Vehicle cooperation method and device, electronic equipment and storage medium

Abstract

The invention relates to a vehicle cooperation method and device, electronic equipment and a storage medium. The method comprises the steps that a local communication network is established between a current vehicle and other surrounding vehicles; the cooperative information of the current vehicle is determined in real time, and the cooperative information of the current vehicle is sent to other vehicles through the local communication network; cooperative information sent by the other vehicles is received in real time through the local communication network; the method further comprises the following steps: determining whether the current vehicle has a driving conflict area with any other vehicle according to the cooperation information of the current vehicle and the cooperation information of other vehicles; in response to the driving conflict area existing between the current vehicle and any other vehicle, determining the driving conflict area of the current vehicle, and determining the passing sequence of the driving conflict area; and driving into the driving conflict area according to the passing sequence so as to realize the effects of performing vehicle collaborative planning based on a local communication network, reducing the collaborative complexity and widening the application scene of vehicle collaborative.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent driving technology, and in particular, to a vehicle cooperation method, apparatus, electronic device, and storage medium. Background Art

[0002] When multiple vehicles meet and their driving routes conflict, unreasonable decisions may be made, such as all vehicles preparing to rush through or all vehicles preparing to yield. This can lead to a standstill in vehicle driving conflicts and affect driving efficiency.

[0003] Currently, to address the above problems, a multi-vehicle cooperation processing method is introduced. Specifically, a unified cooperation service is deployed in the cloud. This cooperation service obtains the driving information of each vehicle in real time through a communication channel, and simultaneously performs real-time calculations to identify conflict areas. For each conflict area, the order in which vehicles pass through the conflict area is calculated separately, and commands to stop and yield or release and enter are issued to the vehicles according to the order, directing each vehicle to pass through the conflict area in sequence. However, this multi-vehicle cooperation processing method depends on the global network and the cooperation service, is difficult to execute when the global network quality is poor, and moreover, the number of vehicles and the size of scenarios that the cooperation service can handle simultaneously are limited. Summary of the Invention

[0004] To solve the above technical problems or at least partially solve the above technical problems, embodiments of the present disclosure provide a vehicle cooperation method, apparatus, electronic device, and storage medium, which achieve vehicle cooperation planning based on a local communication network, reduce the cooperation complexity, and broaden the application scenarios of vehicle cooperation.

[0005] In a first aspect, embodiments of the present disclosure provide a vehicle cooperation method. A current vehicle establishes a local communication network with surrounding other vehicles; determines the cooperation information of the current vehicle in real time, and sends the cooperation information of the current vehicle to other vehicles through the local communication network; receives the cooperation information sent by the other vehicles through the local communication network in real time; the method further includes:

[0006] Determining whether there is a driving conflict area between the current vehicle and any other vehicle according to the cooperation information of the current vehicle and the cooperation information of the other vehicles;

[0007] In response to there being a driving conflict area between the current vehicle and any other vehicle, determining the driving conflict area of the current vehicle, and determining the passing order of the driving conflict area;

[0008] Driving into the driving conflict area according to the passing order.

[0009] Second aspect, embodiments of the present disclosure further provide a vehicle collaboration device, including: a collaboration information sending module, configured to establish a local communication network between the current vehicle and other surrounding vehicles; determine the collaboration information of the current vehicle in real time, and send the collaboration information of the current vehicle to other vehicles through the local communication network; receive the collaboration information sent by other vehicles through the local communication network in real time; the device further includes:

[0010] A driving conflict area determination module, configured to determine whether there is a driving conflict area between the current vehicle and any other vehicle according to the collaboration information of the current vehicle and the collaboration information of other vehicles;

[0011] A passing order determination module, configured to, in response to the current vehicle and any other vehicle having a driving conflict area, determine the driving conflict area of the current vehicle and determine the passing order of the driving conflict area;

[0012] A driving conflict area passing module, configured to pass through the driving conflict area according to the passing order.

[0013] Third aspect, embodiments of the present disclosure further provide an electronic device, the electronic device includes: one or more processors; a storage device, configured to store one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle collaboration method as described above.

[0014] Fourth aspect, embodiments of the present disclosure further provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the vehicle collaboration method as described above is implemented.

[0015] A vehicle collaboration method provided by embodiments of the present disclosure establishes a local communication network between the current vehicle and other surrounding vehicles, determines the collaboration information of the current vehicle in real time, and sends the collaboration information of the current vehicle to other vehicles through the local communication network, and receives the collaboration information sent by other vehicles through the local communication network in real time, so as to realize the intercommunication of vehicle collaboration information in the local communication network. According to the collaboration information of the current vehicle and the collaboration information of other vehicles, it is determined whether there is a driving conflict area between the current vehicle and any other vehicle. Furthermore, in response to the current vehicle and any other vehicle having a driving conflict area, the driving conflict area of the current vehicle and the passing order of the driving conflict area are determined, and the vehicle drives into the driving conflict area according to the passing order, realizing vehicle collaboration planning based on the local communication network, reducing the collaboration complexity, and broadening the application scenarios of vehicle collaboration. Description of the Drawings

[0016] In conjunction with the accompanying drawings and with reference to the following detailed description, the above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic and that the original elements and elements are not necessarily drawn to scale.

[0017] Figure 1 It is a flowchart of a vehicle cooperation method in an embodiment of the present disclosure;

[0018] Figure 2 It is an updated schematic diagram of the driving conflict area and the to-be-driven trajectory of the current vehicle in the case of crossing driving in an embodiment of the present disclosure;

[0019] Figure 3 It is an updated schematic diagram of the driving conflict area and the to-be-driven trajectory of the current vehicle in the case of oncoming driving in an embodiment of the present disclosure;

[0020] Figure 4 It is an updated schematic diagram of the driving conflict area and the to-be-driven trajectory of the current vehicle in the case of same-direction driving in an embodiment of the present disclosure;

[0021] Figure 5 It is an updated schematic diagram of the driving conflict area and the to-be-driven trajectory of the current vehicle corresponding to Case 2 in an embodiment of the present disclosure;

[0022] Figure 6 It is an updated schematic diagram of the driving conflict area and the to-be-driven trajectory of the current vehicle corresponding to Case 3 in an embodiment of the present disclosure;

[0023] Figure 7 It is an updated schematic diagram of the driving conflict area and the to-be-driven trajectory of the current vehicle corresponding to Case 4 in an embodiment of the present disclosure;

[0024] Figure 8 It is a schematic structural diagram of a vehicle cooperation device in an embodiment of the present disclosure;

[0025] Figure 9 It is a schematic structural diagram of an electronic device in an embodiment of the present disclosure. Detailed Description

[0026] The embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0027] It should be noted that the concepts such as "first" and "second" mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or mutual dependence relationship of the functions performed by these devices, modules or units.

[0028] The names of the messages or information exchanged between multiple devices in the embodiments of this disclosure are only for illustrative purposes, and are not used to limit the scope of these messages or information.

[0029] A common method for multi-vehicle cooperation technology is as follows: Deploy a unified cooperation service in the cloud. This service obtains the driving information of each vehicle in real time through a communication channel, and at the same time, performs real-time calculation to identify the driving conflict areas. For each driving conflict area, further calculate the order in which each vehicle passes through this driving conflict area, such as (driving conflict area 1: vehicle 2, vehicle 1), (driving conflict area 2: vehicle 1, vehicle 2), etc. Subsequently, issue commands to the vehicles to stop and give way or release and enter, and direct the vehicles to pass through each driving conflict area in turn. The processes of identifying driving conflict areas and calculating driving order in the above process are the core, and there can be multiple implementation schemes. However, usually, they consume a relatively large amount of computing resources, and their complexity is positively correlated with the number of vehicles and the spatial size. This method is simple and intuitive and is a relatively easy-to-implement method. However, this method depends on the global network and a pre-configured fixed cooperation service. As long as there is a quality problem with the network between one vehicle and the cooperation service, this scheme will directly fail. Therefore, this scheme has a very strong correlation with the quality of the global network and the local base station construction ability, and it is very difficult to ensure that there is good network quality in all locations at any time. And generally speaking, the cooperation service needs to operate for a long time, and it is inevitable to encounter the situation of poor global network quality. It should also be noted that the number of vehicles and the size of the scenario that can be processed simultaneously within one cooperation service are limited. For super-large scenarios such as open roads, their scale is equivalent to being infinite, and it is impossible to solve the problem only by deploying one cooperation service in the cloud. However, if the method of deploying multiple cooperation services is adopted, then how to arrange multiple cooperation services and how to set the effective range of each cooperation service, the relevant workload will be extremely huge, and the requirements for cloud resources will also be higher.

