Vehicle interconnection control method and device, equipment, storage medium and product

Abstract

The invention provides a vehicle interconnection control method and device, equipment, a storage medium and a product, and relates to the technical field of vehicle intelligent interconnection. The method comprises the steps that first vehicle state information of a first vehicle is acquired, and a first control instruction for the first vehicle is generated according to the first vehicle state information; a second control instruction sent by a second controller on a second vehicle is received, the second control instruction is a control instruction for the second vehicle, and the second control instruction is generated by the second controller according to second vehicle state information of the second vehicle; a third control instruction for the first vehicle is generated according to the second control instruction; fusing the third control instruction and the first control instruction to obtain a fused control instruction; and controlling the first vehicle according to the fusion control instruction. The technical problem that the computing power of an existing automobile chip is difficult to meet the exchange of a large amount of sensing data and the processing of dynamic and static information can be solved.

Description

Technical Field

[0001] This application relates to the field of vehicle intelligent interconnection technology, and particularly to a vehicle interconnection control method, device, equipment, storage medium and product. Background Art

[0002] The rapid development of artificial intelligence technology has significantly improved the intelligent level of vehicles, and the research focus of intelligent network connection technology is accelerating its migration to the field of autonomous driving. Autonomous driving technology not only promotes the innovation of intelligent vehicles, but also is very important for improving the intelligence and safety of conventional non-autonomous vehicles.

[0003] Currently, autonomous driving technology relies on multi-sensor fusion technology to achieve centimeter-level environmental modeling, and combines high-precision maps for real-time path planning and dynamic scene analysis. However, this process will generate a large amount of perception data, and the computing power of automotive chips is difficult to meet the exchange of a large amount of perception data and the processing of dynamic and static information. Summary of the Invention

[0004] This application provides a vehicle interconnection control method, device, equipment, storage medium and product, which is used to solve the technical problem that the computing power of existing automotive chips is difficult to meet the exchange of a large amount of perception data and the processing of dynamic and static information.

[0005] In a first aspect, this application provides a vehicle interconnection control method, which is applied to a detachable first controller on a first vehicle, and the first controller is independent of the original vehicle control system of the first vehicle. The method includes:

[0006] Obtain the first vehicle state information of the first vehicle, and generate a first control instruction for the first vehicle according to the first vehicle state information;

[0007] Receive a second control instruction sent by a second controller on a second vehicle, where the second control instruction is a control instruction for the second vehicle, and the second control instruction is generated by the second controller according to the second vehicle state information of the second vehicle;

[0008] Generate a third control instruction for the first vehicle according to the second control instruction;

[0009] Fuse the third control instruction and the first control instruction to obtain a fused control instruction;

[0010] Control the first vehicle according to the fused control instruction.

[0011] In a possible design, the generating a third control instruction for the first vehicle according to the second control instruction includes:

[0012] Extract the distance between each of the second vehicles and the first vehicle from the first vehicle state information;

[0013] Determine a vehicle quantity threshold according to the performance of the movable platform of the first vehicle;

[0014] Screen target second vehicles from multiple second vehicles according to the vehicle quantity threshold and the distance between the two vehicles;

[0015] Generate a third control instruction for the first vehicle according to the second control instruction sent by the second controller on the target second vehicle.

[0016] In a possible design, the generating a third control instruction for the first vehicle according to the second control instruction sent by the second controller on the target second vehicle includes:

[0017] Extract the relative pose relationship between the target second vehicle and the first vehicle from the first vehicle state information;

[0018] Generate the third control instruction according to the relative pose relationship and the second control instruction. When the relative pose relationship is that the target second vehicle is in front of the first vehicle and the second control instruction is a deceleration instruction, the third control instruction is a deceleration instruction. When the relative pose relationship is that the target second vehicle is on the left of the first vehicle and the second control instruction is a right turn instruction, the third control instruction is a right turn instruction. When the relative pose relationship is that the target second vehicle is on the right of the first vehicle and the second control instruction is a left turn instruction, the third control instruction is a left turn instruction. When the relative pose relationship is that the target second vehicle is behind the first vehicle and the second control instruction is an acceleration instruction, the third control instruction is an acceleration instruction.

[0019] In a possible design, the fusing the third control instruction and the first control instruction to obtain a fused control instruction includes:

[0020] When the third control instruction and the first control instruction are consistent, use the first control instruction as the fused control instruction;

[0021] When the third control instruction and the first control instruction are inconsistent, determine the fused control instruction according to the preset priorities of the third control instruction and the first control instruction, and the fused control instruction is the control instruction with the higher priority.

[0022] In a possible design, the generating a first control instruction for the first vehicle according to the first vehicle state information includes:

[0023] Determine the driving mode of the first vehicle according to the vehicle speed in the first vehicle state information, where the driving mode includes at least one of the following: creep mode, normal mode, and high-speed mode. The creep mode is a mode where the vehicle speed is less than or equal to a preset first vehicle speed threshold. The normal mode is a mode where the vehicle speed is between the first vehicle speed threshold and the second vehicle speed threshold. The high-speed mode is a mode where the vehicle speed is greater than or equal to the second vehicle speed threshold;

[0024] Determine the safety distance of the first vehicle according to the driving mode, the vehicle speed, and the steering wheel sensitivity of the first vehicle. The safety distance includes a longitudinal safety distance and / or a lateral safety distance. In the normal mode, both the lateral safety distance and / or the longitudinal safety distance are constants. In the normal mode and / or the high-speed mode, the longitudinal safety distance is positively correlated with the vehicle speed, and the lateral safety distance is positively correlated with the vehicle speed and the steering wheel sensitivity;

[0025] Generate a first control command for the first vehicle according to the safety distance and the distance between the two vehicles in the first vehicle state information.

[0026] In a possible design, the generating a first control command for the first vehicle according to the safety distance and the distance between the two vehicles in the first vehicle state information includes:

[0027] When the distance between the first vehicle and at least one of the second vehicles is less than or equal to the corresponding safety distance, determine the remaining second vehicles whose distance from the first vehicle is greater than or equal to the corresponding safety distance;

[0028] When there are the remaining second vehicles, generate a first control command according to the relative pose relationship between the remaining second vehicles and the first vehicle. When the remaining second vehicles are in front of the first vehicle, the first control command is a deceleration command. When the remaining second vehicles are behind the first vehicle, the first control command is an acceleration command. When the remaining second vehicles are on the left side of the first vehicle, the first control command is a right-turn command. When the remaining second vehicles are on the right side of the first vehicle, the first control command is a left-turn command;

[0029] When there are no remaining second vehicles, generate a braking command as the first control command.

