Vehicle formation method and device, program product and medium

Abstract

The invention discloses a vehicle formation method and device, a program product and a medium. The method is applied to a cloud control system and comprises the steps that first information sent by roadside equipment is acquired, and the first information is information, acquired by the roadside equipment, of a free vehicle; acquiring second information sent by the roadside equipment, wherein the second information is feedback information of the target vehicle formation acquired by the roadside equipment; according to the obtained first information and second information, a communication pipeline is generated between the cloud of the free vehicle and the cloud of the target vehicle formation, and the free vehicle and the target vehicle formation perform information interaction through the communication pipeline to form a strategy that the free vehicle joins the target vehicle formation, so that long-distance communication between vehicles can be realized; and the formation information security is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving, and particularly relates to a method, device, program product, and medium for vehicle formation. Background Art

[0002] With the development of autonomous driving technology, single-vehicle autonomous driving has been widely promoted and applied, which also provides a basis for realizing autonomous driving formation driving. Vehicle formation driving can effectively improve transportation efficiency. Autonomous driving formation driving refers to two or more vehicles that, based on technologies such as intelligent sensors, wireless communication, and autonomous driving, share vehicle-to-vehicle data and drive autonomously in a queue form in a specific scenario.

[0003] Formation driving is implemented by different technology companies. However, if vehicles from different technology companies on the road want to achieve formation, unless they are at a very close distance where vehicle-to-vehicle communication can cover (generally within 400m), otherwise it cannot be completed. Generally speaking, each technology company will establish its own cloud control system, and the vehicles of that technology company or the vehicles using the formation technology of that technology company will be connected to the cloud control system. However, the cloud control systems of different technology companies are not interconnected or shared. When the vehicle is too far from the formation to establish V2V communication, but it hopes to join the vehicle formation in front, the vehicle that needs to join the formation can send a formation intention to the cloud control system, and then the cloud control system will coordinate. However, formation information is relatively important input data, which to a certain extent reflects the enterprise's formation control ability. Therefore, there are data security problems for vehicles from existing different technology companies to achieve long-distance formation. Summary of the Invention

[0004] The purpose of the present invention is to provide a method, device, program product, and medium for vehicle formation, so as to enable long-distance vehicle-to-vehicle communication and ensure the security of formation information.

[0005] To solve the above technical problems, an embodiment of the present invention provides a vehicle formation method, which is applied to a cloud control system and includes:

[0006] Obtain first information sent by a roadside device, where the first information is information of a free vehicle obtained by the roadside device;

[0007] Obtain second information sent by the roadside device, where the second information is feedback information of a target vehicle formation obtained by the roadside device;

[0008] According to the obtained first information and the second information, generate a communication pipeline between the cloud of the free vehicle and the cloud of the target vehicle formation, and the free vehicle and the target vehicle formation interact information through the communication pipeline to form a strategy for the free vehicle to join the target vehicle formation.

[0009] An embodiment of the present invention also provides a vehicle formation method, including:

[0010] The free vehicle broadcasts first information to the roadside equipment nearby, and the first information is the information of the free vehicle obtained by the roadside equipment;

[0011] The roadside equipment sends the obtained first information to the cloud control system;

[0012] The cloud control system sends the first information to other roadside equipment near the free vehicle;

[0013] After the target formation vehicle receives the free vehicle information broadcast by the roadside equipment it monitors, it feeds back second information to the roadside equipment, and the roadside equipment sends the received second information to the cloud control system;

[0014] The cloud control system generates a communication pipeline between the cloud of the free vehicle and the cloud of the target vehicle, and the free vehicle and the target vehicle form a formation through information interaction via the communication pipeline, forming a strategy for the free vehicle to join the target vehicle formation.

[0015] An embodiment of the present invention also provides a control device for vehicle formation, used to execute any one of the vehicle control methods, including:

[0016] A controlled vehicle, where the controlled vehicle includes: a free vehicle, any vehicle in the target vehicle formation;

[0017] A cloud control system, used to establish a communication connection with the cloud of the free vehicle and the cloud of the target vehicle formation;

[0018] Multiple roadside equipment, used to obtain the first information of the free vehicle and the second information of the target vehicle formation, and communicate with the cloud control system; the multiple roadside equipment are arranged at a preset distance.