[0030] In view of the above problems, the embodiments of this disclosure provide a vehicle cooperation method, which is applicable to negotiating driving conflicts within a local communication network, reducing the processing difficulty, and improving the traffic efficiency.

[0031] Figure 1 It is a flowchart of a vehicle cooperation method in the embodiments of this disclosure. This method can be executed by a vehicle cooperation device, which can be implemented in software and / or hardware, and this device can be configured in an electronic device. As Figure 1 shown, this method can specifically include the following steps:

[0032] S110. The current vehicle establishes a local communication network with other surrounding vehicles; determines the cooperation information of the current vehicle in real time, and sends the cooperation information of the current vehicle to other vehicles through the local communication network; receives the cooperation information sent by other vehicles through the local communication network in real time.

[0033] Among them, other vehicles are the vehicles within a certain communication range around the current vehicle. The local communication network is a communication network established among these vehicles jointly by the current vehicle and each other vehicle. The cooperation information is the information required for subsequent cooperation processing and negotiation, and may include vehicle identification codes, vehicle parameters, vehicle operation parameters, information related to conflict negotiation, etc.

[0034] Specifically, a communication connection is established between the current vehicle and each other surrounding vehicle, and then a local communication network is established to facilitate information interaction between the current vehicle and each other vehicle. The cooperation information of the current vehicle is obtained, detected, and processed in real time, and the cooperation information of the current vehicle is sent to other vehicles through the local communication network to inform other vehicles of the information for conflict negotiation regarding the current vehicle. Moreover, the current vehicle can receive the cooperation information sent by other vehicles through the local communication network in real time, realizing the intercommunication of cooperation information among vehicles within the local communication network.

[0035] A set of local communication network equipment is installed on each vehicle. This equipment can generate local network signals within a certain range around the vehicle, enabling vehicles within a certain range to detect each other and establish communication connections. At the same time, each vehicle can broadcast messages through this network and can also receive broadcast messages from other vehicles. This method has the reliability of two-way reachability, has stable quality and reliable real-time performance within the communication range, and the communication range is significantly larger than the range of possible driving conflicts.

[0036] S120. Determine whether there is a driving conflict area between the current vehicle and any other vehicle according to the cooperation information of the current vehicle and the cooperation information of other vehicles.

[0037] Among them, the driving conflict area is the range where there may be a driving conflict with other vehicles in the subsequent driving process and negotiation for passing is required.

[0038] Specifically, analyze the subsequent driving trajectory and driving conflict area in the cooperation information of the current vehicle, and the subsequent driving trajectory and driving conflict area in the cooperation information of each other vehicle, and judge whether the current vehicle will have a driving conflict with any other vehicle, that is, judge whether there is a driving conflict area between the current vehicle and any other vehicle, so as to facilitate subsequent cooperation negotiation to pass through the driving conflict area.

[0039] It can be understood that each vehicle can execute the above-mentioned and following steps independently, only need to execute them in sequence and according to the rules, without the need for additional server devices, etc.

[0040] Based on the above example, the collaborative information includes the information of the to-be-driven trajectory of the vehicle and the information of the driving conflict area of the vehicle; the following method can be used to determine whether there is a driving conflict area between the current vehicle and any other vehicle according to the collaborative information of the current vehicle and the collaborative information of other vehicles:

[0041] For any other vehicle, when it is determined that at least one conflict condition is met according to the collaborative information of the current vehicle and the collaborative information of the other vehicle, it is determined that there is a driving conflict area between the current vehicle and the other vehicle;

[0042] The conflict conditions include:

[0043] There is an overlapping part between the to-be-driven trajectory of the current vehicle and the to-be-driven trajectory of the other vehicle;

[0044] There is an overlapping part between the to-be-driven trajectory of the current vehicle and the driving conflict area of the other vehicle;

[0045] There is an overlapping part between the driving conflict area of the current vehicle and the to-be-driven trajectory of the other vehicle;

[0046] There is an overlapping part between the driving conflict area of the current vehicle and the driving conflict area of the other vehicle.

[0047] Among them, the to-be-driven trajectory is the trajectory information planned for the vehicle to drive in the future. The conflict condition is the condition used to judge whether there is a driving conflict between vehicles.

[0048] Specifically, for each other vehicle, it is determined whether there is a driving conflict area, that is, whether at least one conflict condition is met by using the cooperation information of the current vehicle and the cooperation information of that other vehicle. If it is met, it is determined that there is a driving conflict area between the current vehicle and that other vehicle; otherwise, it is determined that there is no driving conflict area between the current vehicle and that other vehicle. Furthermore, the existence of driving conflict areas between the current vehicle and each surrounding other vehicle can be determined. The driving conflict conditions include the following: there is an overlapping part between the to-be-driven trajectory of the current vehicle and the to-be-driven trajectory of that other vehicle, which indicates that there is an intersection between the to-be-driven trajectories of the two vehicles, that is, there may be a driving conflict in the overlapping area, and it can be confirmed that there is a driving conflict area; there is an overlapping part between the to-be-driven trajectory of the current vehicle and the driving conflict area of that other vehicle, which means that the to-be-driven trajectory of the current vehicle passes through the driving conflict area of that other vehicle, so there will also be a driving conflict in the driving conflict area of that other vehicle, and it can be confirmed that there is a driving conflict area; there is an overlapping part between the driving conflict area of the current vehicle and the to-be-driven trajectory of that other vehicle, indicating that the current vehicle itself has a driving conflict area, which may be determined with other other vehicles. Therefore, when there is an overlapping part with the to-be-driven trajectory of that other vehicle, it can be directly determined that there is a driving conflict area, and there is no need to reconstruct the driving conflict area; there is an overlapping part between the driving conflict area of the current vehicle and the driving conflict area of that other vehicle. Similar to the previous situation, however, at this time, the driving conflict area of the current vehicle needs to be reconstructed.

[0049] Based on the above example, it is possible to more precisely determine whether there is a driving conflict. For example: it is possible to further consider the current position information and current speed information of each vehicle to judge. When vehicle A will obviously pass through the overlapping area earlier than vehicle B and will not affect the driving of vehicle B, it can be judged that there is no conflict between the two vehicles and there is no driving conflict area. Also, for scenarios such as lane-changing driving, it can be directly determined that there is no conflict and handed over to the single-vehicle intelligence for self-processing.

[0050] S130. In response to the existence of a driving conflict area between the current vehicle and any other vehicle, determine the driving conflict area of the current vehicle and determine the passing order of the driving conflict area.

[0051] Among them, the passing order is the driving order of each vehicle that needs to queue up and pass when passing through the driving conflict area.

[0052] Specifically, if there is a driving conflict area between the current vehicle and any other vehicle, then in combination with the cooperation information of the vehicles with which there is a driving conflict area, accurately determine the driving conflict area of the current vehicle. And at the driving conflict area, it is possible to negotiate the passing order with each other vehicle corresponding to the driving conflict area to determine the passing order of the driving conflict area, so as to facilitate subsequent driving according to the passing order.

[0053] Based on the above examples, the driving conflict area of the current vehicle can be determined in the following ways:

[0054] When there is a target overlapping part between the to-be-driven trajectory of the current vehicle and the to-be-driven trajectory of the conflicting vehicle, the target overlapping part has no intersection with the driving conflict area of the current vehicle, and the target overlapping part has no intersection with the driving conflict area of the conflicting vehicle, then update the driving conflict area of the current vehicle according to the target overlapping part, and take the part between the current vehicle position and the target position to leave the driving conflict area of the current vehicle as the new to-be-driven trajectory of the current vehicle;

[0055] When there is an intersection between the to-be-driven trajectory of the current vehicle and the driving conflict area of the conflicting vehicle, and there is no intersection between the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle, then determine whether there is a target overlapping part. If so, update the union of the target overlapping part and the driving conflict area of the conflicting vehicle as the driving conflict area of the current vehicle. If not, update the driving conflict area of the conflicting vehicle as the driving conflict area of the current vehicle; take the part between the current vehicle position and the target position to leave the driving conflict area of the current vehicle as the new to-be-driven trajectory of the current vehicle;

[0056] When there is an intersection between the driving conflict area of the current vehicle and the to-be-driven trajectory of the conflicting vehicle and there is no intersection between the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle, then determine whether there is a target overlapping part. If so, update the union of the target overlapping part and the driving conflict area of the current vehicle as the driving conflict area of the current vehicle. If not, keep the driving conflict area of the current vehicle unchanged; take the part between the current vehicle position and the target position to leave the driving conflict area of the current vehicle as the new to-be-driven trajectory of the current vehicle;

[0057] When there is an intersection between the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle, then determine whether there is a target overlapping part. If so, update the union of the target overlapping part, the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle as the driving conflict area of the current vehicle. If not, update the union of the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle as the driving conflict area of the current vehicle; take the part between the current vehicle position and the target position to leave the driving conflict area of the current vehicle as the new to-be-driven trajectory of the current vehicle.

