Intention cooperation control method and device, medium and product

Abstract

The invention provides an intention cooperation control method and device, a medium and a product, and relates to the technical field of Internet of Vehicles. The method applied to a first vehicle in a motorcade comprises the following steps: after receiving an intention cooperation request sent by a requester, according to a terminal type of the requester, content of the intention cooperation request, a vehicle type of the first vehicle, a driving behavior of the motorcade to which the first vehicle belongs, and one or more pieces of information in a service pre-configuration strategy, pre-configuring the first vehicle according to the terminal type of the requester, the content of the intention cooperation request, and the vehicle type of the first vehicle; sending a first response message to the requester; wherein the first response message is used for indicating to accept the intention cooperation or indicating to reject the intention cooperation. According to the scheme of the invention, after the first vehicle receives the intention cooperation request, the first vehicle sends the first response message indicating the acceptance or rejection of cooperation to the requester according to the terminal type of the requester, the vehicle type, the driving behavior of the vehicle team to which the first vehicle belongs, the business pre-configuration strategy and other information, thereby coordinating and cooperating with the initiator and guaranteeing the driving efficiency and safety of the team.

Description

Technical Field

[0001] This application relates to the technical field of vehicle networking, and in particular, to an intention cooperation control method, device, medium, and product. Background Art

[0002] Platoon driving and intention cooperation are relatively typical application scenarios in the V2X (vehicle to everything) system. In the intention cooperation application scenario of the V2X system, before a vehicle initiates intention cooperation, it cannot know whether the cooperation object is in a platoon driving state. When a member vehicle in a platoon receives an intention cooperation request from a vehicle outside the group, if it directly changes its driving behavior according to the request, it is very likely to endanger the driving safety of other member vehicles; moreover, if multiple member vehicles in the platoon receive intention cooperation requests at the same time, since the driving behaviors of members within each group may be inconsistent, such as some choosing to change lanes to the left and some choosing to change lanes to the right, this will inevitably lead to disorderly driving of the entire platoon, thereby seriously affecting the driving efficiency and safety of the platoon. In addition, if the intention cooperation recipient directly rejects the intention cooperation, when the initiator is a privileged vehicle (such as a police car asking a target vehicle to give way), such non-cooperative behavior violates the current laws and regulations. However, if the intention cooperation recipient blindly changes its driving behavior according to the intention cooperation request, it will also pose a threat to the driving safety of other member vehicles. Therefore, how to enable the intention cooperation recipient in a platoon driving state in the V2X system to both cooperate with the initiator to complete the intention cooperation and effectively ensure the driving efficiency and safety of the entire platoon has become a technical problem that needs to be solved urgently. Summary of the Invention

[0003] The purpose of this application is to provide a scheduling method, device, and equipment to solve the problem of how to enable the intention cooperation recipient in a platoon driving state in the V2X system to both cooperate with the initiator to complete the cooperation and ensure the driving efficiency and safety of the platoon.

[0004] In a first aspect, an embodiment of this application provides an intention cooperation control method, which is applied to a first vehicle in a vehicle fleet and includes:

[0005] After receiving an intention cooperation request sent by a requester, according to one or more of the terminal type of the requester, the content of the intention cooperation request, the vehicle type of the first vehicle, the driving behavior of the vehicle fleet to which the first vehicle belongs, and the service pre-configuration policy, send a first response message to the requester;

[0006] Wherein, the first response message is used to indicate acceptance of the intention cooperation or rejection of the intention cooperation.

[0007] In a second aspect, an embodiment of this application provides an intention cooperation control method, which is applied to a second vehicle in a vehicle fleet and includes:

[0008] After receiving the third request message sent by the first vehicle, a second response message is sent to the first vehicle according to one or more of the content of the third request message, the driving behavior of the first vehicle, the perception information of the second vehicle, the upcoming road section, and the upcoming formation driving behavior;

[0009] Wherein, the second response message is used to indicate acceptance of the intended cooperation corresponding to the third request message or to indicate rejection of the intended cooperation.

[0010] Thirdly, an embodiment of the present application provides an intended cooperation control device applied to the first vehicle in a vehicle fleet, including:

[0011] A first processing module, configured to, after receiving an intended cooperation request sent by a requesting party, send a first response message to the requesting party according to one or more of the terminal type of the requesting party, the content of the intended cooperation request, the vehicle type of the first vehicle, the driving behavior of the vehicle fleet to which the first vehicle belongs, and the service pre-configuration policy;

[0012] Wherein, the first response message is used to indicate acceptance of the intended cooperation or to indicate rejection of the intended cooperation.

[0013] Fourthly, an embodiment of the present application provides an intended cooperation control device applied to the second vehicle in a vehicle fleet, including:

[0014] A second processing module, configured to, after receiving the third request message sent by the first vehicle, send a second response message to the first vehicle according to one or more of the content of the third request message, the driving behavior of the first vehicle, the perception information of the second vehicle, the upcoming road section, and the upcoming formation driving behavior;

[0015] Wherein, the second response message is used to indicate acceptance of the intended cooperation corresponding to the third request message or to indicate rejection of the intended cooperation.

[0016] Fifthly, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps in the method described in the first aspect are implemented, or the steps in the method described in the second aspect are implemented when executed.

[0017] Sixthly, an embodiment of the present application provides a computer program product, including computer instructions, and when the computer instructions are executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method described in the second aspect are implemented when executed.

[0018] The beneficial effects of the above technical solutions of the present application are as follows:

[0019] In the intention cooperation control method, device, medium, and product provided by the embodiments of the present application, after the first vehicle receives an intention cooperation request sent by a requestor, it sends a first response message indicating acceptance or rejection of cooperation to the requestor based on information such as the requestor terminal type, its own vehicle type, the driving behavior of the affiliated fleet, and the pre-configured service strategy, so as to coordinate with the intention initiator and ensure the formation driving efficiency and safety. Description of the Drawings

[0020] Figure 1 It is a flowchart of the intention cooperation control method applying the first vehicle provided by the embodiments of the present application;

[0021] Figure 2 It is a flowchart of the intention cooperation control method applying the second vehicle provided by the embodiments of the present application;

[0022] Figure 3 It is a flowchart of the interaction control method of the first specific embodiment provided by the embodiments of the present application;

[0023] Figure 4 It is a flowchart of the interaction control method of the second specific embodiment provided by the embodiments of the present application;

[0024] Figure 5 It is a flowchart of the interaction control method of the third specific embodiment provided by the embodiments of the present application;

[0025] Figure 6 It is a flowchart of the interaction control method of the fourth specific embodiment provided by the embodiments of the present application;

[0026] Figure 7 It is a structural diagram of the intention cooperation control device applying the first vehicle provided by the embodiments of the present application;

[0027] Figure 8 It is a structural diagram of the intention cooperation control device applying the second vehicle provided by the embodiments of the present application. Detailed Embodiments

[0028] To make the technical problems, technical solutions, and advantages to be solved by the present application clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0029] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, the appearances of "in one embodiment" or "in an embodiment" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0030] In the embodiments of the present application, the term "and / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0031] In the embodiments of the present application, the term "plurality" means two or more, and other quantifiers are similar thereto.

[0032] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0033] To enable those skilled in the art to better understand the embodiments of the present application, the following explanations are made first:

[0034] In the application scenario of platoon driving, vehicle types are divided into three types: the head vehicle of the platoon, the member vehicles of the platoon, and free vehicles. The head vehicle of the platoon is the vehicle in the leading position in the platoon driving direction, guiding the driving of the entire platoon in terms of speed, acceleration, driving direction, etc., and at the same time responsible for the allocation of communication resources for platoon members. In addition, the head vehicle also needs to communicate with other vehicles within the broadcast range to avoid collisions between platoons and between vehicles, so as to ensure the driving safety of the entire platoon and the traffic scenario. The member vehicles of the platoon follow the driving of the preceding vehicle by obtaining the basic safety information sent by the head vehicle and the basic safety information such as position, speed, and acceleration sent by the single-hop preceding vehicle, so as to maintain a consistent and stable cooperative relationship with the platoon. Free vehicles are individual vehicles that do not belong to any platoon, have no cooperative relationship with other vehicles, and maintain a normal and safe driving state through periodic communication with other vehicles.

[0035] The application scenarios of intention cooperation include four scenarios: cooperative lane change, cooperative vehicle merging, cooperative passing at non-signalized intersections, and cooperative passing at signalized intersections. In these application scenarios of intention cooperation, the requesting party sends an intention request, interacts with other cooperating parties or roadside guiding parties to exchange guiding information, and the requesting party completes the current intention according to the guiding information.

[0036] The embodiments of the present application provide an intention cooperation control method, device, medium, and product. Among them, the method and the device are based on the same inventive concept. Since the principles of solving problems by the method and the device are similar, the implementation of the device and the method can be referred to each other, and the repeated parts will not be described again.

[0037] Refer to Figure 1As shown in the figure, an embodiment of the present application provides an intention cooperation control method, which is applied to the first vehicle in a vehicle fleet, and includes:

[0038] Step 11, after receiving an intention cooperation request sent by a requesting party, according to one or more of the terminal type of the requesting party, the content of the intention cooperation request, the vehicle type of the first vehicle, the driving behavior of the vehicle fleet to which the first vehicle belongs, and the service pre-configuration policy, send a first response message to the requesting party; wherein, the first response message is used to indicate acceptance or rejection of intention cooperation.

[0039] Here, the requesting party refers to the initiating party of intention cooperation, and the first vehicle is the receiving party of intention cooperation.

[0040] It should be noted that since the requesting party initiating intention cooperation does not know whether the first vehicle (the cooperation object, that is, the receiving party of intention cooperation) is in formation driving before carrying out intention cooperation with the first vehicle, when the first vehicle is in formation driving, the related technology does not clearly state how to carry out the intention cooperation process, and the scenarios described in the background technology may occur, so as to achieve the purpose of enabling the receiving party of intention cooperation in formation driving in the V2X system to cooperate with the initiating party to complete intention cooperation and effectively ensure the driving efficiency and safety of the entire formation.