[0030] In a second aspect, the present application provides a vehicle interconnection control device, which is applied to a detachable first controller on a first vehicle. The first controller is independent of the original vehicle control system of the first vehicle. The device includes:

[0031] The first control instruction acquisition module is configured to acquire the first vehicle state information of the first vehicle and generate a first control instruction for the first vehicle according to the first vehicle state information;

[0032] The second control instruction acquisition module is configured to receive a second control instruction sent by a second controller on a second vehicle, where the second control instruction is a control instruction for the second vehicle, and the second control instruction is generated by the second controller according to the second vehicle state information of the second vehicle;

[0033] The third control instruction acquisition module is configured to generate a third control instruction for the first vehicle according to the second control instruction;

[0034] The fused control instruction acquisition module is configured to fuse the third control instruction and the first control instruction to obtain a fused control instruction;

[0035] The control module is configured to control the first vehicle according to the fused control instruction.

[0036] In a third aspect, the present application provides an electronic device, including: a processor and a memory communicatively connected to the processor;

[0037] The memory stores computer-executable instructions;

[0038] The processor executes the computer-executable instructions stored in the memory to implement the vehicle interconnection control method provided in the first aspect of the present application.

[0039] In a fourth aspect, the present application provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement the vehicle interconnection control method provided in the first aspect of the present application.

[0040] In a fifth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it is used to implement the vehicle interconnection control method provided in the first aspect of the present application.

[0041] The present application provides a vehicle interconnection control method, apparatus, device, storage medium and product. The vehicle interconnection control method includes: obtaining first vehicle state information of a first vehicle, and generating a first control instruction for the first vehicle according to the first vehicle state information; receiving a second control instruction sent by a second controller on a second vehicle; generating a third control instruction for the first vehicle according to the second control instruction; fusing the third control instruction and the first control instruction to obtain a fused control instruction; and controlling the first vehicle according to the fused control instruction. Based on the above method, the following technical effects are achieved: The movable platform is used as an auxiliary tool without affecting the original vehicle control system. Without adding sensors and without significantly increasing computing power by adding some interfaces, information can be shared and processed, expanding the vehicle's environmental perception ability, improving the safety of vehicle users and the convenience of vehicle R & D personnel, and also facilitating the improvement of potential traffic safety risks by transportation-related institutions and personnel; Interconnection communication between movable platforms can solve the contradiction between the backward computing power of automobiles and a large amount of data processing, reduce duplicate operations, reduce the chip computing power of the original vehicle control system of automobiles, and at the same time improve the safety and accuracy of automobiles driving on the road; Installing or disassembling the movable platform according to actual needs can reduce costs and avoid waste of resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 It is a schematic diagram of the application scenario of the vehicle interconnection control method provided by the embodiment of the present application;

[0044] Figure 2 It is a flowchart of the vehicle interconnection control method provided by the embodiment of the present application Figure 1 ;

[0045] Figure 3 It is a flowchart of the vehicle interconnection control method provided by the embodiment of the present application Figure 2 ;

[0046] Figure 4 It is a flowchart of the vehicle interconnection control method provided by the embodiment of the present application Figure 3 ;

[0047] Figure 5 It is a schematic structural diagram of the vehicle interconnection control device provided by the embodiment of the present application;

[0048] Figure 6Schematic structural diagram of the electronic device provided by the embodiment of the present application.

[0049] Explanation of reference numerals:

[0050] 110 - First vehicle; 120 - Second vehicle; 801 - Processor; 802 - Memory; 803 - Communication component; 804 - Bus. Detailed implementation manners

[0051] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all the implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0052] In the embodiments of the present application, the same items or similar items with basically the same functions and roles are distinguished by using terms such as "first" and "second". Those skilled in the art can understand that the terms "first", "second", etc. do not limit the quantity and execution order, and the terms "first", "second", etc. do not necessarily limit being different. It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, using words such as "exemplary" or "for example" aims to present relevant concepts in a specific manner. In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more.

[0053] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards, and corresponding operation entrances are provided for the user to select authorization or rejection.

[0054] To facilitate a clear description of the technical solutions of the embodiments of the present application, the following briefly introduces some terms and technologies involved in the embodiments of the present application:

[0055] Relative position relationship: used to describe the position relationship between vehicles, including the following situations: one vehicle is in front of another vehicle, indicating that the vehicle is in the forward direction of the other vehicle; one vehicle is behind another vehicle, indicating that the vehicle is at the tail of the other vehicle; one vehicle is to the left of another vehicle, indicating that the vehicle is on the left side of the other vehicle; one vehicle is to the right of another vehicle, indicating that the vehicle is on the right side of the other vehicle.

[0056] Original vehicle control system: The original vehicle control system in the vehicle is equivalent to the intelligent brain of the vehicle. It is a complete set of electronic control systems that comes with the vehicle when it leaves the factory, responsible for coordinating and managing the core functions of the vehicle. The system collects data in real time through sensors throughout the vehicle body, and after analysis and processing by the Electronic Control Unit (ECU), it directs the operation of components such as brakes, engines and steering to ensure safe driving and stable power of the vehicle, and can also control comfort functions such as air conditioning and lighting.

[0057] In order to clearly understand the technical solution of the present application, the solution of the prior art is first introduced in detail.

[0058] In the existing technology, centimeter-level environment modeling is achieved by relying on multi-sensor fusion technology, and real-time path planning and dynamic scene analysis are performed in combination with high-precision maps. This process generates a large amount of perception data, and the computing power of automotive chips is difficult to meet the exchange of a large amount of perception data and the processing of dynamic and static information.

[0059] In summary, regarding the computing power problem of automotive chips, how to design a solution that can solve the problem that the computing power of automotive chips is difficult to meet the exchange of large amounts of perception data and the processing of dynamic and static information is an issue that this application urgently needs to solve.

[0060] Therefore, in response to the above-mentioned technical problems existing in the prior art, the embodiments of the present application provide a vehicle interconnection control method, device, equipment, storage medium and product, which can be used in the field of vehicle intelligent interconnection technology, and aim to design a mobile platform as an auxiliary tool to effectively solve the problem of insufficient computing power of automotive chips.

[0061] The following is an introduction to the application scenarios of the vehicle interconnection control method provided in the embodiment of the present application. The following application scenarios are only examples, and the purpose is to help those skilled in the art understand the technical content of the present application, but it does not mean that the embodiment of the present application cannot be used in other devices, systems, environments or scenarios.

[0062] Applicable to a scenario including a first vehicle 110 and at least one second vehicle 120 . Figure 1 A schematic diagram of an application scenario of the vehicle interconnection control method provided in an embodiment of the present application, such as Figure 1As shown in the figure, when there is at least one second vehicle 120 within a certain range of the first vehicle 110, interconnection communication is carried out between the movable platform of the first vehicle 110 and the movable platforms of at least one second vehicle 120, and the information obtained from the original vehicle control system of the vehicle is shared respectively, so as to determine whether there is a collision risk.