[0019] An embodiment of the present invention also provides a computer program product, including a computer program, which implements the control method for vehicle formation according to any one of the above when executed by a processor.

[0020] An embodiment of the present invention also provides a computer-readable storage medium, where the computer-readable storage medium is a non-volatile storage medium or a non-transitory storage medium, and a computer program is stored thereon. The computer program is characterized in that it executes the steps of any one of the vehicle control methods when run by a processor.

[0021] In one embodiment, the step of establishing a communication pipeline between the cloud of the free vehicle and the cloud of the target vehicle formation according to the obtained first information and second information, and enabling information interaction between the free vehicle and the target vehicle formation through the communication pipeline to form a strategy for the free vehicle to join the target vehicle formation specifically includes:

[0022] Obtain the IP address and port address of the communication pipelines of both the free vehicle and the target vehicle formation;

[0023] Enable the free vehicle and the target vehicle formation to learn each other's IP address and port address through roadside equipment, and the free vehicle and the target vehicle formation perform information interaction in the communication pipeline according to the obtained IP address and port address.

[0024] In one embodiment, before the step of obtaining the IP address and port address of the pipeline communication between the free vehicle and the target vehicle formation, it includes:

[0025] Obtain a first communication interface and a second communication interface, where the first communication interface is the communication interface of the cloud of the free vehicle, and the second communication interface is the communication interface of the cloud of the target vehicle formation;

[0026] Notify the cloud of the free vehicle to open its IP address and port address of the pipeline communication through the first communication interface, and notify the cloud of the target vehicle formation to open its IP address and port address of the pipeline communication through the second communication interface.

[0027] In one embodiment, the information of the free vehicle required to determine whether it can join the target vehicle formation includes one or more of vehicle load, braking performance, or vehicle type.

[0028] In one embodiment, after the step of establishing a communication pipeline between the cloud of the free vehicle and the cloud of the target vehicle formation according to the obtained first information and second information, and enabling information interaction between the free vehicle and the target vehicle formation through the communication pipeline to form a strategy for the free vehicle to join the target vehicle formation, it further includes:

[0029] When the distance between the free vehicle and the target vehicle formation reaches a preset distance, after establishing V2V communication between the free vehicle and the target vehicle formation, the cloud of the free vehicle and the cloud of the target vehicle formation destroy the communication pipeline.

[0030] In one embodiment, after the steps of obtaining a first communication interface and a second communication interface, where the first communication interface is the communication interface of the cloud of the free vehicle and the second communication interface is the communication interface of the cloud of the target vehicle formation, before the steps of obtaining the IP address and port address of the pipe communication between the free vehicle and the target vehicle formation, the following steps are further included:

[0031] Send a secret key to the clouds of both the free vehicle and the target vehicle formation through the first communication interface and the second communication interface.

[0032] Compared with the prior art, in the embodiments of the present invention, through the coordination of the cloud control system, the clouds of the free vehicle and the target vehicle formation form communication pipe information interaction, enabling long-distance vehicle-to-vehicle communication and preventing the leakage of vehicle formation information. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplary illustrations do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise stated. The drawings in the figures do not constitute a proportional limitation.

[0034] Figure 1 is a schematic diagram of a control device in an embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of the process of a control method in an embodiment of the present invention;

[0036] Figure 3 is a flowchart of a control method in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will elaborate on the various embodiments of the present invention in conjunction with the drawings. However, those of ordinary skill in the art can understand that in the various embodiments of the present invention, many technical details are presented for the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can still be implemented.

[0038] In the following description, certain specific details are set forth for the purpose of explaining various disclosed embodiments to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments can be practiced without one or more of these specific details. In other instances, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0039] Unless the context requires otherwise, throughout the specification and claims, the words "comprising" and its variations such as "including" and "having" shall be understood in an open, inclusive sense, i.e., shall be interpreted as "including, but not limited to".