[0041] In the embodiment of the present application, the first vehicle in the vehicle fleet receives an intention cooperation request and then sends a first response message. By making decisions based on multi-dimensional information and coordinating the sending of response messages, it can, to a certain extent, solve the problem in the V2X system that enables the receiving party of intention cooperation in formation driving to cooperate with the initiating party to complete cooperation and ensure the driving efficiency and safety of the formation.

[0042] For example, if the requesting party is a privileged vehicle such as a police car or a fire truck, cooperation should usually be given priority to meet the needs of special tasks. For example, when a police car issues an avoidance request during an emergency pursuit mission, the first vehicle should be more inclined to accept the cooperation and guide the vehicle fleet to make corresponding cooperation actions.

[0043] For another example, if the vehicle fleet is in a special driving state such as high-speed driving or dense formation, some cooperation requests that may affect safety may need to be rejected. For example, when the vehicle fleet is driving rapidly in a tight formation on a highway, if a cooperation request that may cause frequent lane changes and other impacts on the formation stability is received at this time, the first vehicle can reject it according to the actual situation.

[0044] For yet another example, it is judged according to the pre-set business rules and policies. For example, it is stipulated that in certain specific road sections or time periods, specific types of requests should be given priority to acceptance or rejection. If near a school area, for a cooperation request for decelerating and driving slowly, even if the vehicle fleet originally has a certain driving plan, it should be inclined to accept it to ensure safety.

[0045] It should be noted that the first vehicle sends an intention cooperation response message to the intention cooperation initiator, indicating whether it accepts or rejects the intention cooperation. If the intention cooperation initiator receives the first response message of the intention cooperation and the first vehicle accepts the intention cooperation, the intention cooperation initiator adjusts its driving behavior according to the content of the intention cooperation request; otherwise, it cannot adjust its driving behavior according to the content of the intention cooperation request.

[0046] In this application, when it is comprehensively judged that cooperation can be accepted based on various information, the first vehicle sends a first response message accepting cooperation to the requester, and then can coordinate and communicate within the vehicle fleet, inform other vehicles of the upcoming cooperation behavior, and conduct cooperation in a certain order and manner to minimize the impact on the formation driving efficiency and safety. For example, when the vehicle fleet needs to avoid privileged vehicles as a whole, the first vehicle notifies each vehicle in the fleet to change lanes in turn in an orderly manner, maintaining the coordination of the vehicle distance and speed. When it is judged that accepting cooperation may pose a greater threat to the vehicle fleet driving efficiency and safety, the first vehicle sends a first response message rejecting cooperation to the requester, and some explanatory information, such as the current special situation of the vehicle fleet, can be attached to reduce possible misunderstandings and conflicts.

[0047] The first vehicle in this application can be a member vehicle or a group leader vehicle of the formation.

[0048] In the case where the first vehicle is a member vehicle of the formation, optionally, step 11 of this application includes:

[0049] Determine whether the first vehicle meets the first condition according to one or more of the terminal type of the requester, the content of the intention cooperation request, the vehicle type of the first vehicle, the driving behavior of the vehicle fleet to which the first vehicle belongs, and the service pre-configuration strategy;

[0050] When the first vehicle meets the first condition, send a first response message to the requester for indicating rejection of the intention cooperation;

[0051] When the first vehicle does not meet the first condition, send a first response message to the requester for indicating acceptance of the intention cooperation.

[0052] It should be noted that the terminal type of the requester: The types of terminal devices used by the requester are diverse, and different terminal types may correspond to different request scenarios, permission levels, or data transmission capabilities, etc. For example, the terminal type of the requester includes, but is not limited to, OBU (On-Board Unit, i.e., vehicle), RSU (Road Side Unit), VRU (Vulnerable Road User, including electric vehicles, motorcycles, etc.). When different types of terminals initiate an intention cooperation request, there may be differences in their reliability, the degree of demand for cooperation, and the possible impacts.

[0053] Vehicle type of the first vehicle: The vehicle type of the first vehicle covers a variety, such as private cars, taxis, buses, freight trucks, etc. Different types of vehicles have different driving characteristics, business requirements, and safety requirements. For example, buses have fixed driving routes and stops, and their cooperation needs may mainly focus on the coordination with the bus dispatching system and other bus vehicles; while freight trucks are more concerned about the timeliness and safety of cargo transportation, and factors such as cargo loading and unloading and transportation routes need to be considered when intending to cooperate.

[0054] Driving behavior of the fleet to which the first vehicle belongs: The driving behavior of the fleet to which the first vehicle belongs reflects the overall operation mode and status of the fleet. This includes the driving speed, driving direction, following distance, lane-changing frequency, etc. of the fleet. For example, if the fleet is driving at a high speed and maintaining a close following distance, it may not be suitable for the first vehicle to participate in some intention collaborations that require a large change in the driving state at this time; if the fleet is performing a collective lane-changing operation, then the cooperation decision of the first vehicle also needs to be coordinated with the overall driving behavior of the fleet.

[0055] Business pre-configuration strategy: The business pre-configuration strategy is a series of conditions and criteria preset according to specific business requirements and rules. These strategies may involve multiple aspects such as traffic rules, safety standards, and operation cost control. For example, the business pre-configuration strategy may stipulate that certain types of vehicles are not allowed to participate in specific types of intention collaborations during certain specific time periods; or in order to reduce operation costs, the cooperation method with lower energy consumption is preferentially selected.

[0056] In the embodiments of the present application, considering one or more of the above information, a preset judgment rule or algorithm is used to determine whether the first vehicle meets the first condition. The first condition is a series of judgment criteria set according to specific business requirements and safety requirements. For example, it may be required that the driving speed of the first vehicle is within a certain range, the vehicle type meets specific cooperation requirements, and the driving behavior of the fleet will not be seriously affected by the cooperation, etc. When the first vehicle meets the first condition, it means that according to the considered information judgment, the participation of the first vehicle in the intention cooperation may bring adverse effects, such as violating the business pre-configuration strategy, affecting the normal driving of the fleet, exceeding the safe operation range of the vehicle, etc. After determining that the first vehicle meets the first condition, a first response message is generated and sent to the requester. At this time, the first response message clearly indicates the rejection of the intention cooperation, so that the requester can timely understand the decision of the first vehicle and adjust its cooperation plan.

[0057] When the first vehicle does not meet the first condition, it indicates that based on the information considered, the participation of the first vehicle in the intended collaboration will not bring obvious adverse effects and is technically, safe, and operationally feasible. After determining that the first vehicle does not meet the first condition, a first response message is generated and sent to the requester. The first response message at this time clearly indicates acceptance of the intended collaboration, and the requester can further promote the specific implementation steps of the intended collaboration based on this response message.

[0058] Optionally, the first condition includes at least one of the following:

[0059] (1), Based on the terminal type of the requester and the vehicle type of the first vehicle, it is determined that the vehicle priority indicated by the vehicle type of the first vehicle is higher than the vehicle priority corresponding to the requester.

[0060] Basis for setting vehicle priority: Different vehicle types have different importance and priorities in the traffic system or specific business scenarios. For example, in an emergency rescue scenario, the priority of special vehicles such as ambulances and fire trucks is usually higher than that of ordinary private cars, taxis, etc. The setting of vehicle priority is usually based on factors such as the function of the vehicle, the urgency of the task, and the social impact. The terminal type of the requester may also be associated with the vehicle priority. Certain specific types of terminals may be dedicated to high-priority vehicles, such as the professional communication terminals equipped on special vehicles; while ordinary in-vehicle terminals or mobile terminals may correspond to ordinary vehicles.

[0061] When making the priority judgment, by analyzing the terminal type of the requester and the vehicle type of the first vehicle, and based on the pre-set vehicle priority rules, it is determined whether the vehicle priority indicated by the vehicle type of the first vehicle is higher than the vehicle priority corresponding to the requester. If the priority of the first vehicle is higher, it may mean that the first vehicle is performing a more important task, and participating in the intended collaboration at this time may interfere with its normal operation. Therefore, it can be used as a judgment condition for rejecting the intended collaboration.

[0062] (2), The driving behavior of the fleet to which the first vehicle belongs is in a preset driving behavior.

[0063] Here, the preset driving behavior is a series of driving states or behavior patterns preset according to factors such as business requirements, safety requirements, and traffic rules. These preset driving behaviors include but are not limited to: the fleet is performing special formation driving, high-speed overtaking, decelerating, collective lane change, emergency braking, cornering, entering the road confluence area, passing through intersections, etc.

[0064] When the driving behavior of the fleet to which the first vehicle belongs is in a preset driving behavior, it indicates that the fleet is in a driving state that requires high coordination and stability. At this time, the first vehicle's intention to participate in cooperation may break the overall coordination of the fleet, increase safety risks, and affect the normal driving of the fleet. For example, when the fleet is making a collective lane change, each vehicle needs to operate in accordance with a predetermined order and speed. If the first vehicle suddenly participates in other intention cooperation, it may cause chaos during the lane change process and lead to traffic accidents. Therefore, taking the fleet being in a preset driving behavior as one of the first conditions to ensure the safety and stability of the fleet's driving.

[0065] (3), The service pre-configuration policy indicates that the first vehicle is not allowed to perform intention cooperation.

[0066] In the embodiments of the present application, the service pre-configuration policy is a series of decision rules and restrictive conditions formulated according to specific service objectives, operation rules, laws and regulations, etc. These policies may take into account various factors, such as the operation cost of the vehicle, task allocation, traffic congestion, etc. For example, in order to reduce the operation cost, the service pre-configuration policy may stipulate that in certain time periods, certain types of vehicles are not allowed to participate in some non-essential intention cooperation; or in order to avoid traffic congestion, vehicles in a specific area are prohibited from performing frequent intention cooperation. The present application judges the intention cooperation permission of the first vehicle according to the service pre-configuration policy. If the service pre-configuration policy clearly indicates that the first vehicle is not allowed to perform intention cooperation, then regardless of other conditions, it should be regarded as meeting the first condition, so as to reject the intention cooperation request of the requester to ensure the standardization and effectiveness of business operations.