[0058] Among them, a conflicting vehicle is another vehicle that has a driving conflict area with the current vehicle. The target overlapping part is the overlapping part between the to-be-driven trajectory of the current vehicle and the to-be-driven trajectory of the conflicting vehicle, and the size of this part can be adjusted by preset parameters. The target position is the last position point where the to-be-driven trajectory of the current vehicle overlaps with the driving conflict area of the current vehicle.

[0059] Specifically, if the current vehicle processes other vehicles that are not conflicting vehicles, the driving conflict area and the to-be-driven trajectory of the current vehicle remain unchanged. Therefore, this step is applicable to the current vehicle's processing of each conflicting vehicle. Combining the to-be-driven trajectory of the current vehicle, the driving conflict area, and the to-be-driven trajectory and driving conflict area of the conflicting vehicle, judgments and updates of the to-be-driven trajectory and driving conflict area of the current vehicle are performed, which are specifically described in the following situations:

[0060] Situation 1: When there is a target overlapping part between the to-be-driven trajectory of the current vehicle and the to-be-driven trajectory of the conflicting vehicle, the target overlapping part has no intersection with the driving conflict area of the current vehicle, and the target overlapping part has no intersection with the driving conflict area of the conflicting vehicle, then the driving conflict area of the current vehicle is updated according to the target overlapping part, and the part between the current vehicle position and the target position leaving the driving conflict area of the current vehicle is used as the new to-be-driven trajectory of the current vehicle.

[0061] It can be understood that when there is a target overlapping part between the to-be-driven trajectory of the current vehicle and the to-be-driven trajectory of the conflicting vehicle, and the target overlapping part has no intersection with the driving conflict areas of both vehicles, it can be determined that there is a conflict at the target overlapping part. Therefore, the driving conflict area of the current vehicle is updated with the target overlapping part. Specifically, the parameters required to generate the driving conflict area according to the target overlapping part can be preset in advance. Taking the last overlapping position point of the to-be-driven trajectory of the current vehicle and the updated driving conflict area (that is, the position point leaving the driving conflict area of the current vehicle) as the target position, and then, the part between the current vehicle position and the target position is used as the new to-be-driven trajectory of the current vehicle, that is, truncating the to-be-driven trajectory of the current vehicle, and the focus of the new to-be-driven trajectory does not exceed the range of the new driving conflict area, so as to facilitate continuous processing with other subsequent conflicting vehicles.

[0062] Exemplarily, Figure 2 is a schematic diagram of the update of the driving conflict area and the to-be-driven trajectory of the current vehicle in the case of cross driving, Figure 3 is a schematic diagram of the update of the driving conflict area and the to-be-driven trajectory of the current vehicle in the case of oncoming driving, Figure 4In the case of driving in the same direction, it is a schematic diagram of the update of the driving conflict area and the to-be-driven trajectory of the current vehicle. Among them, the solid line represents the to-be-driven trajectory of the current vehicle, the dashed line represents the driving trajectory of the conflicting vehicle, and the hexagonal area represents the updated driving conflict area of the current vehicle. It should be noted that Figures 2 - 4 Only the driving conflict area and the to-be-driven trajectory of the current vehicle are updated, and no changes are made to the conflicting vehicle. The handling of the conflicting vehicle is executed by the conflicting vehicle itself.

[0063] Case 2: When there is an intersection between the to-be-driven trajectory of the current vehicle and the driving conflict area of the conflicting vehicle, and there is no intersection between the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle, it is necessary to determine whether there is a target overlapping part. If so, the union of the target overlapping part and the driving conflict area of the conflicting vehicle is updated as the driving conflict area of the current vehicle. If not, the driving conflict area of the conflicting vehicle is updated as the driving conflict area of the current vehicle; the part between the current vehicle position and the target position to leave the driving conflict area of the current vehicle is used as the new to-be-driven trajectory of the current vehicle.

[0064] It can be understood that when there is an intersection between the to-be-driven trajectory of the current vehicle and the driving conflict area of the conflicting vehicle, and there is no intersection between the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle, it is necessary to further determine whether there is an intersection between the to-be-driven trajectory of the current vehicle and the to-be-driven trajectory of the conflicting vehicle, that is, the target overlapping part. If it exists, the driving conflict area of the current vehicle needs to be updated with the target overlapping part, that is, the union of the target overlapping part and the driving conflict area of the conflicting vehicle is used as the new driving conflict area of the current vehicle; if it does not exist, the driving conflict area of the conflicting vehicle can be directly used to update the driving conflict area of the current vehicle, that is, the driving conflict area of the conflicting vehicle is used as the new driving conflict area of the current vehicle. Regarding the update of the to-be-driven trajectory of the current vehicle, it is similar to Case 1. Specifically, the last overlapping position point between the to-be-driven trajectory of the current vehicle and the updated driving conflict area is used as the target position, and the part between the current vehicle position and the target position is used as the new to-be-driven trajectory of the current vehicle.

[0065] Exemplarily, Figure 5 It is a schematic diagram of the update of the driving conflict area and the to-be-driven trajectory of the current vehicle corresponding to Case 2. Among them, the solid line represents the to-be-driven trajectory of the current vehicle, the dashed line represents the driving trajectory of the conflicting vehicle, and the hexagonal area represents the driving conflict area. The hexagonal area on the left before the update is the driving conflict area of the conflicting vehicle, the hexagonal area on the right is the driving conflict area of the current vehicle, and the updated hexagonal area is the driving conflict area of the current vehicle. It should be noted that Figure 5Only update the driving conflict area and the to-be-driven trajectory of the current vehicle, without making any changes to the conflicting vehicle. The handling of the conflicting vehicle is executed by the conflicting vehicle itself.

[0066] Case 3: When there is an intersection between the driving conflict area of the current vehicle and the to-be-driven trajectory of the conflicting vehicle, and there is no intersection between the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle, it is necessary to determine whether there is a target overlapping part. If so, update the union of the target overlapping part and the driving conflict area of the current vehicle as the driving conflict area of the current vehicle. If not, keep the driving conflict area of the current vehicle unchanged. The part between the current vehicle position and the target position to leave the driving conflict area of the current vehicle is used as the new to-be-driven trajectory of the current vehicle.

[0067] It can be understood that when there is an intersection between the driving conflict area of the current vehicle and the to-be-driven trajectory of the conflicting vehicle, and there is no intersection between the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle, it is necessary to further determine whether there is an intersection between the to-be-driven trajectory of the current vehicle and the to-be-driven trajectory of the conflicting vehicle, that is, the target overlapping part. If there is, it is necessary to update the driving conflict area of the current vehicle with the target overlapping part, that is, take the union of the target overlapping part and the driving conflict area of the current vehicle as the new driving conflict area of the current vehicle. If not, it can be directly determined that the driving conflict area of the current vehicle remains unchanged. Regarding the update of the to-be-driven trajectory of the current vehicle, it is similar in the above-mentioned cases. Specifically, the last overlapping position point between the to-be-driven trajectory of the current vehicle and the updated driving conflict area is used as the target position, and the part between the current vehicle position and the target position is used as the new to-be-driven trajectory of the current vehicle.

[0068] Exemplarily, Figure 6 It is a schematic diagram of the update of the driving conflict area and the to-be-driven trajectory of the current vehicle corresponding to Case 3. Among them, the solid line represents the to-be-driven trajectory of the current vehicle, the dashed line represents the driving trajectory of the conflicting vehicle, and the hexagonal area represents the driving conflict area. The hexagonal area in the upper left corner before the update is the driving conflict area of the current vehicle, and the hexagonal area in the lower right corner is the driving conflict area of the conflicting vehicle. After the update, the hexagonal area in the upper left corner is still the driving conflict area of the current vehicle. It should be noted that Figure 6 Only update the driving conflict area and the to-be-driven trajectory of the current vehicle, without making any changes to the conflicting vehicle. The handling of the conflicting vehicle is executed by the conflicting vehicle itself.

[0069] Case 4: When there is an intersection between the driving conflict area of the current vehicle and that of the conflicting vehicle, it is determined whether there is a target overlapping part. If so, the union of the target overlapping part, the driving conflict area of the current vehicle, and the driving conflict area of the conflicting vehicle is updated as the driving conflict area of the current vehicle. If not, the union of the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle is updated as the driving conflict area of the current vehicle; the part between the current vehicle position and the target position to leave the driving conflict area of the current vehicle is taken as the new driving trajectory to be traveled by the current vehicle.