[0040] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to more clearly understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not a limitation on the scope of the present invention, but only to illustrate the essential spirit of the technical solution of the present invention.

[0041] References to "one embodiment" or "an embodiment" throughout the specification mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of "in one embodiment" or "in an embodiment" in various places throughout the specification are not necessarily all referring to the same embodiment. Additionally, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0042] As used in this specification and the appended claims, the singular forms "a" and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally used in its inclusive sense of "and / or" unless the context clearly dictates otherwise.

[0043] In the following description, in order to clearly show the structure and working mode of the present invention, many directional terms will be used for description. However, words such as "front", "rear", "left", "right", "outer", "inner", "outward", "inward", "up", "down", etc. should be understood as convenient terms and should not be understood as limiting terms.

[0044] Embodiments of the present invention are described below with reference to the drawings.

[0045] Embodiments of the present application provide a method, apparatus, program product, and medium for vehicle platooning. Specifically, the vehicle platooning control method of the embodiments of the present application can be executed by a computer device, where the computer device can be a terminal or a server, etc. The embodiments of the present application can be applied to various scenarios such as cloud technology, artificial intelligence, intelligent transportation, and autonomous driving.

[0046] First, some nouns or terms that appear in the process of describing the embodiments of this application are explained as follows: The intelligent transportation system, also known as the intelligent transport system, effectively integrates advanced scientific and technological means (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control, and vehicle manufacturing, strengthening the connection among vehicles, roads, and users, thereby forming an integrated transportation system that ensures safety, improves efficiency, enhances the environment, and saves energy.

[0047] The intelligent vehicle-road collaborative system, abbreviated as the vehicle-road collaborative system, is a development direction of the intelligent transportation system (ITS). The vehicle-road collaborative system uses advanced wireless communication and new-generation Internet technologies to comprehensively implement dynamic real-time information interaction between vehicles and between vehicles and roads, and on the basis of full-time and full-space dynamic traffic information collection and fusion, conducts active vehicle safety control and road collaborative management, fully realizing the effective collaboration of people, vehicles, and roads, ensuring traffic safety, improving traffic efficiency, and thus forming a safe, efficient, and environmentally friendly road traffic system. Intelligent transportation makes full use of new-generation information technologies such as the Internet of Things, spatial perception, cloud computing, and mobile Internet in the entire transportation field, comprehensively applying theories and tools such as traffic science, systematic methods, artificial intelligence, and knowledge mining, aiming at comprehensive perception, deep integration, active service, and scientific decision-making. By building a real-time dynamic information service system, deeply mining transportation-related data, forming a problem analysis model, and realizing the improvement of the industry's resource allocation ability, public decision-making ability, industry management ability, and public service ability, it promotes the safer, more efficient, more convenient, more economical, more environmentally friendly, and more comfortable operation and development of transportation, driving the transformation and upgrading of transportation-related industries.

[0048] Autopilot technology usually includes technologies such as high-precision maps, environmental perception, behavior decision-making, path planning, and motion control. Autopilot technology has broad application prospects.

[0049] Formation: It refers to two or more vehicles closely following and connecting based on wireless communication technology and autopilot technology, forming a vehicle formation with similar driving behaviors.

[0050] Formation driving: Two or more vehicles drive in a formation in a specific scenario. The vehicles share information through communication to drive in coordination, and it also includes formation behavior processes such as creating a formation, disbanding a formation, a vehicle joining a formation, and a vehicle leaving a formation.

[0051] A vehicle formation is a fleet composed of multiple vehicles. In the application scenarios of vehicle formations, there are the following four vehicle roles: a lead vehicle, a following vehicle, and a free vehicle (optional).

[0052] Pilot vehicle: The vehicle at the front of the platoon in the driving direction during platoon driving, responsible for the management of the entire platoon, such as providing data transmission and management such as vehicle position, path planning, and platoon process confirmation for following vehicles.