[0067] In a specific implementation manner, when a member vehicle receives an intention cooperation request from an intention cooperation initiator, the member vehicle decides whether to perform intention cooperation with the intention cooperation initiator according to one or more information such as the terminal type of the intention cooperation initiator, the type of the member vehicle, the current formation driving behavior, and the service pre-configuration policy, including but not limited to: (1), If the priority corresponding to the member vehicle type is higher than the priority corresponding to the vehicle type of the intention cooperation initiator, the member vehicle judges not to perform intention cooperation, otherwise the member vehicle judges to perform intention cooperation. (2), If the current formation driving behavior is in any driving behavior such as accelerating, decelerating, turning, entering a road confluence area, passing through an intersection, etc., the member vehicle judges not to perform intention cooperation, otherwise the member vehicle judges to perform intention cooperation. (3), If the service pre-configuration policy does not allow the member vehicle to perform intention cooperation, the member vehicle judges not to perform intention cooperation, otherwise the member vehicle judges to perform intention cooperation. Here, the terminal type of the intention cooperation initiator includes roadside equipment (more for forwarding the needs of surrounding vehicles), and the vehicle types of free vehicles.

[0068] When the first vehicle is a member vehicle of the formation, optionally, step 11 described above further includes:

[0069] When the service pre-configuration policy indicates that the first vehicle is not allowed to perform intended collaboration, at least the identity information of the second vehicle is carried in the first response message sent to the requester.

[0070] In the embodiments of the present application, the service pre-configuration policy is set as follows: when the first vehicle is in formation driving and is not the head vehicle, intended collaboration is not allowed. Then, when the first vehicle receives an intended collaboration request from the initiator of the intended collaboration (i.e., the requester), and determines according to the pre-configuration policy that the first vehicle itself is in formation driving and is not the head vehicle, it is not allowed to perform intended collaboration. Then, it returns an intended collaboration response to the initiator of the intended collaboration request, that is, sends a first response message, and at least the identity information of the second vehicle is carried in the first response message. Here, the second vehicle refers to the head vehicle.

[0071] Specifically, the first response message sent indicates a rejection of the intended collaboration, and the reason for the rejection is being in formation driving, and the identity information of the second vehicle is carried in the response, at least including the identification code ID of the head vehicle and the Source Layer2 ID (i.e., the source layer two identifier) of the head vehicle. The Source Layer2 ID can accurately identify the sending source device of the data packet. By reading this identifier, the receiving party can clearly know which vehicle or roadside device sent the message, which helps to establish an accurate communication connection and message traceability mechanism.

[0072] Correspondingly, when the initiator of the intended collaboration receives the first response message, it sends an intended collaboration request to the head vehicle according to the ID of the head vehicle and the Source Layer2 ID of the head vehicle.

[0073] When the first vehicle is a member vehicle of the formation, optionally, after step 11 of the present application, the method further includes:

[0074] When the first response message indicates acceptance of the intended collaboration, the first vehicle performs at least one of the following operations:

[0075] When the vehicle priority corresponding to the requesting party is higher than or equal to the first vehicle priority threshold, and it is determined that the target driving behavior corresponding to the intended cooperation request does not affect the driving safety of other vehicles in the vehicle platoon except the first vehicle according to the first position of the first vehicle in the vehicle platoon, a first request message is sent to the second vehicle; the first request message is used to indicate that the first vehicle has performed an intended cooperation and carries the content of the intended cooperation request; wherein, the "first vehicle priority threshold" is a pre-set measurement criterion used to distinguish the priorities of different vehicles, so as to determine the processing method of the first vehicle for the intended cooperation request;

[0076] When the vehicle priority corresponding to the requesting party is higher than or equal to the first vehicle priority threshold, and it is determined that the target driving behavior affects the driving safety of other vehicles according to the first position, a second request message is sent to the second vehicle; the second request message is used to indicate that the first vehicle has not performed an intended cooperation and carries the content of the intended cooperation request;

[0077] When the vehicle priority corresponding to the requesting party is lower than the first vehicle priority threshold, the second request message is sent to the second vehicle.

[0078] In the embodiments of the present application, when the first response message indicates an intention to cooperate, that is, after the member vehicle determines to cooperate with the intention cooperation initiator, the following processing is performed: Case 1: The vehicle priority corresponding to the requester is higher than or equal to the first vehicle priority threshold. The first vehicle determines, according to its first position in the vehicle platoon, whether the target driving behavior corresponding to the intention cooperation request affects the driving safety of other vehicles in the vehicle platoon except the first vehicle. If it is determined that the target driving behavior does not affect the driving safety of other vehicles, the first vehicle sends a first request message to the second vehicle. The first request message is used to indicate that the first vehicle has performed intention cooperation and carries the content of the intention cooperation request. Case 2: The vehicle priority corresponding to the requester is higher than or equal to the first vehicle priority threshold. If it is determined that the target driving behavior affects the driving safety of other vehicles, the first vehicle sends a second request message to the second vehicle. The second request message is used to indicate that the first vehicle has not performed intention cooperation and carries the content of the intention cooperation request. Case 3: When the vehicle priority corresponding to the requester is lower than the first vehicle priority threshold, for example, the vehicle type of the intention cooperation initiator is not a high-priority vehicle (such as a bus), the first vehicle (member vehicle) determines that the vehicle type of the intention cooperation initiator is not a high-priority vehicle. The first vehicle does not change its driving behavior according to the intention cooperation request first. The first vehicle sends a second request message to the second vehicle (platoon leader vehicle). The second request message carries the content of the intention cooperation request message and indicates that the first vehicle has not performed intention cooperation. The first vehicle waits for a response from the second vehicle (platoon leader vehicle).

[0079] Correspondingly, after receiving the response returned by the second vehicle (platoon leader vehicle), the first vehicle (member vehicle) drives according to the new driving behavior indicated by the second vehicle (platoon leader vehicle).

[0080] For example, it is assumed that the first vehicle priority threshold is set to represent the priority level of "vehicles performing emergency tasks". The priority of the requester is higher than or equal to the threshold: If the requester is an ambulance performing an emergency rescue task, its priority is higher than or equal to this threshold. At this time, the first vehicle will determine, according to its position in the vehicle platoon, whether the target driving behavior (vehicles in the platoon giving way) corresponding to the intention cooperation request (such as asking the platoon to give way for a quick passage) made by the ambulance affects the driving safety of other vehicles in the platoon. If it does not affect, the first vehicle performs intention cooperation and sends a corresponding message; if it affects, it does not perform cooperation and sends a corresponding message. The priority of the requester is lower than the threshold: If the requester is an ordinary bus, its priority is lower than the first vehicle priority threshold, then the first vehicle directly determines not to perform intention cooperation and sends a second request message indicating that it has not performed intention cooperation to the second vehicle.

[0081] In this application, the above vehicle intention cooperation process can fully consider driving safety when processing cooperation requests, avoid accidents caused by blind cooperation, and ensure the overall driving safety of the vehicle fleet. Make quick decisions based on priorities and transmit clear messages to reduce decision-making and communication time and improve the vehicle cooperation response speed. Give priority to ensuring the needs of high-priority vehicles, avoid low-priority requests from overusing resources, and reasonably allocate road resources. Classify and process various complex situations, and the vehicle can make autonomous judgments and coordination to adapt to different traffic scenarios.

[0082] Optionally, before step 11 of this application, when the first vehicle is a member vehicle of the formation, the method further includes:

[0083] When receiving intention cooperation requests sent by multiple said requesters, perform a first target operation according to one or more pieces of information among the terminal type of the requester, the content of the intention cooperation request, the vehicle type of the first vehicle, the driving behavior of the vehicle fleet to which the first vehicle belongs, and the service pre-configuration strategy; here, the terminal type of the requester includes, but is not limited to, OBU (On-Board Unit, that is, vehicle), RSU (Road Side Unit), VRU (Vulnerable Road User, including electric vehicles, motorcycles, etc.);

[0084] Wherein, the first target operation is used to instruct the first vehicle to perform intention cooperation with one of the multiple said requesters, or to reject intention cooperation with all the said requesters.

[0085] In the embodiment of this application, if the first vehicle receives intention cooperation requests from multiple requesters (intention cooperation initiators), the first vehicle decides to perform intention cooperation with one of the intention cooperation initiators or decides not to perform intention cooperation with any of the intention cooperation initiators according to one or more pieces of information such as the terminal type of the requester (such as the vehicle type of the intention cooperation initiator), the content of the intention cooperation request, the first vehicle type, the current formation driving behavior, and the service pre-configuration strategy.

[0086] It should be noted that when the first vehicle in this application is the head vehicle of the convoy, after receiving the intention cooperation request sent by the requesting party, the first vehicle sends a response message indicating acceptance of the intention cooperation or rejection of the intention cooperation to the requesting party according to one or more of the terminal type of the requesting party, the content of the intention cooperation request, the vehicle type of the first vehicle, the driving behavior of the convoy to which the first vehicle belongs, and the service pre-configuration strategy. When the first vehicle accepts the intention cooperation, the first vehicle performs specific operations of the intention cooperation according to its own decision-making and interaction with the member vehicles in the convoy. For example, the first vehicle analyzes and evaluates through a preset rule or algorithm model according to one or more of the content of the intention cooperation request of the requesting party, the current formation driving information, the self-perception information of the first vehicle (environment and its own state), the upcoming road section (map and real-time road conditions), and the upcoming formation driving behavior (content included in the task plan or request), determines the specific actions (such as accelerating, decelerating, changing lanes, etc.) for adjusting the driving behavior of the vehicle formation, and sends target indication information to the member vehicles in the convoy, and the target indication information is used to indicate the new driving behavior of the member vehicles.

