, prior to determining the relative position of the vehicle within the escort vehicle group, the method further includes: acquiring vehicle information for each vehicle in the escort vehicle group and passenger information for each vehicle. Based on the vehicle information and passenger information within the escort vehicle group, the optimal accompanying vehicle in the escort vehicle group is determined.

[0149] In this embodiment, by acquiring vehicle information and passenger 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 and passenger 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] The optimal following vehicle is selected based on a comprehensive evaluation of all vehicles and personnel information within the escort vehicle group. During actual escort control, as mentioned earlier, the target following vehicle for each vehicle is further determined by combining the driving and road information of all vehicles in the escort vehicle group. However, in determining the target following vehicle, priority is given to whether the optimal following vehicle meets the actual road conditions, in order to improve the following effectiveness.

[0151] Optionally, vehicle information includes, but is not limited to, vehicle type (electric or gasoline, hybrid) and vehicle age. Personnel information includes driver information and passenger information. Driver information includes, but is not limited to, driving experience and traffic violation records, age, and gender. Passenger information includes, but is not limited to, infants, the elderly, and middle-aged individuals.

[0152] Optionally, the methods for obtaining vehicle information and personnel information for each vehicle in the escort vehicle group include, but are limited to, manual input and photo recognition.

[0153] In some embodiments, the control method further includes: constructing a companion driving control model. The vehicle and passenger information of the companion vehicle group are input into the constructed companion driving control model, and the model outputs a 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 input, information display, and user operations. The data storage and management module includes a database for storing vehicle and passenger information. The database can be encrypted to enhance information security. The optimal following vehicle determination algorithm includes extracting vehicle and passenger information from the database. Features such as vehicle type, vehicle age, driver's driving experience, traffic violation information, driver's age, gender, and passenger type are extracted. Weights are assigned according to the relative importance of each feature. For example, safety has the highest weight, followed by stability, then driver's driving experience and passenger comfort. Each vehicle is scored using the formula: Vehicle Score = Σ(Feature Value × Corresponding Weight). Vehicles are ranked according to their scores. The vehicle with the highest score is selected as the optimal following vehicle. The interactive interface can display the ranking results and the optimal following vehicle information. The weighting settings here are not specifically limited and can be configured according to the actual scenario. For example, operators can be allowed to manually adjust the weights or re-evaluate through the interactive interface.

[0154] Combination Figure 8 As shown, this disclosure provides a control device based on a tour bus group, including a processor.

[0155] The device 80 includes 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, communication interface 802, and memory 801 can communicate with each other via the bus 803. The communication interface 802 can be used for information transmission. The processor 800 can call logical instructions in the memory 801 to execute the control method based on the escort vehicle group described in the above embodiments.

[0156] Furthermore, the logic instructions in the aforementioned memory 801 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0157] The memory 801, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this disclosure. The processor 800 executes functional applications and data processing by running the program instructions / modules stored in the memory 801, thereby implementing the control method based on the escort vehicle group in the above embodiments.

[0158] The memory 801 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function. The data storage area may store data created based on the use of the terminal device. Furthermore, the memory 101 may include high-speed random access memory and may also include non-volatile memory.

[0159] In some embodiments, a vehicle is provided, including: a vehicle body; and a control device based on a tour bus as described in any of the above embodiments, disposed on the vehicle body. The installation relationship described herein is not limited to placement within the vehicle body, but also includes installation connections with other components of the vehicle, including but not limited to physical connections, electrical connections, or signal transmission connections. Those skilled in the art will understand that the vehicle air conditioning control device can be adapted to a feasible vehicle body to achieve other feasible embodiments.

[0160] This disclosure provides a computer-readable storage medium storing computer-executable instructions configured to execute the aforementioned control method based on a tour bus group.