[0063] The embodiments of the present application will be introduced below in conjunction with the accompanying drawings of the specification.

[0064] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0065] Figure 2 Flow schematic of the vehicle interconnection control method provided by the embodiment of the present application Figure 1 The vehicle interconnection control method provided in this embodiment is applied to a detachable first controller on the first vehicle. The first controller is independent of the original vehicle control system of the first vehicle. Then, the vehicle interconnection control method provided in this embodiment includes the following steps:

[0066] S101. Obtain the first vehicle state information of the first vehicle, and generate a first control instruction for the first vehicle according to the first vehicle state information.

[0067] In this embodiment, the first vehicle refers to the target vehicle, that is, the current vehicle being targeted; the second vehicle refers to other vehicles around the first vehicle. The detachable first controller on the first vehicle refers to a movable platform, which can be used as a separate external auxiliary platform. When the computing power is sufficient, it can also be used as a certain controller built into the vehicle development or a certain module in a certain controller. The movable platform is connected to the original vehicle control system of the first vehicle and obtains information from the original vehicle control system. The movable platform can be any form of platform, including but not limited to vehicle-mounted controllers, vehicle-mounted controller modules, independent platforms, vehicles, ships, robots, autonomous vehicles, driverless vehicles, unmanned ships, and drones. Installing or disassembling the movable platform according to actual needs can reduce costs and avoid waste of resources.

[0068] The movable platform is independent of the original vehicle control system of the vehicle. Without interfering with the in-vehicle system, it accesses some interfaces of the original vehicle control system of the vehicle, including but not limited to safety control devices such as steering wheels, throttles, and brakes. For example, when the vehicle in front suddenly brakes sharply, the movable platform can control the brakes, release the throttle, and turn the steering wheel to avoid when it is confirmed that the left and right lanes will not affect safety.

[0069] The first vehicle status information includes, but is not limited to, the vehicle speed of the first vehicle, the distance between the second vehicle and the first vehicle, and the relative pose relationship between the second vehicle and the first vehicle. Among them, the distance between the second vehicle and the first vehicle can be measured by millimeter-wave radars at positions such as the doors and the front and rear of the vehicle in the original vehicle system of the first vehicle.

[0070] Optionally, the first vehicle status information further includes perception information and safety information, and the information sources include, but are not limited to, on-vehicle steering wheels, throttles, brakes, gyroscopes, vision sensors including multiple monocular or binocular vision devices, lidars, millimeter-wave radars, inertial measurement units (IMUs), global navigation satellite systems, ultrasonic sensors, electronic compasses, barometers, acceleration sensors, and other sensor information. The movable platform of the first vehicle monitors and shares the above information sources in real time to obtain the first vehicle status information.

[0071] The method for obtaining the first vehicle status information of the first vehicle is for the movable platform of the first vehicle to obtain it from the original vehicle control system of the first vehicle. Optionally, the movable platform itself is equipped with various sensors, and some of the perception information obtained from the original vehicle control system can be obtained by the movable platform from itself. Optionally, the movable platform itself is equipped with a gyroscope and an acceleration sensor, and some of the safety information obtained from the original vehicle control system can be calculated in real time by the above configuration.

[0072] The first control instruction is a control instruction for the first vehicle, including but not limited to an acceleration instruction, a deceleration instruction, a left-turn instruction, and a right-turn instruction.

[0073] Generating the first control instruction for the first vehicle based on the first vehicle status information includes, but is not limited to: when the vehicle speed extracted from the first vehicle status information is lower than the target speed and the road ahead is unobstructed, the first control instruction is an acceleration instruction; when the vehicle speed extracted from the first vehicle status information is higher than the target speed and there is an obstacle ahead, the first control instruction is a deceleration instruction; when the road ahead is a fork and the left turn signal is on, the first control instruction is a left-turn instruction; when the road ahead is a fork and the right turn signal is on, the first control instruction is a right-turn instruction.

[0074] As an auxiliary tool, the movable platform does not affect the original vehicle control system, and shares and processes information with the addition of some interfaces without adding sensors and without increasing much computing power, expanding the vehicle's environmental perception ability, improving the safety of vehicle users and the convenience of vehicle R & D personnel, and also facilitating the improvement of potential traffic safety risks by transportation-related institutions and personnel.

[0075] S102. Receive a second control instruction sent by a second controller on a second vehicle.

[0076] In this embodiment, the second control instruction is a control instruction for the second vehicle, and the second control instruction is generated by the second controller according to the second vehicle state information of the second vehicle.

[0077] Specifically, the second controller on the second vehicle also refers to a movable platform, which can be optionally installed or disassembled. The second controller on the second vehicle, the second vehicle state information of the second vehicle, and the method for obtaining the same are similar to those of the first controller on the first vehicle, the first vehicle state information of the first vehicle, and the method for obtaining the same, and will not be elaborated here.

[0078] The second control instruction is a control instruction for the second vehicle, including but not limited to an acceleration instruction, a deceleration instruction, a left turn instruction, and a right turn instruction.

[0079] S103. Generate a third control instruction for the first vehicle according to the second control instruction.

[0080] In this embodiment, after obtaining the second control instruction, the movable platform of the first vehicle communicates with the movable platform of the second vehicle in an interconnected manner to share the second control instruction. Similarly, after obtaining the first control instruction, the first control instruction will also be shared. The movable platform of the first vehicle processes the shared second control instruction to obtain a third control instruction.

[0081] The manner of interconnected communication can be any form of wire harness connection, including but not limited to Controller Area Network (CAN), Controller Area Network with Flexible Data Rate (CANFD), Local Interconnect Network (LIN), and Ethernet; it can also be any form of remote communication, including but not limited to WiFi, 4G / 5G, Dedicated Short Range Communication (DSRC), and Bluetooth.

[0082] Performing interconnected communication between movable platforms can solve the contradiction between the backward computing power of automobiles and a large amount of data processing, reduce repeated operations, reduce the chip computing power of the original vehicle control system of automobiles, and improve the safety and accuracy of automobiles when driving on the road.

[0083] After obtaining the second control instruction, the third control instruction can be formulated according to the driving target, path planning, and safety constraints of the first vehicle. The driving target of the first vehicle can be: maintaining a certain vehicle distance, avoiding collisions, and reaching the target position as quickly as possible within the permitted speed range. There is no specific limitation on the method of generating the third control instruction. After obtaining the third control instruction, the third control instruction will also be shared.

[0084] S104. Integrate the third control instruction and the first control instruction to obtain an integrated control instruction.

[0085] In this embodiment, after the movable platform of the first vehicle obtains the third control instruction and the first control instruction, the method of obtaining the integrated control instruction includes, but is not limited to, obtaining the integrated control instruction by means of weighted average and obtaining the integrated control instruction by means of time window integration. The time window integration method is to apply the third control instruction and the first control instruction in different time windows and alternately act on the system.