[0087] In summary, the solution of this application can comprehensively consider multiple pieces of information, flexibly determine the cooperation object or reject cooperation, and adapt to complex scenarios and services. It can quickly screen suitable cooperation parties, reduce coordination costs, and improve cooperation efficiency. Combined with the decision-making of formation driving behavior, it can avoid threatening the formation safety due to cooperation. According to the service strategy, resources can be reasonably allocated to avoid waste.

[0088] Refer to Figure 2 As shown, an intention cooperation control method provided by an embodiment of this application is applied to a second vehicle in a convoy, and includes:

[0089] Step 21, after receiving the third request message sent by the first vehicle, send a second response message to the first vehicle according to one or more of the content of the third request message, the driving behavior of the first vehicle, the perception information of the second vehicle, the upcoming road section, and the upcoming formation driving behavior;

[0090] Wherein, the second response message is used to indicate acceptance of the intention cooperation corresponding to the third request message or rejection of the intention cooperation.

[0091] It should be noted that the second vehicle is the head vehicle of the convoy. The third request message refers to a request message sent by a first vehicle in the convoy, and the third request message may include the above-mentioned first request message and second request message.

[0092] In the embodiments of the present application, the second vehicle (the head vehicle of the group) establishes a communication connection with the first vehicle (a member vehicle of the group) and continuously monitors, receiving the third request message sent by the first vehicle. Obtain the driving behavior of the first vehicle (through communication or its own perception), the self-perception information of the second vehicle (environment and its own state), the information of the upcoming section (map and real-time road conditions), and the information of the upcoming formation driving behavior (content included in the mission plan or request). Based on one or more pieces of information obtained, analyze and evaluate through a preset rule or algorithm model, weigh various factors, and then decide to accept or reject the intention to cooperate, and generate a corresponding second response message. Use the communication link to accurately and completely send the second response message to the first vehicle.

[0093] Among them, if the analysis result of the second vehicle indicates that it can accept the intention cooperation request of the first vehicle, the second response message generated by the second vehicle should clearly indicate acceptance of the intention cooperation, and may also include some supplementary information related to the cooperation (such as the time and location of the start of cooperation, if necessary). If the analysis result is to reject the intention cooperation, the second response message needs to clearly indicate rejection and may briefly explain the reason for rejection (such as the section is not suitable, the current vehicle state does not allow, etc., if necessary).

[0094] In one implementation, when the first vehicle receives an intention cooperation request from the intention cooperation initiator, if it is determined according to the pre-configured policy that it is in formation driving and is not the head of the group and is not allowed to perform intention cooperation, it returns an intention cooperation response to the intention cooperation request initiator, indicating rejection of the intention cooperation in the response, and the reason for rejection is being in formation driving, and the information of the head vehicle (the second vehicle) is carried in the response, including the ID of the head vehicle and the SourceLayer2 ID of the head vehicle. The intention cooperation request initiator receives the intention cooperation response, and according to the ID of the head vehicle and the SourceLayer2 ID of the head vehicle, sends an intention cooperation request to the head vehicle. After receiving the intention cooperation request, the second vehicle (the head vehicle of the group) decides whether to perform intention cooperation. If it performs intention cooperation, it adjusts the driving behavior of the current formation and sends a first indication message of the new driving behavior to all group members. The second vehicle returns an intention cooperation response to the intention cooperation request initiator. The intention cooperation request initiator receives the intention cooperation response message. If the second vehicle accepts the intention cooperation, the intention cooperation request initiator adjusts its driving behavior according to the content of the intention cooperation request, otherwise it cannot adjust its driving behavior according to the content of the intention cooperation request.

[0095] Optionally, sending the second response message to the first vehicle includes:

[0096] Determine whether the first vehicle meets the second condition according to one or more pieces of information in the content of the third request message, the driving behavior of the first vehicle, the perception information of the second vehicle, the upcoming section, and the upcoming formation driving behavior;

[0097] When the first vehicle meets the second condition, send a second response message for rejecting the intended cooperation to the first vehicle;

[0098] When the first vehicle does not meet the second condition, send a second response message for accepting the intended cooperation to the first vehicle;

[0099] When the third request message is used to indicate that the first vehicle has performed the intended cooperation, send a second response message for accepting the intended cooperation to the first vehicle.

[0100] In the embodiments of the present application, information such as the speed, acceleration, steering angle, and driving trajectory of the first vehicle is obtained from the vehicle's own sensor data, in-vehicle system records, or vehicle-to-everything (V2X) communication to comprehensively understand its current driving behavior. Through vehicle-to-vehicle (V2V) communication and other means, the surrounding environment information perceived by the second vehicle is received, such as the positions, speeds, and distances of other nearby vehicles, and road obstacle information. With the help of map data, traffic information platforms, or V2X services, information about the sections that the first vehicle and the second vehicle are about to pass through is obtained, including road types (such as highways, urban streets), the number of lanes, speed limits, road conditions (congested or unobstructed), etc. The specific plan for platooning is obtained from the platooning mission planning or scheduling system, such as the target speed of the platoon, the expected driving route, and the vehicle arrangement mode of the platoon. The present application sets rules for determining whether the first vehicle meets the second condition according to actual service requirements and traffic scenarios. For example, if the speed of the first vehicle differs greatly from the target speed of the platoon, or its driving trajectory significantly deviates from the platoon planned route, or the second vehicle perceives that there are obstacles around the first vehicle that may affect the safety of platooning, it is set as not meeting the second condition; while when the driving behavior of the first vehicle is stable and meets the requirements of platooning, and the surrounding environment is suitable for platooning, etc., it is set as meeting the second condition. The rules need to comprehensively consider various types of information collected above.

[0101] The present application analyzes and judges the information such as the driving behavior of the first vehicle, the perception information of the second vehicle, the upcoming section, and the upcoming platooning behavior collected according to the set rules. For example, if the upcoming section is a narrow and traffic-congested urban street, and the current speed of the first vehicle is too fast and does not meet the speed requirement for safe platooning on this section, then it is determined that the first vehicle meets the second condition (that is, it is not suitable to participate in this platooning cooperation).

[0102] When it is determined that the first vehicle meets the second condition, which means the current situation is not suitable for the first vehicle to participate in the intended collaboration, a second response message for rejecting the intended collaboration is generated at this time. The message content may include the reason for rejection, such as "This collaboration request is rejected because the current driving speed does not meet the formation requirements and the upcoming road section is narrow." Through the vehicle networking communication module, this rejection message is sent to the first vehicle.

[0103] If it is determined that the first vehicle does not meet the second condition, that is, the first vehicle is suitable to participate in the intended collaboration, a second response message for accepting the intended collaboration is generated. The message may include confirmation information and formation driving-related instructions, such as "The collaboration request has been accepted. Please meet the formation at the specific location at the target speed according to the formation plan." Similarly, through the vehicle networking communication module, the acceptance message is sent to the first vehicle.

[0104] When the received third request message clearly indicates that the first vehicle has performed the intended collaboration, regardless of the previous judgment results based on other information, a second response message for accepting the intended collaboration is generated. The message content can simply confirm, such as "It has been confirmed that you have performed the intended collaboration." And this message is sent to the first vehicle through the vehicle networking communication module.

[0105] Optionally, the second condition includes at least one of the following:

[0106] (1), in the case where the third request message is used to indicate that the first vehicle has not performed the intended collaboration, determine that the perception information of the second vehicle indicates that there is a road safety risk ahead on the road passed by the vehicle fleet.

[0107] In this application, the vehicle communication module continuously monitors the network. When receiving the third request message from the first vehicle, it parses the message content. Judge whether it is used to indicate that the first vehicle has not performed the intended collaboration. If it is determined that the first vehicle has not performed the intended collaboration, through the vehicle-to-vehicle (V2V) communication protocol, request the perception information from the second vehicle. The second vehicle organizes and packages the information on the road ahead collected by its own sensors (such as cameras, radars, etc.), including but not limited to the position, type, and size of the obstacles ahead, whether there are conditions such as water accumulation or icing on the road that affect driving safety, and whether there are abnormal traffic events (such as a traffic accident scene), etc., and sends it to the receiving party. Analyze the perception information of the second vehicle received. Use image recognition algorithms to process the image data collected by the camera to identify whether there are obstacles, abnormal road conditions, etc. ahead; judge the distance and relative speed between the obstacles and the vehicle fleet through radar data. If it is detected that there are factors ahead that may cause dangers such as vehicle collisions or out-of-control, such as large obstacles occupying most of the lanes, serious road collapses ahead, etc., it is determined that there is a road safety risk ahead on the road passed by the vehicle fleet, that is, the second condition is met.

[0108] (2) When the third request message is used to indicate that the first vehicle has not performed the intended cooperation, determine that the road passed by the convoy is a complex section or a dangerous section.

[0109] In this application, the vehicle communication module receives and parses the third request message to confirm that the first vehicle has not performed the intended cooperation. Obtain the convoy driving route information from the cloud server of the map service provider, and send a request through the vehicle's built-in navigation system or the vehicle networking communication module to obtain the detailed data of the road that the convoy is about to pass. At the same time, combined with the real-time road condition information of the traffic management department, dynamic data such as road congestion and construction information can be obtained. Analyze the obtained road information to determine the road type. Complex sections generally include road construction sections, which can be determined through construction signs in the map data or construction information released by the traffic management department; urban center sections with dense intersections and large traffic flows can be judged according to the intersection density in the map and the real-time traffic flow data. Dangerous sections such as mountain roads can be identified based on information such as road slope and curvature in the map data; mountainous sections prone to debris flows can be judged in combination with geographical information data and historical disaster records. If it is determined that the road that the convoy is about to pass belongs to a complex section or a dangerous section, then the second condition is met.

[0110] (3) When the third request message is used to indicate that the first vehicle has not performed the intended cooperation, determine that the second vehicle has a preset driving behavior.