[0070] It can be understood that when there is an intersection between the driving conflict area of the current vehicle and that of the conflicting vehicle, it is necessary to further determine whether there is an intersection between the driving trajectory to be traveled by the current vehicle and that of the conflicting vehicle, that is, the target overlapping part. If it exists, the driving conflict area of the current vehicle needs to be updated with the target overlapping part, that is, the union of the target overlapping part, the driving conflict area of the current vehicle, and the driving conflict area of the conflicting vehicle is used as the new driving conflict area of the current vehicle; if it does not exist, the union of the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle can be directly used as the new driving conflict area of the current vehicle. Regarding the update of the driving trajectory to be traveled by the current vehicle, the foregoing situations are similar. Specifically, the last overlapping position point of the driving trajectory to be traveled by the current vehicle and the updated driving conflict area is used as the target position, and the part between the current vehicle position and the target position is taken as the new driving trajectory to be traveled by the current vehicle.

[0071] Exemplarily, Figure 7 It is a schematic diagram for updating the driving conflict area and the driving trajectory to be traveled by the current vehicle corresponding to Case 4. Among them, the solid line represents the driving trajectory to be traveled by the current vehicle, the dashed line represents the driving trajectory of the conflicting vehicle, the hexagonal area in the upper left corner before the update is the driving conflict area of the current vehicle, and the hexagonal area in the lower right corner is the driving conflict area of the conflicting vehicle. After the update, the union of the two hexagonal areas is the driving conflict area of the current vehicle. It should be noted that Figure 7 Only the driving conflict area and the driving trajectory to be traveled by the current vehicle are updated, and no changes are made to the conflicting vehicle. The handling of the conflicting vehicle is executed by the conflicting vehicle itself.

[0072] Based on the above example, the cooperative information includes information on the driving trajectory to be traveled by the vehicle, information on the driving conflict area of the vehicle, and information on the vehicle state of the vehicle; then the passing order of the driving conflict area can be determined in the following way:

[0073] Determine that the vehicle state in the cooperative information of the current vehicle is updated from the initial state to the first state;

[0074] Take other vehicles that conflict with the current vehicle as conflict vehicles, and update the driving conflict area and the planned driving trajectory of the current vehicle according to the planned driving trajectory and the driving conflict area in the cooperation information of the conflict vehicles, the planned driving trajectory and the driving conflict area of the current vehicle.

[0075] Take the position where the planned driving trajectory of the current vehicle enters the driving conflict area of the current vehicle as the parking position, control the current vehicle to drive to the parking position according to the planned driving trajectory of the current vehicle, and control the current vehicle to stop.

[0076] When the vehicle stops at the parking position, update the conflict vehicles, and determine whether there are no conflict vehicles, or whether the vehicle states in the cooperation information of the conflict vehicles are all in the initial state or the first state; if so, determine that the vehicle state in the cooperation information of the current vehicle is updated from the first state to the parking negotiation state.

[0077] In response to the vehicle state of the current vehicle being the parking negotiation state, control the current vehicle to remain parked at the parking position, and determine the passing order of the driving conflict area according to the cooperation information of the current vehicle and the cooperation information of other vehicles.

[0078] Among them, the vehicle state includes the initial state, the first state, and the parking negotiation state. The initial state is the state where the vehicle is driving normally and the driving conflict area in the cooperation information is empty. The first state is the state of receiving the cooperation information of other vehicles and calculating and updating the driving conflict area and the planned driving trajectory of the current vehicle. When in the first state, the vehicle drives to the parking position and does not enter the driving conflict area. The parking position is the position where the planned driving trajectory of the current vehicle enters the driving conflict area of the current vehicle. The parking negotiation state is the state of parking at the parking position and negotiating the passing order with other conflict vehicles.

[0079] Specifically, when it is determined that there is a driving conflict area between the current vehicle and any other vehicle, the vehicle state in the cooperation information of the current vehicle is updated from the initial state to the first state for subsequent transmission of cooperation information. The other vehicle in conflict with the current vehicle is regarded as a conflict vehicle. Further, in combination with various situations in the above example, based on the to-be-driven trajectory and the driving conflict area in the cooperation information of the conflict vehicle, as well as the to-be-driven trajectory and the driving conflict area of the current vehicle, a new driving conflict area and a new to-be-driven trajectory of the current vehicle are determined. The position where the to-be-driven trajectory of the current vehicle enters the driving conflict area of the current vehicle is used as the parking position, and the current vehicle is controlled to drive to the parking position according to the to-be-driven trajectory of the current vehicle, and the current vehicle is controlled to stop. In this case, the calculation and vehicle control operations in the first state are completed. Furthermore, when the vehicle stops at the parking position, the cooperation information of other surrounding vehicles can be received to update the conflict vehicles, and it is determined again whether there are no conflict vehicles, or whether the vehicle states in the cooperation information of the conflict vehicles are all in the initial state or the first state. If so, it is determined that the vehicle state in the cooperation information of the current vehicle is updated from the first state to the parking negotiation state. If not, the vehicle state in the cooperation information of the current vehicle continues to remain in the first state. If the vehicle state of the current vehicle is updated from the first state to the parking negotiation state, the current vehicle is controlled to stop at the parking position without entering the driving conflict area, and the driving sequence of the driving conflict area is jointly negotiated by combining the cooperation information of the current vehicle and the cooperation information of other vehicles.

[0080] Based on the above example, the parking negotiation state includes the second state and the third state. Then, the vehicle state in the cooperation information of the current vehicle can be updated from the first state to the parking negotiation state in the following way:

[0081] Determine that the vehicle state in the cooperation information of the current vehicle is updated from the first state to the second state.

[0082] Among them, the second state is the state in which the vehicle identification code of the current vehicle is added to the to-be-sorted vehicle identifiers of the current vehicle, and the vehicle identification codes of each conflict vehicle are also added to the to-be-sorted vehicle identifiers of the current vehicle. That is, it is the state for updating the vehicle identification code of the current vehicle. When in the second state, the current vehicle stops at the parking position. The to-be-sorted vehicle identifiers are a set of vehicle identification codes of each vehicle that needs to be negotiated to pass through the driving conflict area subsequently.

[0083] Correspondingly, the driving sequence of the driving conflict area is determined according to the cooperation information of the current vehicle and the cooperation information of other vehicles in the following way:

[0084] In response to the vehicle state of the current vehicle being the second state, when the duration of being in the second state reaches the preset duration, update the conflicting vehicles, and determine whether there are no conflicting vehicles, or whether the vehicle identification to be sorted in the cooperation information of the current vehicle is the same as the vehicle identification to be sorted in the cooperation information of each conflicting vehicle; if so, determine that the vehicle state in the cooperation information of the current vehicle is updated from the second state to the third state; if not, update the vehicle identification to be sorted in the cooperation information of the current vehicle according to the vehicle state of the conflicting vehicles, and return to execute the steps of updating the conflicting vehicles and determining whether there are no conflicting vehicles, or whether the vehicle identification to be sorted in the cooperation information of the current vehicle is the same as the vehicle identification to be sorted in the cooperation information of each conflicting vehicle.

[0085] In response to the vehicle state of the current vehicle being the third state, determine the passing order in the cooperation information of the current vehicle, and determine whether the passing order in the cooperation information of the conflicting vehicle corresponding to the vehicle identification to be sorted in the cooperation information of the current vehicle is the same as the passing order in the cooperation information of the current vehicle; if so, determine that the vehicle state in the cooperation information of the current vehicle is updated from the third state to the fourth state, if not, return to execute the step of determining the passing order in the cooperation information of the current vehicle.

[0086] Among them, the duration is the timing duration after the current vehicle enters the second state. The preset duration is a duration preset for the current vehicle to fully receive the cooperation information of other surrounding vehicles, which can be set according to actual needs. The third state is a state in which the passing order is negotiated for each conflicting vehicle currently in the third state and the current vehicle, that is, the passing order is negotiated. When in the third state, the current vehicle stays parked at the parking position. The vehicle state also includes the fourth state, and the fourth state is a state of waiting for the passing order to reach the current vehicle and the current vehicle driving through the driving conflict area.