[0086] Optionally, the movable platform of the first vehicle can also be configured with a cloud system to hand over the shared second control instruction to the cloud system for processing to obtain the third control instruction and integrate the third control instruction and the first control instruction to obtain the integrated control instruction.

[0087] S105. Control the first vehicle according to the integrated control instruction.

[0088] In this embodiment, the movable platform of the first vehicle controls devices such as the steering wheel, accelerator, and brake of the first vehicle according to the integrated control instruction.

[0089] The present application provides a vehicle interconnection control method, which includes: obtaining first vehicle state information of a first vehicle, and generating a first control instruction for the first vehicle according to the first vehicle state information; receiving a second control instruction sent by a second controller on a second vehicle; generating a third control instruction for the first vehicle according to the second control instruction; fusing the third control instruction and the first control instruction to obtain a fused control instruction; and controlling the first vehicle according to the fused control instruction. Based on the above method, the following technical effects are achieved: The mobile platform is used as an auxiliary tool, which does not affect the original vehicle control system. Without adding sensors or significantly increasing computing power, only by adding some interfaces, information can be shared and processed, expanding the vehicle's environmental perception ability, improving the safety of vehicle users and the convenience of vehicle R & D personnel, and also facilitating transportation-related institutions and personnel to improve potential traffic safety risks; Interconnection communication between mobile platforms can solve the contradiction between the backward computing power of automobiles and a large amount of data processing, reduce duplicate operations, reduce the chip computing power of the original vehicle control system of automobiles, and at the same time improve the safety and accuracy of automobiles driving on the road; Installing or disassembling the mobile platform according to actual needs can reduce costs and avoid waste of resources.

[0090] Figure 3 Flow schematic of the vehicle interconnection control method provided by the embodiment of the present application Figure 2 。This embodiment further explains the vehicle interconnection control method on the basis of the embodiment provided in Figure 2 . As shown in Figure 3 , S103 includes:

[0091] S201. Extract the distance between each second vehicle and the first vehicle from the first vehicle state information.

[0092] In this embodiment, the method for obtaining the distance between the second vehicle and the first vehicle has been mentioned in the above embodiment and will not be elaborated here.

[0093] S202. Determine the vehicle quantity threshold according to the performance of the mobile platform of the first vehicle.

[0094] In this embodiment, the second vehicle refers to other vehicles around the first vehicle, specifically other vehicles within a certain range of the first vehicle. This certain range can be subjectively configured, and the upper limit is limited by the performance of the mobile platform of the first vehicle, that is, the chip computing power of the mobile platform. The certain range can refer to distance or one or more mobile platforms.

[0095] S203. Screen the target second vehicle from multiple second vehicles according to the vehicle quantity threshold and the distance between the two vehicles.

[0096] In this embodiment, after obtaining the vehicle-to-vehicle distances between each second vehicle and the first vehicle, all the vehicle-to-vehicle distances are sorted in ascending order to obtain the sorted vehicle-to-vehicle distances. There is a preset distance condition, and then based on the sorted vehicle-to-vehicle distances, the preset distance condition, and the vehicle quantity threshold, the target second vehicle is determined from all the second vehicles. For example, the sorted vehicle-to-vehicle distances are 20 meters, 30 meters, 50 meters, and 100 meters, the vehicle quantity threshold is 3, and if the distance condition is that the vehicle-to-vehicle distance ≤ 50 meters, at this time the second vehicles that meet the condition are the second vehicles with vehicle-to-vehicle distances of 20 meters, 30 meters, and 50 meters, then the target second vehicles are the second vehicles with vehicle-to-vehicle distances of 20 meters, 30 meters, and 50 meters; if the distance condition is that the vehicle-to-vehicle distance ≤ 30 meters, at this time the second vehicles that meet the condition are the second vehicles with vehicle-to-vehicle distances of 20 meters and 30 meters, and the number of second vehicles that meet the condition does not reach the vehicle quantity threshold. At this time, it is necessary to decide whether to relax the condition or maintain partial selection according to the system design. In the case of relaxing the condition, the target second vehicles are the second vehicles with vehicle-to-vehicle distances of 20 meters, 30 meters, and 50 meters, and in the case of maintaining partial selection, the target second vehicles are the second vehicles with vehicle-to-vehicle distances of 20 meters and 30 meters.

[0097] By screening the target second vehicle according to the vehicle quantity threshold and the vehicle-to-vehicle distance, it can be ensured that the distance between the selected second vehicle and the first vehicle is within a reasonable range, reducing the number of options to be considered, thereby reducing the computational burden of the system and enabling the system to make real-time decisions more efficiently.

[0098] S204. Generate a third control instruction for the first vehicle according to the second control instruction sent by the second controller on the target second vehicle.

[0099] In this embodiment, the manner of generating a third control instruction for the first vehicle according to the second control instruction sent by the second controller on the target second vehicle is similar to the manner provided in the above embodiment of generating a third control instruction for the first vehicle according to the second control instruction, and will not be elaborated here.

[0100] This embodiment further explains the vehicle interconnection control method on the basis of the embodiments provided in Figure 2 and Figure 3 S204 includes:

[0101] S301. Extract the relative pose relationship between the target second vehicle and the first vehicle from the first vehicle state information.

[0102] In this embodiment, the manner of obtaining the relative pose relationship between the target second vehicle and the first vehicle has been mentioned in the above embodiment and will not be elaborated here.

[0103] S302. Generate a third control instruction according to the relative pose relationship and the second control instruction.

[0104] In this embodiment, when the relative pose relationship is that the target second vehicle is in front of the first vehicle and the second control instruction is a deceleration instruction, the third control instruction is a deceleration instruction; when the relative pose relationship is that the target second vehicle is on the left of the first vehicle and the second control instruction is a right-turn instruction, the third control instruction is a right-turn instruction; when the relative pose relationship is that the target second vehicle is on the right of the first vehicle and the second control instruction is a left-turn instruction, the third control instruction is a left-turn instruction; when the relative pose relationship is that the target second vehicle is behind the first vehicle and the second control instruction is an acceleration instruction, the third control instruction is an acceleration instruction.

[0105] Specifically, when the target second vehicle is in front of the first vehicle, if the vehicle in front of the target second vehicle suddenly decelerates, or there are people or obstacles in front of the target second vehicle, the second control instruction is a deceleration instruction to control the target second vehicle to be in a decelerating state. To avoid a collision between the target second vehicle and the first vehicle, the first vehicle also needs to decelerate. At the first moment when the target second vehicle starts to decelerate, the movable platform of the target second vehicle can directly detect the second control instruction and share it, so that the movable platform of the first vehicle can generate a third control instruction according to the second control instruction to control the first vehicle to decelerate.