[0053] Following vehicle: Other vehicles following in the platoon except the pilot vehicle during platoon driving, which are important component vehicles in the vehicle platoon.

[0054] Free vehicle is other vehicle outside the vehicle platoon, and free vehicle does not participate in the data interaction operation in the vehicle platoon.

[0055] V2V communication technology is a communication technology not limited to fixed base stations, providing direct end-to-end wireless communication for moving vehicles. That is, through V2V communication technology, vehicle terminals directly exchange wireless information with each other without forwarding through the base station.

[0056] Cloud technology: It refers to a hosting technology that unifies a series of resources such as hardware, software, and network within a wide area network or local area network to achieve data computing, storage, processing, and sharing. Cloud technology is the general term for network technology, information technology, integration technology, management platform technology, application technology, etc. based on the cloud computing business model, which can form a resource pool, be used as needed, and be flexible and convenient. Cloud computing technology will become an important support. The background services of the technical network system require a large amount of computing and storage resources, such as video websites, picture websites, and more portal websites. With the highly developed and applied Internet industry, in the future, each item may have its own identification mark and needs to be transmitted to the background system for logical processing. Data at different levels will be processed separately, and various industry data requires a powerful system background support, which can only be achieved through cloud computing.

[0057] Mobile edge computing is a technology based on the 5G evolution architecture and deeply integrates the mobile access network with Internet services. MEC can use the wireless access network to provide IT services and cloud computing functions required by telecom users nearby, creating a telecom-level service environment with high performance, low latency, and high bandwidth, accelerating the rapid download of various contents, services, and applications in the network, and enabling consumers to enjoy an uninterrupted high-quality network experience. On the one hand, MEC can improve the user experience and save bandwidth resources. On the other hand, by sinking computing power to mobile edge nodes and providing third-party application integration, it provides unlimited possibilities for service innovation at the mobile edge entrance.

[0058] This application is mainly applicable to the scenario of commercial vehicle trunk logistics on highways. For the operators or manufacturers of commercial vehicle platooning, there will definitely be many companies in the future, and they do not have a cloud that can share platooning information. This application aims to solve the problem of communication of platooning information and platooning intentions between commercial vehicles in this situation. The general approach is for a certain enterprise to directly establish a cloud control system, and then each manufacturer or operator connects to the cloud control system and uploads platooning information in real time. Vehicles that need to join the platoon can send platooning intentions to the cloud control system, which then coordinates. However, platooning information is relatively important input data that to a certain extent reflects an enterprise's platooning control ability. Therefore, to prevent the leakage of core information, enterprises generally do not have the intention to connect to this cloud control system. It should be noted that both "ISO 4272 2022 Intelligent transport systems" and "T CHTS10174-2024 Functional Requirements for Truck Platoon Operation Systems on Highways" mention that if a vehicle wants to join a platoon, it should send a joining request to the vehicle in front of the platoon through v2v communication at a short distance (the maximum available range of V2V communication is about 400m, so it cannot be very far). That is, the platooning intention is informed to the platoon through vehicle-to-vehicle communication. In this case, if the distance is very far, such as several kilometers, platooning cannot be achieved at all. But in fact, if the two parties can communicate, they can completely close the distance by the following vehicle accelerating and the leading platoon decelerating, and then complete the platooning. Therefore, the embodiments of this application provide a method, device, program product, and medium for vehicle platooning, which can achieve long-distance vehicle-to-vehicle communication, enabling both parties to understand the platooning intention and prepare for subsequent platooning actions (such as the leading vehicle decelerating and the following vehicle accelerating), and can prevent the leakage of core information.