[0087] Specifically, if the vehicle state of the current vehicle is the second state, the current vehicle is kept parked at the parking position, and it is determined whether the duration of being in the second state reaches a preset duration. If not, continue to wait until the duration reaches the preset duration. If so, based on the collaborative information sent by each other vehicle received and various situations in the above examples, the conflicting vehicles are updated. Furthermore, it is determined whether there are no conflicting vehicles, or whether the vehicle identification to be sorted in the collaborative information of the current vehicle is the same as the vehicle identification to be sorted in the collaborative information of each conflicting vehicle. If so, it means that the vehicle identification to be sorted in the current vehicle is the same as that in each conflicting vehicle, that is, it is determined which vehicles need to conduct subsequent joint negotiations, and the update of the vehicle identification to be sorted is completed. Therefore, the next step can be carried out, and the vehicle state in the collaborative information of the current vehicle is updated from the second state to the third state. If not, it is determined whether the vehicle state of each conflicting vehicle is the second state. If so, the vehicle identification code of the conflicting vehicle in the second state is added to the vehicle identification to be sorted in the collaborative information of the current vehicle, and the step of updating the conflicting vehicles is returned to execute, and it is determined whether there are no conflicting vehicles, or whether the vehicle identification to be sorted in the collaborative information of the current vehicle is the same as the vehicle identification to be sorted in the collaborative information of each conflicting vehicle, so as to continuously update the vehicle identification to be sorted of the current vehicle until the vehicle identification codes of all surrounding conflicting vehicles in the second state are added to the vehicle identification to be sorted. It can be seen that in other cases, the vehicle state of the current vehicle remains in the second state. If the vehicle state of the current vehicle enters the third state, the vehicle identification codes in the vehicle identification to be sorted are sorted through the sorting method built in the current vehicle to obtain the passing order in the collaborative information of the current vehicle, and the collaborative information of all surrounding conflicting vehicles is received, and it is determined whether the passing order in the collaborative information of the conflicting vehicle corresponding to the vehicle identification to be sorted in the collaborative information of the current vehicle is the same as the passing order in the collaborative information of the current vehicle. If so, it means that the negotiation of the passing order among the vehicles in the third state is completed. Therefore, the vehicle state in the collaborative information of the current vehicle is updated from the third state to the fourth state to facilitate passing through the driving conflict area according to the passing order subsequently. If not, return to execute the determination of the passing order in the collaborative information of the current vehicle, that is, negotiate again to determine which vehicle's collaborative information's communication order is the standard until the passing order in the collaborative information of the conflicting vehicle corresponding to the vehicle identification to be sorted in the collaborative information of the current vehicle is the same as the passing order in the collaborative information of the current vehicle. It can be seen that in other cases, the vehicle state of the current vehicle remains in the third state.

[0088] Based on the above examples, the passing order in the collaborative information of the current vehicle can be determined in the following way:

[0089] When the passing order in the collaborative information of the current vehicle is empty, the passing order in the collaborative information of the current vehicle is updated according to the driving order calculation method pre-configured in the current vehicle and the collaborative information corresponding to the vehicle identification to be sorted;

[0090] When the passing order in the collaborative information of the current vehicle is not empty, the passing order in the collaborative information of the current vehicle is updated according to the passing order in the collaborative information of the current vehicle and the passing order in the collaborative information of each conflicting vehicle among the vehicle identifications to be sorted in the collaborative information of the current vehicle.

[0091] Among them, the driving order calculation method is a method for calculating the passing order pre-configured in the current vehicle, and the specific method is not limited.

[0092] Specifically, if the passing order in the collaborative information of the current vehicle is empty, it means that the current vehicle needs to determine the passing order first. Therefore, the driving order calculation method pre-configured in the current vehicle can be used to calculate the collaborative information corresponding to each vehicle identification to be sorted, and the passing order calculated by the current vehicle can be obtained. If the current vehicle has already calculated the passing order, that is, the passing order in the collaborative information of the current vehicle is not empty, then the passing order can be compared with the passing order in the collaborative information of each conflicting vehicle among the other vehicle identifications to be sorted, and a passing order can be uniformly determined as the final passing order. For example: the passing order with the most occurrences can be selected by voting as the final passing order in the collaborative information of the current vehicle. It can be understood that the final passing order of each other conflicting vehicle is also this passing order.

[0093] Exemplarily, if the passing order in the cooperative information of the current vehicle is empty (no calculation result yet), a cooperative driving priority resolution method (driving order resolution method) is used to obtain a passing order, and this result is used as the passing order in the cooperative information of the current vehicle. There is no requirement for the specific resolution method. For example, it can be to compare the lengths of the trajectories of each vehicle passing through the current driving conflict area, and the shorter one has a higher priority, etc. If the passing order in the cooperative information of the current vehicle (already has a calculation result), then count all the passing orders of each conflicting vehicle in the current vehicle and the vehicle identification to be sorted. Furthermore, the passing order that is the same and has the largest number can be selected as the passing order in the cooperative information of the current vehicle. If there are multiple passing orders with equal and the largest number, a method agreed upon in advance and recognized by all vehicles (this method can be hard-coded in the vehicle cooperation program) can be used to select one as the passing order in the cooperative information of the current vehicle. There is no requirement for the specific agreed-upon method. For example, record the vehicle identification codes corresponding to multiple passing orders with equal and the largest number, and select the passing order sent by the vehicle with the smallest (or largest) vehicle identification code; record the vehicle headings corresponding to multiple passing orders with equal and the largest number, and select the passing order sent by the vehicle with the heading closest to the due north direction (or other direction), etc.

[0094] S140. Drive into the driving conflict area according to the passing order.

[0095] Specifically, when the current vehicle detects that each conflicting vehicle whose passing order is before the vehicle itself has passed through the driving conflict area, it can start and drive into the driving conflict area.

[0096] Based on the above example, the following method can be used to drive into the driving conflict area according to the passing order:

[0097] In response to the vehicle state of the current vehicle being the fourth state, when the current vehicle is not in the first position of the passing order in the cooperative information of the current vehicle, update the passing order in the cooperative information of the current vehicle according to the vehicle state in the cooperative information of the conflicting vehicle; when the current vehicle is in the first position of the passing order in the cooperative information of the current vehicle, control the current vehicle to drive into the driving conflict area of the current vehicle, and determine whether the current vehicle has left the driving conflict area of the current vehicle. If so, determine that the vehicle state in the cooperative information of the current vehicle is updated from the fourth state to the initial state.

[0098] Specifically, after the vehicle state of the current vehicle enters the fourth state, it is determined whether the current vehicle is in the first position in the passing order in the collaborative information of the current vehicle. If it is not in the first position, the current vehicle needs to continue to stop at the parking position and receive the collaborative information of each conflicting vehicle, and determine whether the vehicle state in the collaborative information of each conflicting vehicle is not in the fourth state, that is, whether there is a conflicting vehicle that has left the driving conflict area according to the passing order. If so, it can be deleted from the passing order to update the passing order in the collaborative information of the current vehicle. If it is in the first position, it means that the current vehicle can pass through the driving conflict area, that is, control the current vehicle to start and drive into the driving conflict area according to the trajectory to be traveled, and continuously determine whether it has left the driving conflict area. If it has not left the driving conflict area, continue to move forward and keep the vehicle state in the fourth state. If it has left the driving conflict area, it can break away from the current negotiation process and re-enter the initial state to facilitate the next conflict detection.

[0099] Exemplarily, the representation method at the bottom layer of the collaborative information is determined by the local communication network technology, and the service information in the protocol message is described by a fixed organizational format. For example, common JSON (JavaScript Object Notation) or YAML (YAML Ain't Markup Language, a format used to express data serialization) can be used, and the information fields included are defined and described as follows:

[0100] "phase_id": The vehicle state. For example, setting it to 1 means that the current collaborative information sent corresponds to the first state; "timestamp": The timestamp when the collaborative information is sent; "vehicle_id": The vehicle identifier that sends the collaborative information, which can use the vehicle identification number, vehicle identification code, etc., the unique identifier of the vehicle, to ensure that the vehicle_id of each vehicle is unique; "param_info": The set of vehicle parameter information, including vehicle type, body size, etc., and the content can be extended; "status_info": The set of current operating state information of the vehicle, including the current vehicle position (location), vehicle speed (velocity), trajectory to be traveled (trajectory), etc., and the content can be extended. Among them, trajectory is a list of points, each point is represented by a set of coordinates, representing a section of the trajectory to be traveled, and the trajectory point sequence is represented as [(x1,y1),(x2,y2)...(x n ,y n)], the coordinates can be represented in the GPS (Global Positioning System) coordinate system or the UTM (Universal Transverse Mercator Grid System) geographic coordinate system. The starting point is the current vehicle position. Generally, the range of the to-be-traveled trajectory broadcast is required to be roughly the same as the communication range of the local communication network. If the vehicle is about to stop, the end point of the to-be-traveled trajectory is the parking position; "conflict_area": describes the driving conflict area of the current vehicle. The driving conflict area can be described by two sets of convex polygons, one set is the "inclusive area" and the other set is the "exclusive area"; each convex polygon is represented by its vertex coordinate sequence (inclusive area: when one or more convex polygons are configured, the union area of these convex polygons is the inclusive area. When not configured, the default is no inclusive area; exclusive area: when one or more convex polygons are configured, the union area of these convex polygons is the exclusive area. When not configured, the default is no exclusive area; the area within the inclusive area and not within the exclusive area is the driving conflict area). "conflict_vehicle_id_set": records the set of vehicle identifiers of the conflict vehicles related to conflict_area, that is, the vehicle identifiers to be sorted; "resolved_vehicle_id_order": records the order in which each vehicle passes through the driving conflict area, that is, the passing order. For example, [5, 2, 3] means vehicle No. 5 passes first, followed by vehicle No. 2, and then vehicle No. 3).