[0106] When the target second vehicle is on the left of the first vehicle, if the vehicle on the left of the target second vehicle makes a right-lane change, or there are people or obstacles on the left of the target second vehicle, the second control instruction is a right-turn instruction to control the target second vehicle to be in a right-turning state. To avoid a collision between the target second vehicle and the first vehicle, the first vehicle also needs to turn right. At the first moment when the target second vehicle starts to turn right, the movable platform of the target second vehicle can directly detect the second control instruction and share it, so that the movable platform of the first vehicle can generate a third control instruction according to the second control instruction to control the first vehicle to turn right.

[0107] When the target second vehicle is on the right of the first vehicle, if the vehicle on the right of the target second vehicle makes a left-lane change, or there are people or obstacles on the right of the target second vehicle, the second control instruction is a left-turn instruction to control the target second vehicle to be in a left-turning state. To avoid a collision between the target second vehicle and the first vehicle, the first vehicle also needs to turn left. At the first moment when the target second vehicle starts to turn left, the movable platform of the target second vehicle can directly detect the second control instruction and share it, so that the movable platform of the first vehicle can generate a third control instruction according to the second control instruction to control the first vehicle to turn left.

[0108] When the target second vehicle is behind the first vehicle, if the vehicle behind the target second vehicle suddenly accelerates, or if a person or an obstacle appears behind the target second vehicle, the second control instruction is an acceleration instruction to control the target second vehicle to be in an accelerating state. To avoid a collision between the target second vehicle and the first vehicle, the first vehicle also needs to accelerate. At the first moment when the target second vehicle starts to accelerate, the movable platform of the target second vehicle can directly detect the second control instruction and share it, so that the movable platform of the first vehicle can generate a third control instruction according to the second control instruction to control the first vehicle to accelerate.

[0109] Generating a third control instruction according to the relative pose relationship between the target second vehicle and the first vehicle and the second control instruction for controlling the target second vehicle can effectively avoid the collision risk between the target second vehicle and the first vehicle, thereby ensuring traffic fluency and improving driving safety.

[0110] Based on the above embodiment, this embodiment further explains the vehicle interconnection control method. S104 includes:

[0111] S401. When the third control instruction is the same as the first control instruction, use the first control instruction as the fusion control instruction.

[0112] In this embodiment, if the control actions indicated by the third control instruction and the first control instruction are the same, the fusion control instruction is the first control instruction.

[0113] S402. When the third control instruction is different from the first control instruction, determine the fusion control instruction according to the preset priorities of the third control instruction and the first control instruction. The fusion control instruction is the control instruction with the higher priority.

[0114] In this embodiment, the priorities of the third control instruction and the first control instruction are preset. When the third control instruction is different from the first control instruction, select the control instruction with the higher priority from the third control instruction and the first control instruction as the fusion control instruction.

[0115] When the third control instruction is different from the first control instruction, by using the preset priority, select the control instruction with the higher priority from the third control instruction and the first control instruction as the fusion control instruction, which can solve the control conflict, ensure that key operations are executed first, and avoid the system from getting stuck or executing wrong actions due to control instruction conflicts.

[0116] Figure 4 It is a flowchart of the vehicle interconnection control method provided by the embodiment of the present application Figure 3 . Based on the above embodiment, this embodiment further explains the vehicle interconnection control method. AsFigure 4 As shown, generating a first control command for the first vehicle according to the first vehicle state information in S101 includes:

[0117] S501. Determine the driving mode of the first vehicle according to the vehicle speed in the first vehicle state information.

[0118] In this embodiment, the driving mode includes at least one of the following: creep mode, normal mode, and high-speed mode. The creep mode is a mode where the vehicle speed is less than or equal to a preset first vehicle speed threshold. The normal mode is a mode where the vehicle speed is between the first vehicle speed threshold and the second vehicle speed threshold. The high-speed mode is a mode where the vehicle speed is greater than or equal to the second vehicle speed threshold.

[0119] Specifically, according to the vehicle speed in the first vehicle state information, the first vehicle is divided into three driving modes. When V V ≤V L , the driving mode of the first vehicle is the creep mode; V L <V V <V M , the driving mode of the first vehicle is the normal mode; V M ≤V V , the driving mode of the first vehicle is the high-speed mode, where V V is the vehicle speed, V L is the first vehicle speed threshold, and V M is the second vehicle speed threshold.

[0120] S502. Determine the safety distance of the first vehicle according to the driving mode, vehicle speed, and steering wheel sensitivity of the first vehicle.

[0121] In this embodiment, the safety distance includes a longitudinal safety distance and / or a lateral safety distance. In the normal mode, both the lateral safety distance and / or the longitudinal safety distance are constants. In the normal mode and / or the high-speed mode, the longitudinal safety distance is positively correlated with the vehicle speed, and the lateral safety distance is positively correlated with the vehicle speed and the steering wheel sensitivity.

[0122] Specifically, in the normal mode and the high-speed mode, the longitudinal safety distance is positively correlated with the vehicle speed. The greater the vehicle speed, the greater the longitudinal safety distance. The lateral safety distance is positively correlated with the vehicle speed and the steering wheel sensitivity. The greater the vehicle speed and the greater the steering wheel sensitivity, the greater the lateral safety distance.

[0123] According to the slope sensor in the original vehicle control system of the vehicle, the acceleration of the vehicle in the three-dimensional space can be obtained, indicating whether the vehicle is driving longitudinally or laterally. When the vehicle is driving longitudinally, it corresponds to the longitudinal safety distance. When the vehicle is driving laterally, it corresponds to the lateral safety distance.

[0124] S503. Generate a first control command for the first vehicle based on the safety distance and the distance between the two vehicles in the first vehicle status information.

[0125] In the creep mode, set the safety distance and increase the redundancy. When the distance between the two vehicles reaches the safety distance redundancy, it is considered that there is a collision risk between the vehicles, and a warning is issued to the vehicle owner; when the distance between the two vehicles reaches the safety distance, actively control the vehicle brake to stop the vehicle.

[0126] In the normal mode, taking the sudden braking of the vehicle in front as an example, with a reaction time of 1 second, according to the current speed V V Set the longitudinal safety distance to L; taking the steering of a vehicle on one side as an example, with a reaction time of 1 second, according to the current speed V V , the steering wheel sensitivity S and the steering wheel steering angle W R Set the lateral safety distance to W. Redundancy can be autonomously increased on the longitudinal safety distance of L and the lateral safety distance of W to increase the reaction time.

[0127] In the high-speed mode, greatly mobilize the chip computing power of the movable platform, calculate the vehicle braking distance and the steering wheel sensitivity at high speed in real time, and at the same time maintain the logical judgment in the normal mode for the collision risk and when the distance between the two vehicles reaches the safety distance. The safety distance in the high-speed mode should be set to be larger than the safety distances in the normal mode and the creep mode.