[0111] In this application, the vehicle communication module receives the third request message and judges whether the first vehicle has not performed the intended cooperation. Request the driving behavior status information of the second vehicle through V2V communication. The second vehicle sends relevant information such as its own driving mode (such as autonomous driving, manual driving) and whether it is performing a special task (such as emergency rescue, road test, etc.). A series of standards and characteristics of preset driving behaviors are set in advance. For example, if the second vehicle is performing an emergency rescue task, its driving speed and route are specific, and special signs such as warning lights may be turned on; if it is conducting an autonomous driving high-precision map test, its driving trajectory strictly follows the preset map path, and the vehicle's sensors and control systems are in a specific working mode. Compare the obtained driving behavior information of the second vehicle with the preset standards. If it meets the characteristics of the preset driving behavior, then determine that the second vehicle has a preset driving behavior and the second condition is met.

[0112] Optionally, after receiving the third request message, the second vehicle (the head vehicle of the group) determines whether to accept the intended cooperation request in the third request message based on one or more pieces of information such as the behavior of the first vehicle, the perception information of the head vehicle, the upcoming road section, and the upcoming formation driving behavior, including but not limited to the following: If the third request message indicates that the first vehicle has not carried out the intended cooperation and the perception information of the head vehicle shows that there is a road safety risk ahead, the head vehicle may reject the intended cooperation request in the third request message; If the third request message indicates that the first vehicle has not carried out the intended cooperation and the upcoming road section is a complex section or a dangerous section, the head vehicle may reject the intended cooperation request in the third request message; If the third request message indicates that the first vehicle has not carried out the intended cooperation and the head vehicle is about to perform an acceleration or deceleration formation driving behavior due to operational needs or road safety needs, the head vehicle may reject the intended cooperation request in the third request message.

[0113] If none of the above situations occur, the second vehicle (the head vehicle of the group) accepts the intended cooperation request in the third request message. Or, if the third request message indicates that the first vehicle has carried out the intended cooperation, the head vehicle accepts the intended cooperation request in the third request message.

[0114] Optionally, after sending the second response message to the first vehicle, the method further includes:

[0115] In the case where the second response message indicates acceptance of the intended cooperation, the second vehicle performs at least one of the following operations:

[0116] In the case where the third request message is used to indicate that the first vehicle has carried out the intended cooperation, based on the target information, determine the first driving behavior of the second vehicle and the first target vehicle, and send a first indication message to the first target vehicle; the target information is used to indicate one or more pieces of information among the content of the intended cooperation request corresponding to the third request message, the current formation driving information, the perception information of the second vehicle, the upcoming road section, and the upcoming formation driving behavior; the first indication message carries the first driving behavior; the first target vehicle is another vehicle in the vehicle fleet other than the first vehicle and the second vehicle;

[0117] In the case where the third request message is used to indicate that the first vehicle has not carried out the intended cooperation, based on the target information, determine the second driving behavior of all vehicles in the vehicle fleet, and send a second indication message to the first target vehicle; the second indication message carries the second driving behavior.

[0118] In the embodiments of the present application, when the second response message indicates acceptance of the intended cooperation, that is, when the second vehicle (the head vehicle) determines to accept the intended cooperation request in the third request message, the second vehicle performs at least one of the following operations for adjusting the formation driving: If the third request message indicates that the first vehicle has already performed the intended cooperation, the head vehicle adjusts the driving behaviors of the head vehicle and other member vehicles according to one or more of the following information: the content of the intended cooperation request, the current formation driving information, the perception information of the head vehicle, the upcoming road section, and the upcoming formation driving behavior, and notifies other member vehicles of the new driving behavior through the first indication message. If the new driving behaviors of the head vehicle or other member vehicles also affect the first vehicle, the head vehicle adjusts the driving behavior of the first vehicle and carries the new driving behavior of the first vehicle (i.e., the first driving behavior) in the first response message.

[0119] If the third request message indicates that the first vehicle has not performed the intended cooperation, the second vehicle (the head vehicle) adjusts the driving behaviors of the head vehicle and all member vehicles according to one or more of the following information: the content of the intended cooperation request, the current formation driving information, the perception information of the head vehicle, the upcoming road section, and the upcoming formation driving behavior, and notifies other member vehicles except the first vehicle of the new driving behavior through the second indication message. The head vehicle carries the new driving behavior of the first vehicle (i.e., the second driving behavior) in the first response message.

[0120] Optionally, before step 21 of the present application, the method further includes:

[0121] When receiving the fourth request messages sent by multiple first vehicles, perform a second target operation according to one or more of the following information: the identity information of the requestor interacting with the first vehicle, the content of the intended cooperation request, the behavior of the first vehicle, the perception information of the second vehicle, the upcoming road section, and the upcoming formation driving behavior.

[0122] It should be noted that the fourth request message in the present application is a request message sent by multiple first vehicles in the vehicle fleet, and the fourth request message can also include the above-mentioned first request message and second request message.

[0123] In the embodiments of the present application, the second vehicle receives fourth request messages sent by multiple first vehicles. Analyze based on one or more of the following types of information, including the identity information of the requester interacting with the first vehicle (such as which specific entity initiates the request), the specific content of the intended cooperation request (for example, what cooperation behavior is requested), the behavior of the first vehicle (the current driving state of other vehicles, etc.), the perception information of the second vehicle (such as surrounding road conditions, obstacles, etc.), the situation of the upcoming section of the road (road conditions, speed limits, etc.), and the information related to the upcoming formation driving behavior (such as the form of the formation, speed, etc.). According to the above analysis results, perform a second target operation, which may be specific actions such as adjusting the vehicle formation or changing the driving speed.

[0124] Optionally, performing the second target operation includes at least one of the following:

[0125] Determine whether all of the first vehicles meet the third condition according to one or more of the identity information of the requester, the content of the intended cooperation request, the behavior of the first vehicle, the perception information of the second vehicle, the upcoming section of the road, and the upcoming formation driving behavior;

[0126] In the case where at least one of the first vehicles meets the third condition, send a third response message for rejecting the intended cooperation corresponding to the fourth request message to the corresponding first vehicle;

[0127] In the case where at least one of the fourth request messages is used to indicate that the first vehicle has performed the intended cooperation, send a fourth response message to the corresponding first vehicle;

[0128] In the case where at least one of the first vehicles does not meet the third condition and all of the requesters are the same, send a fifth response message for accepting the intended cooperation corresponding to the fourth request message to all of the first vehicles;

[0129] In the case where at least one of the first vehicles does not meet the third condition and at least one of the requesters is different, select to accept all of the fourth request messages corresponding to one of the requesters, send a fifth response message for accepting the intended cooperation to all of the first vehicles corresponding to the fourth request messages, and send the third response message to the first vehicles corresponding to the requesters that are not accepted.

[0130] It should be noted that the identity information of the requesting party: for example, which fleet the vehicle requesting cooperation belongs to, what kind of permissions it has, etc. Requesting parties with different identities may affect the judgment of cooperation requests. The content of the intended cooperation request: for example, whether the request is about speed adjustment or distance maintenance during formation driving, or other special cooperation behaviors. Different contents may have different judgment criteria for meeting the conditions. The behavior of the first vehicle: the current driving state, actions, etc. of the member vehicles of the formation. If the member vehicles are performing emergency avoidance actions, it may affect the processing of new cooperation requests. The perception information of the second vehicle: the surrounding environment information obtained by the second vehicle through its own sensors, such as whether there are obstacles, the distance and speed of other vehicles, etc. These information will affect the judgment of whether the first vehicle can meet the cooperation conditions. The upcoming road section: for example, an upcoming bend, tunnel or other special road section, the requirements for vehicle cooperation may be different, thus affecting the judgment of whether the first vehicle meets the third condition. The upcoming formation driving behavior: if upcoming formation merging, splitting or other behaviors are to be carried out, the first vehicle needs to meet the corresponding conditions to participate in the cooperation.

[0131] In the embodiments of the present application, at least one of the above-mentioned multiple types of information is used to comprehensively judge whether all the first vehicles meet the preset third condition. When, after the above judgment, it is found that at least one first vehicle meets the third condition, it means that the vehicles meeting the third condition may not be suitable to participate in the current intended cooperation (meeting the third condition may indicate the existence of certain factors that are not conducive to cooperation). At this time, the second vehicle will send a third response message to these first vehicles that meet the third condition, clearly rejecting the intended cooperation represented by the corresponding fourth request messages.

[0132] If at least one of the fourth request messages received by the second vehicle in the present application indicates that the first vehicle has performed an operation of intended cooperation (for example, has made corresponding speed adjustments or position changes according to the previous cooperation request). Then the second vehicle will send a fourth response message to the first vehicle corresponding to the performed intended cooperation, and this message is a confirmation or feedback of the performed cooperation behavior.

[0133] When it is judged that at least one first vehicle does not meet the third condition (that is, these vehicles initially meet the cooperation requirements), and all the requesting parties initiating the intended cooperation requests are the same. This indicates that all requests come from the same entity. In this case, the second vehicle will send a fifth response message to all the first vehicles, accepting the intended cooperation represented by their corresponding fourth request messages, that is, agreeing for these vehicles to carry out cooperation.

[0134] When there is at least one first vehicle that does not meet the third condition (initially meeting the cooperation requirements), and at the same time at least one requester is different from other requesters. The second vehicle will select and accept all the fourth request messages corresponding to one of these different requesters from the requests of these different requesters. Then, the second vehicle will send a fifth response message indicating the intention to cooperate to the first vehicles corresponding to the accepted fourth request messages, indicating its consent for them to participate in the cooperation. For the first vehicles corresponding to the unaccepted requesters, the second vehicle will send a third response message, and the third response message is used to indicate the rejection of their intention to cooperate requests.

[0135] Optionally, the third condition includes at least one of the following:

[0136] When it is indicated in at least one of the fourth request messages that the first vehicle does not intend to cooperate, it is determined that the perception information of the second vehicle indicates that there is a road safety risk ahead on the road passed by the vehicle fleet;

[0137] When it is indicated in at least one of the fourth request messages that the first vehicle does not intend to cooperate, it is determined that the road passed by the vehicle fleet is a complex section or a dangerous section;

[0138] When it is indicated in at least one of the fourth request messages that the first vehicle does not intend to cooperate, it is determined that the second vehicle has a preset driving behavior.