[0161] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this disclosure. The aforementioned storage medium can be a non-transitory storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0162] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0163] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0164] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A control method based on a tour bus crew, characterized in that, The escort vehicle group consists of multiple vehicles, and inter-vehicle communication is established between these vehicles. The control methods include: Determine the relative position of this vehicle within the escort vehicle group; Obtain road information and driving information for each vehicle in the escort vehicle group; Based on the driving information of each vehicle, the relative position of this vehicle within the escort vehicle group, and road information, a escort driving strategy is determined, including: determining the target vehicle to follow based on the driving information of each vehicle and the relative position of this vehicle within the escort vehicle group, including: if this vehicle is at the very front of the escort vehicle group, it is designated as the target vehicle to follow; if this vehicle is in the middle or rear of the escort vehicle group, information on vehicles in front of this vehicle is obtained, and the target vehicle to follow is determined based on this information; the escort driving strategy is determined based on road information and the driving trajectory of the target vehicle to follow; wherein, based on the information on vehicles in front of this vehicle... The steps for determining the target following vehicle include: if the optimal following vehicle is among the vehicles in front of the vehicle, obtaining the lane information of the optimal following vehicle; if the optimal following vehicle is in the same lane as the vehicle, designating the optimal following vehicle as the target following vehicle; if the optimal following vehicle is in an adjacent lane as the vehicle, obtaining the first driving information of the vehicles in the adjacent lane and the second driving information of the optimal following vehicle; determining whether lane-changing conditions are met based on the vehicle's driving information, the first driving information, and the second driving information; if lane-changing conditions are met, designating the optimal following vehicle as the target following vehicle; if lane-changing conditions are not met, determining the target following vehicle based on other vehicles in the escort vehicle group located in front of the vehicle. Control the vehicle's movement according to the escort driving strategy.

2. The control method according to claim 1, characterized in that, If the optimal following vehicle is not among the vehicles in front of this vehicle, the steps to determine the target following vehicle based on the information of the vehicles in front of this vehicle include: Obtain lane information for other vehicles in the escort vehicle group that are ahead of this vehicle; The vehicle in the same lane as this vehicle will be targeted for following. In cases where other vehicles are not in the same lane as this vehicle, determine the third driving information of the vehicle in the lane adjacent to this vehicle, and the fourth driving information of the vehicle in the adjacent lane that is behind the vehicle in the escort vehicle group. Based on the third driving information, the fourth driving information, and the driving information of this vehicle, determine whether the conditions for changing lanes are met; If the lane change conditions are met, the corresponding vehicle will be designated as the target vehicle to follow. If the lane-changing conditions are not met, the vehicle will automatically switch to autonomous driving based on the driving information of other vehicles in the escort vehicle group.

3. The control method according to claim 1, characterized in that, The steps for determining the escort driving strategy, based on road information and the target vehicle's driving trajectory, include: Determine the following route based on road information and the optimal following vehicle's trajectory; Obtain the driving speeds of other vehicles in the escort vehicle group and the optimal following vehicle to determine the driving parameters of this vehicle; Determine the escort driving strategy based on the following route and the vehicle's driving parameters.

4. The control method according to claim 1, characterized in that, When this vehicle is designated as the target vehicle for a tour escort team, the steps to determine the escort driving strategy based on road information and the target vehicle's travel trajectory include: Obtain road navigation information and determine the driving route; Obtain the speed and vehicle information of other vehicles in the escort vehicle group; Determine the driving strategy for this vehicle based on the speed and vehicle information of other vehicles; Determine the escort driving strategy based on the driving route and the vehicle's driving strategy.

5. The control method according to any one of claims 1 to 4, characterized in that, The steps to determine the relative position of this vehicle within the escort vehicle group include: Obtain the location information of all vehicles in the escort vehicle group; Along the direction of travel, based on the position information of all vehicles, determine the relative position of this vehicle within the escort vehicle group; The relative position information includes whether the vehicle is located in front of, in the middle of, or behind the escort vehicle group.

6. The control method according to any one of claims 1 to 4, characterized in that, Before determining the relative position of this vehicle within the escort vehicle group, the following steps are also included: Obtain vehicle information and passenger information for each vehicle in the escort vehicle group; Based on the vehicle information and the personnel information in each vehicle within the escort vehicle group, the optimal accompanying vehicle in the escort vehicle group is determined.

7. A control device based on a tour bus group, 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 6 when running the program instructions.

8. A vehicle, characterized in that, include: Vehicle body; as well as The control device based on the escort vehicle group as described in claim 7 is installed on the vehicle body.

9. A readable storage medium storing program instructions, characterized in that, When the program instructions are executed, they cause the computer to perform the control method based on the escort vehicle group as described in any one of claims 1 to 6.

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