[0128] The safety distance and the distance between the two vehicles in the first vehicle status information can be used to judge whether there is a collision risk between the vehicles. When the distance between the two vehicles reaches the longitudinal safety distance or the lateral safety distance redundancy, it is considered that there is a collision risk between the two vehicles, a warning is issued to the vehicle owner and the current distance between the two vehicles is displayed. At this time, the first control command is a warning command; when the distance between the two vehicles reaches the longitudinal safety distance or the lateral safety distance, actively control the vehicle brake to stop the vehicle. At this time, the first control command is a braking command.

[0129] When the movable platform judges that there is a collision risk between the vehicles, it directly issues a command to the safety control device to avoid the risk, and shares the collision risk through the interconnected movable platform so that other vehicles can also make effective avoidance.

[0130] The movable platform is provided with a memory or the cloud as a memory. After analyzing the above collision risk and performing a safety operation, the movable platform stores it, and then reports the high-frequency position of the collision risk. The high-frequency position of the collision risk is defined as the geographical location where multiple vehicles trigger the collision risk during driving at the same time or place.

[0131] After obtaining the first control instruction, obtain the current location information and the current time information, and send the first control instruction, the current location information, and the current time information to the map system. The map system can determine the high-frequency collision-risk locations based on the first control instructions, the current location information, and the current time information sent by multiple vehicles. The high-frequency collision-risk locations are associated with the first control instructions, and the high-frequency locations include the locations where the frequency of collision risks is greater than or equal to a preset frequency. For example, the mobile platform monitors that at a certain mountain road turn, in the case of two vehicles meeting, a collision risk is likely to be triggered. Through data analysis of the slope, vehicle pose, steering wheel, brakes, and the distance between vehicles, it is speculated that the reasons may be a narrow road, a blind spot in the field of vision, or a landslide. After the frequency of triggering the collision risk is greater than or equal to the preset frequency, this geographical location is defined as a high-frequency collision-risk location, marked in the map system, and the data is provided to the relevant department for offline investigation to give early warnings to other vehicles. For example, abnormal steering wheel operations often occur at certain intersections, which may be due to unconventional obstacles on the road. Mark them on the map system and report to the relevant department.

[0132] Generate the first control instruction for the first vehicle according to the safe distance and the distance between the two vehicles in the first vehicle state information, which can effectively avoid the danger of collision caused by the distance between the two vehicles being too close, thereby improving driving safety.

[0133] Based on the above embodiments, this embodiment further explains the vehicle interconnection control method. S503 includes:

[0134] S601. When the distance between the first vehicle and at least one second vehicle is less than or equal to the corresponding safe distance, determine the remaining second vehicles whose distance from the first vehicle is greater than or equal to the corresponding safe distance.

[0135] In this embodiment, when the first vehicle and at least one second vehicle cannot maintain a safe distance, the first vehicle continuously flashes the vehicle indicator lights at at least one second vehicle to avoid collisions between vehicles.

[0136] S602. When there are remaining second vehicles, generate the first control instruction according to the relative pose relationship between the remaining second vehicles and the first vehicle.

[0137] In this embodiment, when the remaining second vehicle is in front of the first vehicle, the first control instruction is a deceleration instruction; when the remaining second vehicle is behind the first vehicle, the first control instruction is an acceleration instruction; when the remaining second vehicle is on the left of the first vehicle, the first control instruction is a right-turn instruction; when the remaining second vehicle is on the right of the first vehicle, the first control instruction is a left-turn instruction.

[0138] Specifically, when the first vehicle cannot maintain a safe distance from at least one second vehicle, a corresponding first control instruction should be generated according to the relative pose relationship to maintain a safe distance from the remaining second vehicles.

[0139] When the first vehicle cannot maintain a safe distance from at least one second vehicle, the safe distance from the remaining second vehicles can be maintained by means such as accelerating, decelerating, turning left, and turning right.

[0140] When the remaining second vehicles are in front of or behind the first vehicle, in addition to controlling the first vehicle to decelerate or accelerate for avoidance, when the left and right lane change conditions are met, the first vehicle can also be controlled to change lanes left and right; when the remaining second vehicles are on the left or right of the first vehicle, in addition to controlling the first vehicle to turn right or left for avoidance, when the forward and backward conditions are met, the first vehicle can also be controlled to move forward or backward.

[0141] S603. When there are no remaining second vehicles, generate a braking instruction as the first control instruction.

[0142] When the first vehicle cannot maintain a safe distance from all the second vehicles, the first control instruction is a braking instruction.

[0143] When there are no remaining second vehicles, if the left and right lane change conditions or the forward and backward conditions are met, the vehicle can also be controlled to change lanes left and right or move forward and backward.

[0144] When the first vehicle cannot maintain a safe distance from at least one second vehicle, the first vehicle continuously flashes the vehicle indicator light at at least one second vehicle while continuing to maintain a safe distance from the remaining second vehicles, which can effectively avoid the collision chain reaction caused by the superposition of multi-directional risks.

[0145] Figure 5 This is a schematic structural diagram of the vehicle interconnection control device provided by the embodiment of the present application. As Figure 5 shown, in this embodiment, the vehicle interconnection control device is applied to a detachable first controller on the first vehicle, and the first controller is independent of the original vehicle control system of the first vehicle. The vehicle interconnection control device includes:

[0146] A first control instruction acquisition module 701, configured to acquire the first vehicle state information of the first vehicle and generate a first control instruction for the first vehicle according to the first vehicle state information;

[0147] A second control instruction acquisition module 702, configured to receive a second control instruction sent by a second controller on the second vehicle, where the second control instruction is a control instruction for the second vehicle and is generated by the second controller according to the second vehicle state information of the second vehicle;

[0148] The third control instruction acquisition module 703 is configured to generate a third control instruction for the first vehicle according to the second control instruction;

[0149] The fusion control instruction acquisition module 704 is configured to fuse the third control instruction and the first control instruction to obtain a fusion control instruction;

[0150] The control module 705 is configured to control the first vehicle according to the fusion control instruction.

[0151] The vehicle interconnection control device provided in this embodiment can execute Figure 2 the technical solution of the vehicle interconnection control method embodiment shown, and its implementation principle and technical effect are similar to Figure 2 the vehicle interconnection control method embodiment shown, and will not be elaborated here one by one.

[0152] Meanwhile, based on the vehicle interconnection control device provided in the previous embodiment, the vehicle interconnection control device provided by the present invention is further refined.

[0153] Optionally, in this embodiment, when the third control instruction acquisition module 703 generates a third control instruction for the first vehicle according to the second control instruction, it extracts the vehicle-to-vehicle distance between each second vehicle and the first vehicle from the first vehicle state information;

[0154] Determine the vehicle quantity threshold according to the movable platform performance of the first vehicle;

[0155] Screen the target second vehicle from multiple second vehicles according to the vehicle quantity threshold and the vehicle-to-vehicle distance;

[0156] Generate a third control instruction for the first vehicle according to the second control instruction sent by the second controller on the target second vehicle.