[0059] In the first embodiment of the present invention, a control device for vehicle platooning is provided for executing a vehicle control method, such as Figure 1 shown, including: a controlled vehicle cloud control system and multiple roadside devices. The controlled vehicle can be a free vehicle or any vehicle in the target vehicle platoon, such as a leading vehicle or a following vehicle. The controlled vehicle can be equipped with an on-vehicle terminal and is connected to its cloud through the on-vehicle terminal via a network. The controlled vehicle can also be equipped with an ADAS function. The cloud can be deployed in a central cloud or an edge computing node (MEC). As the name implies, the edge cloud server is a server closer to the edge, such as set on the roadside to provide services nearby and improve the data response speed. Compared with the edge cloud server, the central cloud server is set at a remote location and can provide services over a larger range. The controlled vehicle also has an autonomous driving ability above L3 and has the communication ability with roadside devices (such as Bluetooth, V2X, etc.) and the cloud control system (mobile network).

[0060] The cloud control system is used to establish communication connections with the cloud of free vehicles and the cloud of the target vehicle formation. The cloud control system can connect to roadside devices and does not store any formation information.

[0061] The roadside devices are used to obtain the first information of free vehicles and the second information of the target vehicle formation, and communicate with the cloud control system; multiple roadside devices are arranged at preset intervals. Taking the roadside devices set on highways as an example, roadside devices are built every certain distance (such as 5 km) on highways. The functions of the roadside devices are as follows: They have the function of communicating with controlled vehicles, and the communication methods can be Bluetooth, V2X, etc.; the roadside devices are connected to the cloud control system, and generally no data interaction is required; they have the ability to communicate with the cloud control system.

[0062] The second embodiment of the present invention provides a vehicle formation method. As Figure 1 、 Figure 2 、 Figure 3 shown, this vehicle formation method is applied to the cloud control system and includes:

[0063] Step 100, obtaining the first information sent by the roadside device, where the first information is the information of the free vehicle obtained by the roadside device; among them, the first information may include the configuration information of the free vehicle, and the configuration information can be one or more of vehicle load, braking performance, or vehicle type. In addition, the first information may also include position information, driving status information, etc. Specifically, it may include vehicle brand, model, vehicle length, color, engine power, number of axles, etc. The position information may include the specific position of the vehicle and the road condition information of the section where it is located. Among them, the driving status information may include the vehicle's speed, acceleration, heading angle, formation status, role status, driving plan, driving destination, etc. Among them, various sensors can be equipped on the free vehicle, such as laser sensors, vision sensors, speed sensors, acceleration sensors, position sensors, radars, etc. The free vehicle can detect data through the sensors and generate the above various vehicle status information according to the detected data. For example, speed data is detected by the speed sensor, acceleration data is detected by the acceleration sensor, and position data is detected by the position sensor. When the free vehicle needs to join the vehicle formation, it will broadcast its own information, that is, the first information. When it is captured by the nearby roadside device, the roadside device will upload the first information to the cloud control system. The cloud control system will send the first information to other roadside cloud control systems near the free vehicle, and the roadside cloud control system will broadcast it externally. The free vehicle broadcasts appropriate information according to the actual situation, and other information can be interacted after the free vehicle matches with the target vehicle formation.

[0064] Step 200: Obtain the second information sent by the roadside device. The second information is the feedback information of the target vehicle formation obtained by the roadside device. The second information may be that the target vehicle formation agrees to receive the feedback information of the free vehicle. When the roadside device broadcasts the first information, the vehicle formation willing to receive other vehicles to join the team, after hearing the broadcast information of the roadside device, determines whether it is suitable to join the team according to the first information. If it is suitable, then the vehicle formation is the target vehicle formation, and the second information is fed back to the roadside device, and the roadside device then notifies the cloud control system. In this embodiment, the leading vehicle in the vehicle formation can determine whether the free vehicle is suitable to join the team, such as whether the coincidence rate of the destination driving route of the free vehicle and the vehicle formation is high, such as more than 80%, or whether the load and braking performance of the free vehicle are very different from those of the vehicles in the vehicle formation. If the difference is very large, it is not suitable to join the team. If it is within a reasonable range, it can join the team.