[0101] Based on the above format description, the information fields of each collaborative information are shown in Table 1. Blank indicates that the information field does not exist in the collaborative information.

[0102] Table 1 Information Field Table of Collaborative Information

[0103]

[0104] It can be understood that the initial state, the first state, the second state, the third state, and the fourth state can only transfer to the adjacent next vehicle state or maintain the current vehicle state. Each vehicle state has a corresponding state operation and state transition condition, which are specifically described as follows:

[0105] State operations corresponding to the initial state (phase_id is 0): Calculation and update: Set conflict_area, conflict_vehicle_id_set, and resolved_vehicle_id_order to empty; Broadcast message: Broadcast the collaboration information of the initial state externally; Vehicle control operation: The vehicle travels normally. State transition corresponding to the initial state: When receiving the collaboration information of other vehicles and determining that there is a driving conflict area between the current vehicle and any other vehicle, the vehicle state migrates from the initial state to the first state; in other cases, the initial state is maintained.

[0106] State operations corresponding to the first state (phase_id is 1): Calculation and update: For each piece of collaboration information of other vehicles received, calculate and update the driving conflict area and the trajectory to be traveled of the current vehicle; Broadcast message: Broadcast the collaboration information of the first state externally; Vehicle control operation: Use the intersection point where the trajectory to be traveled enters the edge of the driving conflict area as the parking position (so that the vehicle can stop after driving to its own edge and will not enter the driving conflict area). State transition corresponding to the first state: When stopping at the parking position and there is no collaboration information of other vehicles in conflict with itself (conflicting vehicles) or the phase id in the received collaboration information in conflict with itself is only 0 or 1, the vehicle state migrates from the first state to the second state; in other cases, the first state is maintained.

[0107] State operations corresponding to the second state (phase_id is 2): Calculation and update: Add the vehicle identifier of the own vehicle (the current vehicle) to its own conflict_vehicle_id_set. For each piece of collaboration information corresponding to the second state of other vehicles received, if the vehicle is in conflict with itself, add the vehicle_id of the vehicle to its own conflict_vehicle_id_set; Broadcast message: Broadcast the collaboration information of the second state externally; Vehicle control operation: Keep stopping at the parking position. State transition corresponding to the second state: When the continuous duration in the second state reaches a preset duration (the preset duration can be configured to ensure that the collaboration information of other vehicles can be fully received within the preset duration), and there is no collaboration information of other vehicles in conflict with itself or the conflict_vehicle_id_set in all the received collaboration information of other vehicles in conflict with itself is exactly the same as its own conflict_vehicle_id_set, the vehicle state migrates from the second state to the third state; in other cases, the second state is maintained.

[0108] State operations corresponding to the third state (phase_id is 3): Calculation and update: For all collaborative information of the third state of other vehicles that conflict with itself received, determine the passing order of the driving conflict area, and update the current resolved_vehicle_id_order of itself; Broadcast message: Broadcast the collaborative information of the third state outward; Vehicle control operation: Keep stopping at the parking position. State transition corresponding to the third state: When the resolved_vehicle_id_order in the collaborative information of the third state sent by the relevant vehicles in the conflict_vehicle_id_set of itself is equal to the resolved_vehicle_id_order of itself, the vehicle state transitions from the third state to the fourth state. In other cases, the third state is maintained.

[0109] State operations corresponding to the fourth state (phase_id is 4): Calculation and update: When the vehicle at the front of the resolved_vehicle_id_order drives out of the driving conflict area, its vehicle_id is deleted from the resolved_vehicle_id_order and the conflict_vehicle_id_set; Broadcast message: Broadcast the collaborative information of the fourth state outward; Vehicle control operation: When the vehicle itself is ranked first in the resolved_vehicle_id_order, drive into the driving conflict area, and then drive to the end of the trajectory (the far edge of the driving conflict area). State transition corresponding to the fourth state: When the vehicle drives to the end of the trajectory (drives out of the driving conflict area of the current vehicle), the vehicle state transitions from the fourth state to the initial state. In other cases, the fourth state is maintained.

[0110] The vehicle collaboration method provided in this embodiment establishes a local communication network between the current vehicle and surrounding other vehicles, determines the collaborative information of the current vehicle in real time, sends the collaborative information of the current vehicle to other vehicles through the local communication network, receives the collaborative information sent by other vehicles through the local communication network in real time, so as to realize the intercommunication of vehicle collaborative information in the local communication network. According to the collaborative information of the current vehicle and the collaborative information of other vehicles, it is determined whether the current vehicle has a driving conflict area with any other vehicle. Furthermore, in response to the current vehicle having a driving conflict area with any other vehicle, the driving conflict area of the current vehicle and the passing order of the driving conflict area are determined, and the vehicle drives into the driving conflict area according to the passing order, realizing vehicle collaborative planning based on the local communication network, reducing the collaborative complexity, and broadening the application scenarios of vehicle collaboration.

[0111] Figure 8The structural schematic diagram of a vehicle cooperation device in an embodiment of the present disclosure is as follows. As Figure 8 shown, the device includes: a cooperation information sending module 210, a driving conflict area judging module 220, a passing sequence determining module 230, and a driving conflict area passing module 240.

[0112] Among them, the cooperation information sending module 210 is used to establish a local communication network between the current vehicle and other surrounding vehicles; determine the cooperation information of the current vehicle in real time, and send the cooperation information of the current vehicle to other vehicles through the local communication network; receive the cooperation information sent by the other vehicles through the local communication network in real time; the driving conflict area judging module 220 is used to determine whether there is a driving conflict area between the current vehicle and any other vehicle according to the cooperation information of the current vehicle and the cooperation information of other vehicles; the passing sequence determining module 230 is used to determine the driving conflict area of the current vehicle and determine the passing sequence of the driving conflict area in response to the existence of a driving conflict area between the current vehicle and any other vehicle; the driving conflict area passing module 240 is used to drive into the driving conflict area according to the passing sequence.

[0113] Based on the above example, optionally, the cooperation information includes information on the to-be-driven trajectory of the vehicle and information on the driving conflict area of the vehicle; the driving conflict area judging module 220 is further used to, for any other vehicle, when it is determined that at least one conflict condition is satisfied according to the cooperation information of the current vehicle and the cooperation information of the other vehicle, determine that there is a driving conflict area between the current vehicle and the other vehicle; the conflict conditions include: there is an overlapping part between the to-be-driven trajectory of the current vehicle and the to-be-driven trajectory of the other vehicle; there is an overlapping part between the to-be-driven trajectory of the current vehicle and the driving conflict area of the other vehicle; there is an overlapping part between the driving conflict area of the current vehicle and the to-be-driven trajectory of the other vehicle; there is an overlapping part between the driving conflict area of the current vehicle and the driving conflict area of the other vehicle.

[0114] Based on the above example, optionally, the traffic order determination module 230 is further configured to, when there is a target overlapping part between the to-be-driven trajectory of the current vehicle and the to-be-driven trajectory of the conflicting vehicle, and the target overlapping part has no intersection with the driving conflict area of the current vehicle and no intersection with the driving conflict area of the conflicting vehicle, update the driving conflict area of the current vehicle according to the target overlapping part, and take the part between the current vehicle position and the target position to leave the driving conflict area of the current vehicle as the new to-be-driven trajectory of the current vehicle; when there is an intersection between the to-be-driven trajectory of the current vehicle and the driving conflict area of the conflicting vehicle, and the driving conflict area of the current vehicle has no intersection with the driving conflict area of the conflicting vehicle, determine whether there is a target overlapping part. If so, update the union of the target overlapping part and the driving conflict area of the conflicting vehicle as the driving conflict area of the current vehicle. If not, update the driving conflict area of the conflicting vehicle as the driving conflict area of the current vehicle; take the part between the current vehicle position and the target position to leave the driving conflict area of the current vehicle as the new to-be-driven trajectory of the current vehicle; when there is an intersection between the driving conflict area of the current vehicle and the to-be-driven trajectory of the conflicting vehicle and the driving conflict area of the current vehicle has no intersection with the driving conflict area of the conflicting vehicle, determine whether there is a target overlapping part. If so, update the union of the target overlapping part and the driving conflict area of the current vehicle as the driving conflict area of the current vehicle. If not, keep the driving conflict area of the current vehicle unchanged; take the part between the current vehicle position and the target position to leave the driving conflict area of the current vehicle as the new to-be-driven trajectory of the current vehicle; when there is an intersection between the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle, determine whether there is a target overlapping part. If so, update the union of the target overlapping part, the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle as the driving conflict area of the current vehicle. If not, update the union of the driving conflict area of the current vehicle and the driving conflict area of the conflicting vehicle as the driving conflict area of the current vehicle; take the part between the current vehicle position and the target position to leave the driving conflict area of the current vehicle as the new to-be-driven trajectory of the current vehicle; where the conflicting vehicle is another vehicle that has a driving conflict area with the current vehicle.