[0157] Optionally, in this embodiment, when the third control instruction acquisition module 703 generates a third control instruction for the first vehicle according to the second control instruction sent by the second controller on the target second vehicle, it extracts the relative pose relationship between the target second vehicle and the first vehicle from the first vehicle state information;

[0158] Generate a third control instruction according to the relative pose relationship and the second control instruction. When the relative pose relationship is that the target second vehicle is in front of the first vehicle and the second control instruction is a deceleration instruction, the third control instruction is a deceleration instruction. When the relative pose relationship is that the target second vehicle is on the left of the first vehicle and the second control instruction is a right turn instruction, the third control instruction is a right turn instruction. When the relative pose relationship is that the target second vehicle is on the right of the first vehicle and the second control instruction is a left turn instruction, the third control instruction is a left turn instruction. When the relative pose relationship is that the target second vehicle is behind the first vehicle and the second control instruction is an acceleration instruction, the third control instruction is an acceleration instruction.

[0159] Optionally, in this embodiment, when the fusion control instruction acquisition module 704 fuses the third control instruction and the first control instruction to obtain a fusion control instruction, when the third control instruction and the first control instruction are the same, the first control instruction is used as the fusion control instruction;

[0160] When the third control instruction and the first control instruction are different, determine the fusion control instruction according to the preset priorities of the third control instruction and the first control instruction. The fusion control instruction is the control instruction with the higher priority.

[0161] Optionally, in this embodiment, when the first control instruction acquisition module 701 generates a first control instruction for the first vehicle according to the first vehicle state information, determine the driving mode of the first vehicle according to the vehicle speed in the first vehicle state information. The driving mode includes at least one of the following: creep mode, normal mode, and high-speed mode. The creep mode is a mode where the vehicle speed is less than or equal to a preset first vehicle speed threshold. The normal mode is a mode where the vehicle speed is between the first vehicle speed threshold and the second vehicle speed threshold. The high-speed mode is a mode where the vehicle speed is greater than or equal to the second vehicle speed threshold;

[0162] Determine the safety distance of the first vehicle according to the driving mode, vehicle speed, and steering wheel sensitivity of the first vehicle. The safety distance includes a longitudinal safety distance and / or a lateral safety distance. In the normal mode, both the lateral safety distance and / or the longitudinal safety distance are constants. In the normal mode and / or high-speed mode, the longitudinal safety distance is positively correlated with the vehicle speed, and the lateral safety distance is positively correlated with the vehicle speed and the steering wheel sensitivity;

[0163] Generate a first control instruction for the first vehicle according to the safety distance and the distance between the two vehicles in the first vehicle state information.

[0164] Optionally, in this embodiment, when the first control instruction acquisition module 701 generates a first control instruction for the first vehicle according to the vehicle-to-vehicle distance in the safe distance and the first vehicle state information, when the vehicle-to-vehicle distance between the first vehicle and at least one second vehicle is less than or equal to the corresponding safe distance, the remaining second vehicles with a vehicle-to-vehicle distance greater than or equal to the corresponding safe distance are determined;

[0165] When there are remaining second vehicles, a first control instruction is generated according to the relative pose relationship between the remaining second vehicles and the first vehicle. When the remaining second vehicles are in front of the first vehicle, the first control instruction is a deceleration instruction. When the remaining second vehicles are behind the first vehicle, the first control instruction is an acceleration instruction. When the remaining second vehicles are on the left side of the first vehicle, the first control instruction is a right-turn instruction. When the remaining second vehicles are on the right side of the first vehicle, the first control instruction is a left-turn instruction;

[0166] When there are no remaining second vehicles, a brake instruction is generated as the first control instruction.

[0167] The vehicle interconnection control device provided in this embodiment can execute the technical solutions of the above vehicle interconnection control method embodiment. Its implementation principle and technical effects are similar to those of the above vehicle interconnection control method embodiment, and will not be elaborated here one by one.

[0168] Figure 6 It is a schematic structural diagram of an electronic device provided in an embodiment of the present application. The electronic device is intended for various electronic devices that can execute the vehicle interconnection control method, such as a microcomputer, a single-chip microcomputer, and other suitable computers. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0169] As Figure 6 shown, the electronic device includes: at least one processor 801 and a memory 802. The electronic device further includes a communication component 803. Among them, the processor 801, the memory 802, and the communication component 803 are connected through a bus 804.

[0170] In a specific implementation process, at least one processor 801 executes the computer execution instructions stored in the memory 802, so that at least one processor 801 executes the vehicle interconnection control method executed on the electronic device side as described above.

[0171] The specific implementation process of the processor 801 can refer to the above vehicle interconnection control method embodiment. Its implementation principle and technical effects are similar, and will not be elaborated here in this embodiment.

[0172] In the above embodiments, it should be understood that the processor 801 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), etc. The general-purpose processor 801 may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the invention may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

[0173] The memory 802 may include high-speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory.

[0174] The bus 804 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus 804 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus 804 in the drawings of the present application is not limited to only one bus or one type of bus.

[0175] The functions implemented for the electronic device and the main control device are described above for the solution provided in the embodiments of the present application. It can be understood that in order for the electronic device or the main control device to implement the above functions, it includes the corresponding hardware structures and / or software modules for executing each function. Combining the units and algorithm steps of each example described in the embodiments disclosed in the embodiments of the present application, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving the hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiments of the present application.

[0176] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the processor executes the computer-executable instructions, the above vehicle interconnection control method is implemented.

[0177] The above-mentioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk or an optical disc. The readable storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0178] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. The readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). The processor and the readable storage medium can also exist as discrete components in an electronic device or a master device.

[0179] The memory 802 is the non-transitory computer-readable storage medium provided by the present invention. The non-transitory computer-readable storage medium of the present invention stores computer instructions for causing a computer to execute the vehicle interconnection control method provided by the present invention.

[0180] As a non-transitory computer-readable storage medium, the memory 802 can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions / modules corresponding to the vehicle interconnection control method in the embodiments of the present application (for example, Figure 5 the first control instruction acquisition module 701, the second control instruction acquisition module 702, the third control instruction acquisition module 703, the fusion control instruction acquisition module 704, and the control module 705 shown). By running the non-transitory software programs, instructions, and modules stored in the memory 802, the processor 801 executes various functional applications and data processing, that is, implements the vehicle interconnection control method in the above method embodiments.

[0181] Meanwhile, the present embodiment also provides a computer program product, including a computer program, which is used to implement the vehicle interconnection control method in the above embodiments when executed by a processor.