[0139] In the embodiments of the present application, the third condition is divided into three cases, including Case 1: Receive the fourth request message, view the message. If at least one message indicates that the first vehicle does not intend to cooperate, obtain the perception information of the second vehicle, analyze this information. If it indicates that there is a safety risk on the road ahead of the vehicle fleet, then the third condition is met. Case 2: Receive the fourth request message. If at least one message indicates that the first vehicle does not intend to cooperate, continue. Obtain the road information passed by the vehicle fleet through various channels, and judge whether this road is a complex or dangerous section. If so, then the third condition is met. Case 3: Receive the fourth request message. If there is at least one message indicating that the first vehicle does not intend to cooperate, then obtain the driving information of the second vehicle, and judge whether the second vehicle has a preset driving behavior. If so, then the third condition is met.

[0140] Optionally, if the second vehicle (the head vehicle) receives the first request messages of multiple first vehicles (member vehicles), according to one or more information such as the information of the intention cooperation initiator, the content of the intention cooperation request, the behavior of the member vehicles, the perception information of the head vehicle, the upcoming section, and the upcoming formation driving behavior, etc., determine how to process the intention cooperation requests in these fourth request messages, including but not limited to:

[0141] (1) For one or more fourth request messages indicating that the first vehicle has intended to cooperate in the fourth request message, the head vehicle accepts the intended cooperation requests in all these fourth request messages. During platoon driving adjustment, the driving behavior of these first vehicles that have intended to cooperate may be adjusted according to driving needs;

[0142] (2) For one or more fourth request messages indicating that the first vehicle has not intended to cooperate in the fourth request message, and the head vehicle's perception information shows that there is a road safety risk ahead, the head vehicle may reject the intended cooperation requests in all these fourth request messages;

[0143] (3) For one or more fourth request messages indicating that the first vehicle has not intended to cooperate in the fourth request message, and the upcoming section of the road is a complex section or a dangerous section, the head vehicle may reject the intended cooperation requests in all these fourth request messages;

[0144] (4) For one or more fourth request messages indicating that the first vehicle has not intended to cooperate in the fourth request message, and due to operational needs or road safety needs, the upcoming platoon driving behavior of the head vehicle is to accelerate or decelerate, the head vehicle may reject the intended cooperation requests in all these fourth request messages;

[0145] (5) For one or more fourth request messages indicating that the first vehicle has not intended to cooperate in the fourth request message, and there is no situation as described in (2) to (4) above. At the same time, if the head vehicle finds that the initiators of the intended cooperation in these fourth request messages are the same, the head vehicle accepts the intended cooperation requests in all these fourth request messages;

[0146] (6) For one or more fourth request messages indicating that the first vehicle has not intended to cooperate in the fourth request message, and there is no situation as described in (2) to (4) above. At the same time, if the head vehicle finds that the initiators of the intended cooperation in these fourth request messages are different, the head vehicle accepts all the intended cooperation requests corresponding to the initiator of the intended cooperation in one of the fourth request messages according to the vehicle type of the initiator of the intended cooperation and / or the content of the intended cooperation request.

[0147] It should be noted that this application is also applicable to the case where the roadside unit (RSU) initiates an intention cooperation request, that is, vehicle-road collaborative application. In this case, the RSU first receives the intention request of a free vehicle outside the group. The RSU determines the intention cooperation object (i.e., the first vehicle) according to the intention request of the free vehicle, sends an intention cooperation request to the first vehicle, and carries the information of the free vehicle. After receiving the intention cooperation request from the RSU, in addition to the above processing, the first vehicle also needs to combine the information of the free vehicle to determine the intention cooperation behavior and intention cooperation response. For example, if the first vehicle determines that the vehicle priority of the free vehicle is lower than that of the first vehicle, it refuses the intention cooperation; if the first vehicle determines that the vehicle priority of the free vehicle is higher than or equal to the vehicle priority threshold of the first vehicle, and determines that the target driving behavior corresponding to the intention cooperation request does not affect the driving safety of other vehicles in the vehicle fleet according to the position of the first vehicle in the vehicle fleet, it sends a first request message to the second vehicle. At the same time, after receiving the first request message from the first vehicle, in addition to the above processing, the second vehicle also needs to combine the information of the free vehicle to determine the response message. After receiving the intention cooperation response, the RSU needs to send the intention cooperation response result to the free vehicle, and the free vehicle adjusts its driving behavior according to the intention cooperation response result.

[0148] The following describes the specific implementation steps of the above method in combination with multiple execution entities. In the following specific embodiments, the first vehicle is a member vehicle of the group, and the second vehicle is the group leader vehicle for illustration.

[0149] Refer to Figure 3 As shown, in the first specific embodiment, the first vehicle refuses to cooperate with the intention cooperation initiator: the free vehicle sends an intention cooperation request message to the first vehicle (member vehicle of the group), hoping that the first vehicle will change lanes to the left; after receiving the intention cooperation request message, the first vehicle determines according to the preset configuration strategy that it is not allowed to cooperate with vehicles outside the group, and the first vehicle returns a first response message of intention cooperation to the free vehicle, indicating the refusal of intention cooperation in the first response message.

[0150] Refer to Figure 4As shown, in the second specific embodiment, after the first vehicle determines that it can cooperate with the intention cooperation initiator, it exchanges information with the group leader, and the group leader rejects the intention cooperation: The free vehicle sends an intention cooperation request message to the first vehicle, hoping that the first vehicle will change lanes to the left; after receiving the intention cooperation request message, the first vehicle determines that it is currently driving at a constant speed, and at the same time, the priority corresponding to the first vehicle type is the same as the priority corresponding to the vehicle type of the intention cooperation initiator. The first vehicle determines to carry out intention cooperation. The first vehicle determines that the vehicle type of the intention cooperation initiator is not a high-priority vehicle, and sends a first request message to the second vehicle (group leader vehicle). The first request message carries the content of the intention cooperation request message, and the first request message also indicates that the first vehicle has not carried out intention cooperation. After receiving the first request message, the second vehicle determines that there is a road safety risk ahead based on the second vehicle's perception information, and the second vehicle rejects the intention cooperation request in the first request message. The second vehicle sends a second response message to the first vehicle, indicating the rejection of the intention cooperation in the second response message. The first vehicle returns a first response message of intention cooperation to the free vehicle, indicating the rejection of the intention cooperation in the first response message. The free vehicle ends the intention cooperation process.

[0151] Referring to Figure 5 As shown, in the third specific embodiment: After the first vehicle determines that it can cooperate with the intention cooperation initiator, it exchanges information with the group leader, and the group leader accepts the intention cooperation: The free vehicle sends an intention cooperation request message to the first vehicle (group member vehicle), hoping that the first vehicle will change lanes to the left; after receiving the intention cooperation request message, the first vehicle determines that it is currently driving at a constant speed, and at the same time, the priority corresponding to the first vehicle type is higher than the priority corresponding to the vehicle type of the intention cooperation initiator. The first vehicle determines to carry out intention cooperation. The first vehicle determines that the free vehicle is a police car, and at the same time, if the first vehicle changes lanes, it will not affect the driving safety of other vehicles in the group. The first vehicle changes lanes to the left and sends a first request message to the second vehicle (group leader vehicle). The first request message carries the content of the intention cooperation request message, and the first request message also indicates that the first vehicle has carried out intention cooperation. After receiving the first request message, the second vehicle determines that the first vehicle has carried out intention cooperation, and the second vehicle accepts the intention cooperation request in the first request message. The second vehicle adjusts the second vehicle and other group member vehicles to change lanes to the left according to the content of the intention cooperation request (changing lanes to the left) and the second vehicle's perception information (no vehicle in the left lane), and informs other group member vehicles of the new driving behavior, that is, changing lanes to the left, through the first indication message. The second vehicle sends a second response message to the first vehicle, indicating the acceptance of the intention cooperation in the second response message. The first vehicle returns a first response message of intention cooperation to the free vehicle, accepting the intention cooperation in the first response message. The free vehicle drives by changing lanes to the left.

[0152] Referring to Figure 6As shown, in the fourth specific embodiment, after the first vehicle (member vehicle) refuses to perform intended cooperation with the intended cooperation initiator, it sends the information of the second vehicle (group leader vehicle) to the intended cooperation initiator: The free vehicle sends an intended cooperation request message to the first vehicle, hoping that the first vehicle will change lanes to the left; after receiving the intended cooperation request message, the first vehicle determines according to the strategy configured by the group leader that non-second vehicles are not allowed to perform intended cooperation with vehicles outside the group. The first vehicle returns a first response message for intended cooperation to the free vehicle, indicating in the first response message the refusal of the intended cooperation, the reason for the refusal being that it is in formation driving, and carrying the ID of the group leader vehicle and the Source Layer2 ID of the second vehicle in the response. After receiving the intended cooperation response, the intended cooperation initiator sends an intended cooperation request to the second vehicle according to the ID of the group leader vehicle and the Source Layer2 ID of the second vehicle, hoping that the second vehicle will change lanes to the left. After receiving the intended cooperation request, the second vehicle adjusts the current formation to change lanes to the left according to the content of the intended cooperation request (changing lanes to the left) and the second vehicle's perception information (no vehicle in the left lane), and sends a first indication message to all group members carrying the new driving behavior, that is, changing lanes to the left. The second vehicle returns an intended cooperation response to the free vehicle, indicating in the message the acceptance of the intended cooperation. After receiving the intended cooperation response message, the free vehicle determines that the second vehicle accepts the intended cooperation, and the free vehicle changes lanes to the left and drives.