[0115] Based on the above example, optionally, the collaborative information includes information on the to-be-traveled trajectory of the vehicle, information on the driving conflict area of the vehicle, and information on the vehicle state of the vehicle; the passing order determination module 230 is further configured to determine that the vehicle state in the collaborative information of the current vehicle is updated from the initial state to the first state; use other vehicles in conflict with the current vehicle as conflict vehicles, and update the driving conflict area and the to-be-traveled trajectory of the current vehicle according to the to-be-traveled trajectory and the driving conflict area in the collaborative information of the conflict vehicles, the to-be-traveled trajectory and the driving conflict area of the current vehicle; use the position where the to-be-traveled trajectory of the current vehicle enters the driving conflict area of the current vehicle as the parking position, and control the current vehicle to drive to the parking position according to the to-be-traveled trajectory of the current vehicle, and control the current vehicle to stop; in the case of stopping at the parking position, update the conflict vehicles, and determine whether there are no conflict vehicles, or whether the vehicle states in the collaborative information of the conflict vehicles are all in the initial state or the first state; if so, determine that the vehicle state in the collaborative information of the current vehicle is updated from the first state to the parking negotiation state; in response to the vehicle state of the current vehicle being the parking negotiation state, control the current vehicle to remain parked at the parking position, and determine the passing order of the driving conflict area according to the collaborative information of the current vehicle and the collaborative information of other vehicles.

[0116] Based on the above example, optionally, the parking negotiation state includes a second state and a third state. The passing order determination module 230 is further configured to determine that the vehicle state in the collaboration information of the current vehicle is updated from the first state to the second state. Correspondingly, the passing order determination module 230 is further configured to, in response to the vehicle state of the current vehicle being the second state, update the conflicting vehicles when the duration of being in the second state reaches a preset duration, and determine whether there are no conflicting vehicles, or whether the vehicle identification to be sorted in the collaboration information of the current vehicle is the same as the vehicle identification to be sorted in the collaboration information of each conflicting vehicle. If so, it is determined that the vehicle state in the collaboration information of the current vehicle is updated from the second state to the third state. If not, the vehicle identification to be sorted in the collaboration information of the current vehicle is updated according to the vehicle state of the conflicting vehicles, and the step of updating the conflicting vehicles and determining whether there are no conflicting vehicles, or whether the vehicle identification to be sorted in the collaboration information of the current vehicle is the same as the vehicle identification to be sorted in the collaboration information of each conflicting vehicle is returned to be executed. In response to the vehicle state of the current vehicle being the third state, the passing order in the collaboration information of the current vehicle is determined, and it is determined whether the passing order in the collaboration information of the conflicting vehicle corresponding to the vehicle identification to be sorted in the collaboration information of the current vehicle is the same as the passing order in the collaboration information of the current vehicle. If so, it is determined that the vehicle state in the collaboration information of the current vehicle is updated from the third state to the fourth state. If not, the step of determining the passing order in the collaboration information of the current vehicle is returned to be executed.

[0117] Based on the above example, optionally, the driving conflict area passing module 240 is further configured to, in response to the vehicle state of the current vehicle being the fourth state, update the passing order in the collaboration information of the current vehicle according to the vehicle state in the collaboration information of the conflicting vehicles when the current vehicle is not in the first position of the passing order in the collaboration information of the current vehicle. When the current vehicle is in the first position of the passing order in the collaboration information of the current vehicle, control the current vehicle to drive into the driving conflict area of the current vehicle, and determine whether the current vehicle has left the driving conflict area of the current vehicle. If so, it is determined that the vehicle state in the collaboration information of the current vehicle is updated from the fourth state to the initial state.

[0118] Based on the above example, optionally, the passing order determination module 230 is further configured to, when the passing order in the cooperation information of the current vehicle is empty, update the passing order in the cooperation information of the current vehicle according to the driving order calculation method pre-configured in the current vehicle and the cooperation information corresponding to the vehicle identifier to be sorted; when the passing order in the cooperation information of the current vehicle is not empty, update the passing order in the cooperation information of the current vehicle according to the passing order in the cooperation information of the current vehicle and the passing order in the cooperation information of each conflicting vehicle among the vehicle identifiers to be sorted in the cooperation information of the current vehicle.

[0119] The vehicle cooperation device provided by the embodiments of the present disclosure can execute the steps in the vehicle cooperation method provided by the method embodiments of the present disclosure, and the implementation steps and beneficial effects are not described herein again.

[0120] Figure 9 It is a schematic structural diagram of an electronic device in the embodiments of the present disclosure. Specifically refer to the following Figure 9 which shows a schematic structural diagram of the electronic device 300 suitable for implementing the embodiments of the present disclosure. Figure 9 The shown electronic device is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present disclosure.

[0121] As Figure 9 shown, the electronic device 300 may include a processing device 301, a read-only memory (ROM) 302, a random access memory (RAM) 303, a bus 304, an input / output (I / O) interface 305, an input device 306, an output device 307, a storage device 308, and a communication device 309. The processing device (such as a central processing unit, a graphics processing unit, etc.) 301 can execute various appropriate actions and processes according to the program in the ROM 302 or the program loaded from the storage device 308 into the RAM 303 to implement the method of the embodiments as described in the present disclosure. In the RAM 303, various programs and data required for the operation of the electronic device 300 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other through the bus 304. The input / output (I / O) interface 305 is also connected to the bus 304.

[0122] In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, an embodiment of the present disclosure includes a computer program product that includes a computer program carried on a non-transitory computer-readable medium. The computer program includes program code for performing the methods shown in the flowcharts, thereby implementing the vehicle cooperation method as described above. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device 309, or installed from a storage device 308, or installed from a ROM 302. When the computer program is executed by a processing device 301, the above-described functions defined in the method of the embodiment of the present disclosure are performed.

[0123] It should be noted that the above computer-readable medium in the present disclosure can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable signal medium can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0124] The above computer-readable medium can be included in the above electronic device; or it can exist separately and not be assembled into the electronic device. The above computer-readable medium carries one or more programs. When the above one or more programs are executed by the electronic device, the electronic device is caused to:

[0125] The current vehicle establishes a local communication network with other surrounding vehicles; determines the cooperation information of the current vehicle in real time, and sends the cooperation information of the current vehicle to other vehicles through the local communication network; receives the cooperation information sent by the other vehicles through the local communication network in real time;

[0126] Determine whether there is a driving conflict area between the current vehicle and any other vehicle according to the cooperation information of the current vehicle and the cooperation information of other vehicles;

[0127] In response to the existence of a driving conflict area between the current vehicle and any other vehicle, determine the driving conflict area of the current vehicle, and determine the passing order of the driving conflict area;

[0128] Drive into the driving conflict area in accordance with the passing order.

[0129] Optionally, when one or more of the above programs are executed by the electronic device, the electronic device may also execute other steps described in the above embodiments.

[0130] The above description is only a preferred embodiment of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the (but not limited to) technical features with similar functions disclosed in the present disclosure.

Claims

1. A vehicle cooperation method, characterized in that: The current vehicle establishes a local communication network with other surrounding vehicles; determines the coordination information of the current vehicle in real time, and sends the coordination information of the current vehicle to other vehicles through the local communication network; Receiving the collaborative information sent by the other vehicles in real time through the local communication network; The method further includes: Determine whether the current vehicle has a traffic conflict area with any other vehicle based on the coordination information of the current vehicle and the coordination information of other vehicles; In response to a traffic conflict area between the current vehicle and any other vehicle, determining the traffic conflict area of ​​the current vehicle, and determining a passing order of the traffic conflict area; Enter the traffic conflict area according to the traffic order.