[0182] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0183] It should be further noted that although the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0184] It should be understood that the above device embodiments are only illustrative, and the devices of this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0185] In addition, unless otherwise specified, in each embodiment of this application, each functional unit / module can be integrated in one unit / module, or each unit / module can exist physically alone, or two or more units / modules can be integrated together. The above integrated unit / module can be implemented in the form of hardware or in the form of a software program module.

[0186] When the integrated unit / module is implemented in the form of hardware, the hardware can be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to transistors, memristors, etc. Unless otherwise specified, the processor can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, the storage unit can be any suitable magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory (RRAM), a dynamic random access memory (DRAM), a static random access memory (SRAM), an enhanced dynamic random access memory (EDRAM), a high-bandwidth memory (HBM), a hybrid memory cube (HMC), etc.

[0187] When the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of this application. And the aforementioned memory includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), external hard drives, magnetic disks, or optical discs, etc., all of which can store program codes.

[0188] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0189] Other embodiments of the present application will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and examples are only to be considered as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

[0190] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A vehicle interconnection control method, characterized in that: A detachable first controller is applied to a first vehicle, the first controller being independent of an original vehicle control system of the first vehicle, the method comprising: Acquire first vehicle state information of the first vehicle, and generate a first control instruction for the first vehicle according to the first vehicle state information; receiving a second control instruction sent by a second controller on a second vehicle, where the second control instruction is a control instruction for the second vehicle, and the second control instruction is generated by the second controller according to second vehicle state information of the second vehicle; generating a third control instruction for the first vehicle according to the second control instruction; Merging the third control instruction with the first control instruction to obtain a fused control instruction; The first vehicle is controlled according to the fused control instruction.

2. The vehicle interconnection control method according to claim 1, characterized in that: The generating a third control instruction for the first vehicle according to the second control instruction comprises: Extracting the distance between each of the second vehicles and the first vehicle from the first vehicle status information; Determining a vehicle quantity threshold according to the movable platform performance of the first vehicle; Selecting a target second vehicle from a plurality of second vehicles according to the vehicle quantity threshold and the distance between the two vehicles; A third control instruction for the first vehicle is generated according to the second control instruction sent by the second controller on the target second vehicle.

3. The vehicle interconnection control method according to claim 2, characterized in that: The step of generating a third control instruction for the first vehicle according to the second control instruction sent by the second controller on the target second vehicle comprises: Extracting a relative position relationship between the target second vehicle and the first vehicle from the first vehicle state information; The third control instruction is generated according to the relative posture relationship and the second control instruction. When the relative posture relationship is that the target second vehicle is located in front of the first vehicle and the second control instruction is a deceleration instruction, the third control instruction is a deceleration instruction. When the relative posture relationship is that the target second vehicle is located to the left of the first vehicle and the second control instruction is a right turn instruction, the third control instruction is a right turn instruction. When the relative posture relationship is that the target second vehicle is located to the right of the first vehicle and the second control instruction is a left turn instruction, the third control instruction is a left turn instruction. When the relative posture relationship is that the target second vehicle is located behind the first vehicle and the second control instruction is an acceleration instruction, the third control instruction is an acceleration instruction.

4. The vehicle interconnection control method according to any one of claims 1 to 3, characterized in that: The step of fusing the third control instruction with the first control instruction to obtain a fused control instruction includes: When the third control instruction is consistent with the first control instruction, using the first control instruction as the fusion control instruction; When the third control instruction is inconsistent with the first control instruction, a fused control instruction is determined according to a preset priority of the third control instruction and a priority of the first control instruction, and the fused control instruction is the control instruction with a higher priority.

5. The vehicle interconnection control method according to any one of claims 1 to 3, characterized in that: The generating a first control instruction for the first vehicle according to the first vehicle state information includes: Determining a driving mode of the first vehicle according to the vehicle speed in the first vehicle state information, the driving mode comprising at least one of the following: a creeping mode, a normal mode, and a high-speed mode, the creeping mode being a mode in which the vehicle speed is less than or equal to a preset first vehicle speed threshold, the normal mode being a mode in which the vehicle speed is between the first vehicle speed threshold and a second vehicle speed threshold, and the high-speed mode being a mode in which the vehicle speed is greater than or equal to the second vehicle speed threshold; determining a safety distance of the first vehicle according to the driving mode, the vehicle speed and the steering wheel sensitivity of the first vehicle, the safety distance including a longitudinal safety distance and / or a lateral safety distance, wherein in the normal mode, the lateral safety distance and / or the longitudinal safety distance are both constants, and in the normal mode and / or the high-speed mode, the longitudinal safety distance is positively correlated with the vehicle speed, and the lateral safety distance is positively correlated with the vehicle speed and the steering wheel sensitivity; A first control instruction for the first vehicle is generated according to the safety distance and the distance between the two vehicles in the first vehicle status information.

6. The vehicle interconnection control method according to claim 5, characterized in that: The step of generating a first control instruction for the first vehicle according to the safety distance and the distance between the two vehicles in the first vehicle state information includes: When the distance between the first vehicle and at least one of the second vehicles is less than or equal to the corresponding safety distance, determining other second vehicles whose distance between the first vehicle and at least one of the second vehicles is greater than or equal to the corresponding safety distance; When the remaining second vehicle exists, a first control instruction is generated according to the relative position relationship between the remaining second vehicle and the first vehicle, when the remaining second vehicle is located in front of the first vehicle, the first control instruction is a deceleration instruction, when the remaining second vehicle is located behind the first vehicle, the first control instruction is an acceleration instruction, when the remaining second vehicle is located to the left of the first vehicle, the first control instruction is a right turn instruction, and when the remaining second vehicle is located to the right of the first vehicle, the first control instruction is a left turn instruction; When the remaining second vehicle does not exist, a braking command is generated as the first control command.

7. A vehicle interconnection control device, characterized in that: A detachable first controller applied to a first vehicle, the first controller being independent of an original vehicle control system of the first vehicle, the device comprising: a first control instruction acquisition module, configured to acquire first vehicle state information of the first vehicle, and generate a first control instruction for the first vehicle according to the first vehicle state information; A second control instruction acquisition module is used to receive a second control instruction sent by a second controller on a second vehicle, where the second control instruction is a control instruction for the second vehicle, and the second control instruction is generated by the second controller according to second vehicle state information of the second vehicle; a third control instruction acquisition module, configured to generate a third control instruction for the first vehicle according to the second control instruction; A fusion control instruction acquisition module, used for fusing the third control instruction with the first control instruction to obtain a fusion control instruction; A control module is used to control the first vehicle according to the fusion control instruction.

8. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the vehicle interconnection control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the vehicle interconnection control method as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, it is used to implement the vehicle interconnection control method as described in any one of claims 1 to 6.

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