[0065] Step 300: Generate a communication pipeline between the cloud of the free vehicle and the cloud of the target vehicle formation according to the obtained first information and second information. The free vehicle and the target vehicle formation interact information through the communication pipeline to form a strategy for the free vehicle to join the target vehicle formation. Specifically, refer to Figure 1Among them, there is a communication line a1 between the free vehicle and the roadside device, a communication line b1 between the roadside device and the cloud control system, a communication line a2 between the target vehicle formation and the roadside device, and a communication line b2 between the target vehicle formation and the cloud control system. After the cloud control system receives the second information sent by the roadside device, it can know that the target vehicle formation is generated. At this time, a communication pipeline is established between the cloud of the target vehicle formation and the cloud of the free vehicle formation, so that the free vehicle and the target vehicle formation can communicate through the communication pipeline. Through the communication pipeline, the free vehicle and the target vehicle formation can further communicate detailed information, such as the specific driving path and coordinated vehicle speed. If the target vehicle formation is in front of the free vehicle, the target vehicle formation can decelerate or the free vehicle can accelerate, etc. In the communication pipeline, the target vehicle formation can share its information with the free vehicle, such as the configuration information, position information, and driving status information of multiple in-team vehicles in the target vehicle formation. Among them, the configuration information of the in-team vehicle can include information such as the vehicle brand, model, vehicle length, load, color, engine power, and number of axles of each in-team vehicle. The position information can include the current position of the vehicle formation, the current position of each in-team vehicle, and road conditions, etc. The driving status information can include the speed, heading angle, driving plan, driving destination of the current vehicle formation, and the formation status, role status, driving plan, driving destination of each in-team vehicle, etc. Among them, the fleet information can also include vehicle formation information, such as the formation identification of the vehicle formation, the number of in-team vehicles included in the vehicle formation, and the capacity of the vehicle formation, etc. Thus, through the coordination of the cloud control system, information interaction of the communication pipeline is formed between the cloud of the free vehicle and the cloud of the target vehicle formation, preventing the leakage of vehicle formation information.

[0066] Further, the step of establishing a communication pipeline between the cloud of the free vehicle and the cloud of the target vehicle formation according to the obtained first information and second information, and the free vehicle and the target vehicle formation performing information interaction through the communication pipeline to form a strategy for the free vehicle to join the target vehicle formation specifically includes:

[0067] Step 110, obtain the IP address and port address of the communication pipelines of both the free vehicle and the target vehicle formation;

[0068] Step 120, let the free vehicle and the target vehicle formation know the IP address and port address of each other through the roadside device, and the free vehicle and the target vehicle formation perform information interaction in the communication pipeline according to the obtained IP address and port address.

[0069] Further, before the step of obtaining the IP address and port address of the pipeline communication between the free vehicle and the target vehicle formation includes:

[0070] Step 130, obtain a first communication interface and a second communication interface. The first communication interface is the communication interface of the cloud of the free vehicle, and the second communication interface is the communication interface of the cloud of the target vehicle formation;

[0071] Step 140, notify the cloud of the free vehicle to open the IP address and port address of its pipeline communication through the first communication interface, and notify the cloud of the target vehicle formation to open the IP address and port address of its pipeline communication through the second communication interface.

[0072] In addition, after the step of establishing a communication pipeline between the cloud of the free vehicle and the cloud of the target vehicle formation according to the obtained first information and second information, and the free vehicle and the target vehicle formation interact information through the communication pipeline to form a strategy for the free vehicle to join the target vehicle formation, the following steps are further included:

[0073] When the distance between the free vehicle and the target vehicle formation is a preset distance, after establishing V2V communication between the free vehicle and the target vehicle formation, the cloud of the free vehicle and the cloud of the target vehicle formation destroy the communication pipeline. That is to say, after the free vehicle and the target vehicle formation are close enough, the free vehicle notifies its cloud that the communication pipeline can be destroyed, and the leading vehicle of the target vehicle formation tells its cloud to destroy the communication pipeline. The free vehicle and the target vehicle formation use V2V communication to complete the joining of the team.