2. The method according to claim 1, characterized in that The coordination information includes information about the vehicle's to-be-traveled trajectory and information about the vehicle's driving conflict area; The determining, based on the coordination information of the current vehicle and the coordination information of other vehicles, whether the current vehicle has a traffic conflict area with any other vehicle includes: For any other vehicle, when it is determined that at least one conflict condition is satisfied according to the cooperation information of the current vehicle and the cooperation information of the other vehicle, it is determined that there is a driving conflict area between the current vehicle and the other vehicle; The conflict conditions include: The to-be-traveled trajectory of the current vehicle overlaps with the to-be-traveled trajectory of the other vehicle; There is an overlap between the to-be-traveled trajectory of the current vehicle and the driving conflict area of ​​the other vehicle; The driving conflict area of ​​the current vehicle overlaps with the to-be-driven trajectory of the other vehicle; The driving conflict area of ​​the current vehicle overlaps with the driving conflict area of ​​the other vehicle.

3. The method according to claim 1, characterized in that: Determining the driving conflict area of ​​the current vehicle includes: In the case where there is a target overlap portion between the to-be-traveled trajectory of the current vehicle and the to-be-traveled trajectory of the conflicting vehicle, and the target overlap portion and the driving conflict area of ​​the current vehicle do not intersect, and the target overlap portion and the driving conflict area of ​​the conflicting vehicle do not intersect, then the driving conflict area of ​​the current vehicle is updated according to the target overlap portion, and the portion between the current vehicle position and the target position leaving the driving conflict area of ​​the current vehicle is used as the new to-be-traveled trajectory of the current vehicle; In the case that the to-be-traveled trajectory of the current vehicle and the driving conflict area of ​​the conflicting vehicle intersect, and the driving conflict area of ​​the current vehicle and the driving conflict area of ​​the conflicting vehicle do not intersect, it is determined whether there is a target overlap portion, if so, the union of the target overlap portion and the driving conflict area of ​​the conflicting vehicle is updated as the driving conflict area of ​​the current vehicle, if not, the driving conflict area of ​​the conflicting vehicle is updated as the driving conflict area of ​​the current vehicle; the portion between the current vehicle position and the target position leaving the driving conflict area of ​​the current vehicle is used as the new to-be-traveled trajectory of the current vehicle; In the case that the traffic conflict area of ​​the current vehicle and the to-be-traveled trajectory of the conflicting vehicle intersect and the traffic conflict area of ​​the current vehicle and the traffic conflict area of ​​the conflicting vehicle do not intersect, it is determined whether there is a target overlap portion, if so, the union of the target overlap portion and the traffic conflict area of ​​the current vehicle is updated as the traffic conflict area of ​​the current vehicle, if not, the traffic conflict area of ​​the current vehicle is kept unchanged; the portion between the current vehicle position and the target position leaving the traffic conflict area of ​​the current vehicle is used as the new to-be-traveled trajectory of the current vehicle; In the case where the driving conflict area of ​​the current vehicle and the driving conflict area of ​​the conflicting vehicle have an intersection, it is determined whether there is a target overlap portion. If so, the union of the target overlap portion, the driving conflict area of ​​the current vehicle and the driving conflict area of ​​the conflicting vehicle is updated as the driving conflict area of ​​the current vehicle. If not, the union of the driving conflict area of ​​the current vehicle and the driving conflict area of ​​the conflicting vehicle is updated as the driving conflict area of ​​the current vehicle; the portion between the current vehicle position and the target position leaving the driving conflict area of ​​the current vehicle is used as the new to-be-traveled trajectory of the current vehicle; The conflicting vehicles are other vehicles that are in a driving conflict area with the current vehicle.

4. The method according to claim 1, characterized in that The coordination information includes information about the vehicle's to-be-traveled trajectory, information about the vehicle's driving conflict area, and information about the vehicle's vehicle status; The determining of the traffic order of the traffic conflict area includes: Determining that the vehicle state in the cooperative information of the current vehicle is updated from an initial state to a first state; The other vehicles that conflict with the current vehicle are regarded as conflicting vehicles, and the driving conflict area and the to-be-traveled trajectory of the current vehicle are updated according to the to-be-traveled trajectory and the driving conflict area in the cooperative information of the conflicting vehicles and the to-be-traveled trajectory and the driving conflict area of ​​the current vehicle; The position where the to-be-traveled trajectory of the current vehicle enters the driving conflict area of ​​the current vehicle is used as the parking position, and the current vehicle is controlled to travel to the parking position according to the to-be-traveled trajectory of the current vehicle, and the current vehicle is controlled to stop; In the case of driving to the parking position and parking, updating the conflicting vehicle, determining whether there is no conflicting vehicle, or the vehicle states in the cooperation information of the conflicting vehicles are all in the initial state or the first state; if so, determining that the vehicle state in the cooperation information of the current vehicle is updated from the first state to the parking negotiation state; In response to the vehicle state of the current vehicle being a parking negotiation state, the current vehicle is controlled to remain parked at the parking position, and a passing order in the driving conflict area is determined based on the coordination information of the current vehicle and the coordination information of other vehicles.

5. The method according to claim 4, characterized in that The parking negotiation state includes a second state and a third state, and the determining that the vehicle state in the cooperative information of the current vehicle is updated from the first state to the parking negotiation state includes: Determining that the vehicle state in the cooperative information of the current vehicle is updated from the first state to the second state; Accordingly, determining the passing order of the traffic conflict area according to the coordination information of the current vehicle and the coordination information of other vehicles includes: In response to the vehicle state of the current vehicle being the second state, when the duration of being in the second state reaches a preset duration, the conflicting vehicle is updated to determine whether there is no conflicting vehicle, or the to-be-sorted vehicle identifier in the coordinated information of the current vehicle is the same as the to-be-sorted vehicle identifier in the coordinated information of each conflicting vehicle; if so, it is determined that the vehicle state in the coordinated information of the current vehicle is updated from the second state to the third state; if not, the to-be-sorted vehicle identifier in the coordinated information of the current vehicle is updated according to the vehicle state of the conflicting vehicle, and the process returns to execute the step of updating the conflicting vehicle to determine whether there is no conflicting vehicle, or the to-be-sorted vehicle identifier in the coordinated information of the current vehicle is the same as the to-be-sorted vehicle identifier in the coordinated information of each conflicting vehicle; In response to the vehicle state of the current vehicle being the third state, the passage order in the collaborative information of the current vehicle is determined, and it is judged whether the passage order in the collaborative information of the conflicting vehicles corresponding to the vehicle identifiers to be sorted in the collaborative information of the current vehicle is the same as the passage order in the collaborative information of the current vehicle; if so, it is determined that the vehicle state in the collaborative information of the current vehicle is updated from the third state to the fourth state; if not, return to execute the step of determining the passage order in the collaborative information of the current vehicle.

6. The method according to claim 5, characterized in that The step of entering the traffic conflict area according to the traffic order includes: In response to the vehicle state of the current vehicle being the fourth state, when the current vehicle is not located at the first position in the passage order in the cooperative information of the current vehicle, the passage order in the cooperative information of the current vehicle is updated according to the vehicle state in the cooperative information of the conflicting vehicle; when the current vehicle is located at the first position in the passage order in the cooperative information of the current vehicle, the current vehicle is controlled to enter the driving conflict area of ​​the current vehicle, and it is determined whether the current vehicle leaves the driving conflict area of ​​the current vehicle; if so, it is determined that the vehicle state in the cooperative information of the current vehicle is updated from the fourth state to the initial state.

7. The method according to claim 5, characterized in that The determining of the passing order in the cooperative information of the current vehicle includes: When the passing order in the coordinated information of the current vehicle is empty, the passing order in the coordinated information of the current vehicle is updated according to the driving order solution method pre-configured in the current vehicle and the coordinated information corresponding to the identification of the vehicle to be sorted; When the passage order in the collaborative information of the current vehicle is not empty, the passage order in the collaborative information of the current vehicle is updated according to the passage order in the collaborative information of the current vehicle and the passage order in the collaborative information of each conflicting vehicle in the vehicle identification to be sorted in the collaborative information of the current vehicle.

8. A vehicle cooperative device, characterized in that: include: A cooperative information sending module is used to establish a local communication network between the current vehicle and other surrounding vehicles; determine the cooperative information of the current vehicle in real time, and send the cooperative information of the current vehicle to other vehicles through the local communication network; receiving the cooperative information sent by the other vehicles in real time through the local communication network; the device also includes: A traffic conflict area judgment module is used to determine whether the current vehicle has a traffic conflict area with any other vehicle based on the coordination information of the current vehicle and the coordination information of other vehicles; A traffic order determination module, configured to determine the traffic conflict area of ​​the current vehicle and the traffic order of the traffic conflict area in response to a traffic conflict area between the current vehicle and any other vehicle; The traffic conflict area passing module is used to enter the traffic conflict area according to the passing sequence.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle cooperation method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle cooperation method as described in any one of claims 1 to 7 is implemented.

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