[0153] In summary, the present application proposes that the member vehicle decides to perform intended cooperation with the intended cooperation initiator based on one or more information such as the vehicle type of the intended cooperation initiator vehicle, the vehicle type of the member vehicle, the current formation driving behavior, and the pre-configured strategy, and performs information interaction with the group leader vehicle and the intended cooperation initiator to jointly complete the intended cooperation process, solving the problem of how to perform intended cooperation when the intended cooperation recipient is in formation driving, ensuring the smooth progress of the intended cooperation process during formation driving, and ensuring the driving efficiency and safety of the entire formation during formation driving.

[0154] Refer to Figure 7 As shown, an intended cooperation control device provided in an embodiment of the present application is applied to a first vehicle in a vehicle fleet, and includes:

[0155] A first processing module 71, configured to, after receiving an intended cooperation request sent by a requester, send a first response message to the requester according to one or more information among the terminal type of the requester, the content of the intended cooperation request, the vehicle type of the first vehicle, the driving behavior of the vehicle fleet to which the first vehicle belongs, and the service pre-configured strategy;

[0156] Wherein, the first response message is used to indicate acceptance of the intended cooperation or indicate refusal of the intended cooperation.

[0157] Optionally, the above-mentioned first processing module 71 includes:

[0158] A first processing unit, configured to determine whether the first vehicle meets a first condition according to one or more pieces of information including the terminal type of the requester, the content of the intention cooperation request, the vehicle type of the first vehicle, the driving behavior of the fleet to which the first vehicle belongs, and the service pre-configuration policy;

[0159] A second processing unit, configured to send a first response message for indicating a rejection of the intention cooperation to the requester when the first vehicle meets the first condition;

[0160] A third processing unit, configured to send a first response message for indicating an acceptance of the intention cooperation to the requester when the first vehicle does not meet the first condition.

[0161] Optionally, the first condition includes at least one of the following:

[0162] Determine that the vehicle priority indicated by the vehicle type of the first vehicle is higher than the vehicle priority corresponding to the requester according to the terminal type of the requester and the vehicle type of the first vehicle;

[0163] The driving behavior of the fleet to which the first vehicle belongs is in a preset driving behavior;

[0164] The service pre-configuration policy indicates that the first vehicle is not allowed to perform intention cooperation.

[0165] Optionally, the intention cooperation control device of the present application further includes:

[0166] A third processing module, configured to, when the first response message indicates an acceptance of the intention cooperation, the first vehicle perform at least one of the following operations:

[0167] When the vehicle priority corresponding to the requester is higher than or equal to the first vehicle priority threshold, and when it is determined that the target driving behavior corresponding to the intention cooperation request does not affect the driving safety of other vehicles in the fleet except the first vehicle according to the first position of the first vehicle in the fleet, send a first request message to a second vehicle; the first request message is used to indicate that the first vehicle has performed intention cooperation and carries the content of the intention cooperation request;

[0168] When the vehicle priority corresponding to the requester is higher than or equal to the first vehicle priority threshold, and when it is determined that the target driving behavior affects the driving safety of the other vehicles according to the first position, send a second request message to the second vehicle; the second request message is used to indicate that the first vehicle has not performed intention cooperation and carries the content of the intention cooperation request;

[0169] When the vehicle priority corresponding to the requesting party is lower than the first vehicle priority threshold, send the second request message to the second vehicle.

[0170] Optionally, the intention cooperation control device of the present application further includes:

[0171] A fourth processing module, configured to, when receiving intention cooperation requests sent by multiple said requesting parties, perform a first target operation according to one or more pieces of information among the terminal type of the requesting party, the content of the intention cooperation request, the vehicle type of the first vehicle, the driving behavior of the fleet to which the first vehicle belongs, and the service pre-configuration policy;

[0172] Wherein, the first target operation is used to instruct the first vehicle to perform intention cooperation with one of the multiple requesting parties, or reject intention cooperation with all the requesting parties.

[0173] Optionally, the above-mentioned first processing module 71 further includes:

[0174] A fourth processing unit, configured to, when the service pre-configuration policy indicates that the first vehicle is not allowed to perform intention cooperation, carry at least the identity information of the second vehicle in the first response message sent to the requesting party.

[0175] Wherein, the above Figure 1 The implementation embodiments of the intention cooperation control method shown are all applicable to the embodiments of this intention cooperation control device and can also achieve the same technical effects.

[0176] Referring to Figure 8 As shown, an embodiment of the present application provides an intention cooperation control device, which is applied to a second vehicle in a fleet and includes:

[0177] A second processing module 81, configured to, after receiving a third request message sent by a first vehicle, send a second response message to the first vehicle according to one or more pieces of information among the content of the third request message, the driving behavior of the first vehicle, the perception information of the second vehicle, the upcoming road section, and the upcoming formation driving behavior;

[0178] Wherein, the second response message is used to indicate acceptance of the intention cooperation corresponding to the third request message or rejection of the intention cooperation.

[0179] Optionally, the above-mentioned second processing module 81 includes:

[0180] A fifth processing unit, configured to determine whether the first vehicle meets a second condition according to one or more pieces of information among the content of the third request message, the driving behavior of the first vehicle, the perception information of the second vehicle, the upcoming road section, and the upcoming formation driving behavior;

[0181] A sixth processing unit, configured to send a second response message for rejecting the intended cooperation to the first vehicle when the first vehicle meets the second condition;

[0182] A seventh processing unit, configured to send a second response message for accepting the intended cooperation to the first vehicle when the first vehicle does not meet the second condition;

[0183] An eighth processing unit, configured to send a second response message for accepting the intended cooperation to the first vehicle when the third request message is used to indicate that the first vehicle has performed the intended cooperation.

[0184] Optionally, the second condition includes at least one of the following:

[0185] When the third request message is used to indicate that the first vehicle has not performed the intended cooperation, determining that the perception information of the second vehicle indicates that there is a road safety risk ahead of the road passed by the vehicle fleet;

[0186] When the third request message is used to indicate that the first vehicle has not performed the intended cooperation, determining that the road passed by the vehicle fleet is a complex section or a dangerous section;

[0187] When the third request message is used to indicate that the first vehicle has not performed the intended cooperation, determining that the second vehicle has a preset driving behavior.

[0188] In the embodiment of the present application, the above-mentioned intended cooperation control device further includes:

[0189] A fifth processing module, configured to, when the second response message indicates acceptance of the intended cooperation, the second vehicle performs at least one of the following operations:

[0190] When the third request message is used to indicate that the first vehicle has performed the intended cooperation, determine the first driving behavior of the second vehicle and the first target vehicle according to the target information, and send a first indication message to the first target vehicle; the target information is used to indicate one or more of the content of the intended cooperation request corresponding to the third request message, the current formation driving information, the perception information of the second vehicle, the upcoming road section, and the upcoming formation driving behavior; the first indication message carries the first driving behavior; the first target vehicle is another vehicle in the vehicle fleet other than the first vehicle and the second vehicle;

[0191] When the third request message is used to indicate that the first vehicle has not performed the intended cooperation, determine the second driving behavior of all vehicles in the vehicle fleet according to the target information, and send a second indication message to the first target vehicle; the second indication message carries the second driving behavior.

[0192] In the embodiments of the present application, the above-mentioned intended cooperation control device further includes:

[0193] A sixth processing module, configured to, when receiving a fourth request message sent by a plurality of the first vehicles, perform a second target operation according to one or more of the identity information of the requester interacting with the first vehicle, the content of the intended cooperation request, the behavior of the first vehicle, the perception information of the second vehicle, the upcoming road section, and the upcoming formation driving behavior.

[0194] Optionally, performing the second target operation includes at least one of the following:

[0195] Determine whether all of the first vehicles meet a third condition according to one or more of the identity information of the requester, the content of the intended cooperation request, the behavior of the first vehicle, the perception information of the second vehicle, the upcoming road section, and the upcoming formation driving behavior;

[0196] When at least one of the first vehicles meets the third condition, send a third response message for rejecting the intended cooperation corresponding to the fourth request message to the corresponding first vehicle;

[0197] When at least one of the fourth request messages is used to indicate that the first vehicle has performed the intended cooperation, send a fourth response message to the corresponding first vehicle;

[0198] When at least one of the first vehicles does not meet the third condition and all the requesters are the same, send a fifth response message for accepting the intended cooperation corresponding to the fourth request message to all the first vehicles;

[0199] When at least one of the first vehicles does not meet the third condition and at least one of the requesting parties is different, select to accept all the fourth request messages corresponding to one of the requesting parties, and send a fifth response message indicating an intention to cooperate to the first vehicles corresponding to all the fourth request messages, and send the third response message to the first vehicles corresponding to the non-accepted requesting parties.

[0200] Optionally, the third condition includes at least one of the following:

[0201] When it is indicated in at least one of the fourth request messages that the first vehicle does not intend to cooperate, determine that the perception information of the second vehicle indicates that there is a road safety risk ahead on the road passed by the vehicle fleet;

[0202] When it is indicated in at least one of the fourth request messages that the first vehicle does not intend to cooperate, determine that the road passed by the vehicle fleet is a complex section or a dangerous section;

[0203] When it is indicated in at least one of the fourth request messages that the first vehicle does not intend to cooperate, determine that the second vehicle has a preset driving behavior.

[0204] Among them, the above Figure 2 implementation embodiments of the intention cooperation control method shown are applicable to the embodiments of this intention cooperation control device and can also achieve the same technical effects.

[0205] A readable storage medium according to an embodiment of the present application stores a program or instructions thereon. When the program or instructions are executed by a processor, the steps in the above-mentioned intention cooperation control method are implemented and the same technical effects can be achieved. To avoid repetition, it will not be elaborated here.

[0206] Among them, the processor is the processor in the intention cooperation control method in the above-mentioned embodiment. The readable storage medium includes computer-readable storage media, such as computer read-only memory (Read-Only Memory, abbreviated as ROM), random access memory (Random Access Memory, abbreviated as RAM), magnetic disks or optical discs, etc.

[0207] An embodiment of the present application further provides a computer program product, including computer instructions. When the computer instructions are executed by a processor, each process of the method embodiment shown above is implemented and the same technical effects can be achieved. To avoid repetition, it will not be elaborated here. Figure 1 or Figure 2 shown can be achieved, and to avoid repetition, it will not be elaborated here.

[0208] The above exemplary embodiments have been described with reference to the accompanying drawings. Many different forms and embodiments are possible without departing from the spirit and teachings of the present application. Therefore, the present application should not be construed as being limited to the exemplary embodiments presented herein. Rather, these exemplary embodiments are provided so that the present application will be complete and will convey the scope of the present application to those skilled in the art. In the drawings, component sizes and relative sizes may be exaggerated for clarity. The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms "a," "an," and "the" are intended to include the plural forms as well. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of the stated features, integers, steps, operations, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, groups thereof, and / or combinations thereof. Unless otherwise indicated, when stating a value range, the range includes the upper and lower limits thereof and any sub-ranges therebetween.

[0209] The foregoing is a preferred embodiment of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle described in the present application, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present application.

Claims

1. An intention-based collaborative control method, characterized in that: The first vehicle in the fleet, including: After receiving the intention collaboration request sent by the requester, sending a first response message to the requester according to one or more of the terminal type of the requester, the content of the intention collaboration request, the vehicle type of the first vehicle, the driving behavior of the fleet to which the first vehicle belongs, and the service pre-configuration policy; The first response message is used to indicate acceptance of the intended collaboration or rejection of the intended collaboration.

2. The method according to claim 1, characterized in that Sending a first response message to the requesting party includes: Determining whether the first vehicle meets a first condition according to one or more of the following information: a terminal type of the requesting party, content of the intended collaboration request, a vehicle type of the first vehicle, a driving behavior of a fleet to which the first vehicle belongs, and a service preconfiguration policy; When the first vehicle satisfies the first condition, sending a first response message to the requesting party indicating a rejection of the intended collaboration; In a case where the first vehicle does not satisfy the first condition, a first response message indicating acceptance of the intended collaboration is sent to the requesting party.

3. The method according to claim 2, characterized in that The first condition includes at least one of the following: Determining, according to the terminal type of the requester and the vehicle type of the first vehicle, that the vehicle priority indicated by the vehicle type of the first vehicle is higher than the vehicle priority corresponding to the requester; The driving behavior of the fleet to which the first vehicle belongs is in a preset driving behavior; The service pre-configuration policy indicates that the first vehicle is not allowed to perform intended cooperation.

4. The method according to claim 1, characterized in that: After sending the first response message to the requesting party, the method further includes: When the first response message indicates acceptance of the intended collaboration, the first vehicle performs at least one of the following operations: When the vehicle priority corresponding to the requesting party is higher than or equal to the first vehicle priority threshold, and according to the first position of the first vehicle in the fleet, it is determined that the target driving behavior corresponding to the intended cooperation request does not affect the driving safety of other vehicles other than the first vehicle in the fleet, a first request message is sent to the second vehicle; the first request message is used to indicate that the first vehicle has performed the intended cooperation and carries the content of the intended cooperation request; When the vehicle priority corresponding to the requesting party is higher than or equal to the first vehicle priority threshold, and when it is determined based on the first position that the target driving behavior affects the driving safety of the other vehicles, a second request message is sent to the second vehicle; the second request message is used to indicate that the first vehicle has not performed the intended collaboration and carries the content of the intended collaboration request; When the vehicle priority corresponding to the requesting party is lower than the first vehicle priority threshold, the second request message is sent to the second vehicle.

5. The method according to claim 1, characterized in that Before sending the first response message to the requesting party, the method further includes: In the case of receiving the intention cooperation requests sent by the multiple requesting parties, performing the first target operation according to one or more information of the terminal type of the requesting party, the content of the intention cooperation request, the vehicle type of the first vehicle, the driving behavior of the fleet to which the first vehicle belongs, and the service pre-configuration policy; The first target operation is used to instruct the first vehicle to perform intended collaboration with one of the multiple requesting parties, or to refuse to perform intended collaboration with all the requesting parties.

6. The method according to claim 1, characterized in that Sending a first response message to the requesting party includes: When the service pre-configuration policy indicates that the first vehicle is not allowed to perform intended collaboration, the first response message sent to the requesting party carries at least the identity information of the second vehicle.

7. An intention-based collaborative control method, characterized in that: Applicable to the second vehicle in the fleet, including: After receiving the third request message sent by the first vehicle, sending a second response message to the first vehicle according to one or more of the content of the third request message, the driving behavior of the first vehicle, the perception information of the second vehicle, the road section to be passed, and the platoon driving behavior to be performed; The second response message is used to indicate acceptance of the intended collaboration corresponding to the third request message or to indicate rejection of the intended collaboration.

8. The method according to claim 7, characterized in that Sending a second response message to the first vehicle includes: Determining whether the first vehicle meets a second condition according to one or more of the content of the third request message, the driving behavior of the first vehicle, the perception information of the second vehicle, the road section to be passed, and the platoon driving behavior to be performed; When the first vehicle satisfies the second condition, sending a second response message for rejecting the intended collaboration to the first vehicle; When the first vehicle does not satisfy the second condition, sending a second response message for accepting the intended collaboration to the first vehicle; In a case where the third request message is used to indicate that the first vehicle has performed the intended collaboration, a second response message for accepting the intended collaboration is sent to the first vehicle.

9. The method according to claim 8, characterized in that The second condition includes at least one of the following: In a case where the third request message is used to indicate that the first vehicle has not performed the intended cooperation, determining that the perception information of the second vehicle indicates that there is a road safety risk ahead of the road passed by the convoy; In a case where the third request message is used to indicate that the first vehicle did not perform the intended cooperation, determining that the road passed by the convoy is a complex section or a dangerous section; In a case where the third request message is used to indicate that the first vehicle did not perform the intended cooperation, it is determined that the second vehicle is in a preset driving behavior.

10. The method according to claim 7, characterized in that After sending the second response message to the first vehicle, the method further includes: When the second response message indicates acceptance of the intended collaboration, the second vehicle performs at least one of the following operations: In the case where the third request message is used to indicate that the first vehicle has performed the intended collaboration, the first driving behaviors of the second vehicle and the first target vehicle are determined according to the target information, and a first indication message is sent to the first target vehicle; the target information is used to indicate one or more of the content of the intended collaboration request corresponding to the third request message, the current platoon driving information, the perception information of the second vehicle, the road section to be passed, and the platoon driving behavior to be performed; the first indication message carries the first driving behavior; the first target vehicle is other vehicles in the platoon that are not the first vehicle and the second vehicle; When the third request message is used to indicate that the first vehicle did not perform the intended cooperation, the second driving behavior of all vehicles in the fleet is determined according to the target information, and a second indication message is sent to the first target vehicle; the second indication message carries the second driving behavior.

11. The method according to claim 7, characterized in that Before sending the second response message to the first vehicle, the method further includes: When the fourth request message is received from multiple first vehicles, the second target operation is performed according to one or more of the identity information of the requesting party interacting with the first vehicle, the content of the intended collaboration request, the behavior of the first vehicle, the perception information of the second vehicle, the road section to be passed, and the upcoming convoy driving behavior.

12. The method according to claim 11, characterized in that Executing the second target operation includes at least one of the following: Determining whether all the first vehicles meet a third condition based on one or more of the identity information of the requesting party, the content of the intended collaboration request, the behavior of the first vehicle, the perception information of the second vehicle, the road section to be passed, and the platoon driving behavior to be performed; When at least one of the first vehicles satisfies the third condition, sending a third response message for rejecting the intended cooperation corresponding to the fourth request message to the corresponding first vehicle; In a case where at least one of the fourth request messages is used to indicate that the first vehicle has performed intended cooperation, sending a fourth response message to the corresponding first vehicle; When at least one of the first vehicles does not satisfy the third condition and all the requesting parties are the same, sending a fifth response message for accepting the intention to cooperate corresponding to the fourth request message to all the first vehicles; When at least one of the first vehicles does not meet the third condition and at least one of the requesting parties is different, select to accept all the fourth request messages corresponding to one of the requesting parties, and send a fifth response message of acceptance of the intention to cooperate to the first vehicles corresponding to all the fourth request messages, and send the third response message to the first vehicle corresponding to the requesting party that has not accepted the request.

13. The method according to claim 12, characterized in that The third condition includes at least one of the following: In a case where at least one of the fourth request messages indicates that the first vehicle does not intend to cooperate, determining that the perception information of the second vehicle indicates that there is a road safety risk ahead of the road passed by the convoy; In a case where at least one of the fourth request messages indicates that the first vehicle does not intend to cooperate, determining that the road passed by the convoy is a complex section or a dangerous section; When at least one of the fourth request messages indicates that the first vehicle does not perform intended cooperation, it is determined that the second vehicle is in a preset driving behavior.

14. An intention-cooperative control device, characterized in that: The first vehicle in the fleet, including: A first processing module is used to send a first response message to the requester after receiving the intention collaboration request sent by the requester according to one or more information of the terminal type of the requester, the content of the intention collaboration request, the vehicle type of the first vehicle, the driving behavior of the fleet to which the first vehicle belongs, and the service pre-configuration policy; The first response message is used to indicate acceptance of the intended collaboration or rejection of the intended collaboration.

15. An intention-cooperative control device, characterized in that: Applicable to the second vehicle in the fleet, including: A second processing module is configured to, after receiving a third request message sent by the first vehicle, send a second response message to the first vehicle according to one or more of the content of the third request message, the driving behavior of the first vehicle, the perception information of the second vehicle, the road section to be passed, and the platoon driving behavior to be performed; The second response message is used to indicate acceptance of the intended collaboration corresponding to the third request message or to indicate rejection of the intended collaboration.

16. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps in the method according to any one of claims 1 to 6 are implemented, or when executed, the steps in the method according to any one of claims 7 to 13 are implemented.

17. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the steps of the method according to any one of claims 1 to 6, or implement the steps of the method according to any one of claims 7 to 13.

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