[0074] In addition, after the step of obtaining the first communication interface and the second communication interface, where the first communication interface is the communication interface of the cloud of the free vehicle and the second communication interface is the communication interface of the cloud of the target vehicle formation, before the step of obtaining the IP addresses and port addresses of the pipeline communications of both the free vehicle and the target vehicle formation, the following steps are further included:

[0075] Send a secret key to the clouds of both the free vehicle and the target vehicle formation through the first communication interface and the second communication interface, and both parties encrypt and decrypt based on this secret key.

[0076] In this embodiment, the cloud control system and the roadside device play a role in communication. All actual decisions are made on the controlled vehicles (free vehicles, vehicles in the vehicle formation), and the information transmitted by the controlled vehicles to the cloud control system is minimized as much as possible. When the free vehicle and the vehicle formation communicate in the communication pipeline, the cloud control system does not store information. The reason for the need for the roadside device to intervene instead of the controlled vehicle directly connecting to the cloud control system is as follows:

[0077] 1. Autonomous vehicles and vehicle formations are produced and operated by different manufacturers at different times, and the service address of the cloud control system may also change. Therefore, it is easy for vehicles to fail to connect to the cloud, and issues such as vehicle registration with the cloud control system may also arise. If it is through roadside facilities, it is different. Roadside equipment belongs to infrastructure, and only the communication method and data format with the vehicle need to be determined. If the cloud control system address changes, as long as it is OTA to the roadside facilities in advance before the change.

[0078] 2. Figure 2 The cloud control system in the middle is the central cloud control, but actually there may be its own cloud for each manufacturer below. In this embodiment, the final communication pipeline can be established between the clouds of two manufacturers, avoiding data aggregation of the cloud control system. Figure 2 Cloud A, Cloud B, and Cloud C correspond to vehicles of different manufacturers. Cloud A corresponds to autonomous vehicles, and Cloud B corresponds to the target vehicle formation.

[0079] All the above technical solutions can be combined arbitrarily to form alternative embodiments of the present application, which will not be elaborated here one by one.

[0080] The step division of the above various methods is only for clear description. When implemented, they can be combined into one step or some steps can be split into multiple steps. As long as the same logical relationship is included, it is within the protection scope of this patent; adding insignificant modifications or introducing insignificant designs to the algorithm or process, but not changing the core design of its algorithm and process, is within the protection scope of this patent.

[0081] The method embodiments of the present application have been described in detail above. It should be understood that the control device embodiments correspond to the method embodiments, and similar descriptions can refer to the method embodiments.

[0082] The third embodiment of the present invention relates to a vehicle formation method. The vehicle formation method includes:

[0083] The autonomous vehicle broadcasts the first information to the roadside equipment nearby. The first information is the information of the autonomous vehicle obtained by the roadside equipment;

[0084] The roadside equipment sends the obtained first information to the cloud control system;

[0085] The cloud control system sends the first information to other roadside equipment near the autonomous vehicle;

[0086] After the target formation vehicle receives the information of the autonomous vehicle broadcast by the roadside equipment it monitors, it feeds back the second information to the roadside equipment, and the roadside equipment sends the received second information to the cloud control system;

[0087] The cloud control system generates a communication pipeline between the cloud of the free vehicle and the cloud of the target vehicle. The free vehicle and the target vehicle form a formation and interact with each other through the information in the communication pipeline, thereby forming a strategy for the free vehicle to join the formation of the target vehicle. Specifically, how to generate the communication pipeline is described in the above embodiments and will not be elaborated here. The relevant technical details mentioned in the second embodiment are still valid in this embodiment. To avoid repetition, they will not be described again here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the second embodiment.

[0088] The fourth embodiment of the present invention also provides a computer program product, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to execute the corresponding processes in the video preview method in the embodiments of the present application. For the sake of brevity, it will not be elaborated here.

[0089] It should be understood that the processor in the embodiments of the present application may be an integrated circuit chip with signal processing capabilities. In the implementation process, the steps of the above method embodiments can be completed by the integrated logic circuit in the hardware of the processor or the instructions in the form of software. The above-mentioned processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit, a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed by the hardware decoding processor, or executed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method.

[0090] The fifth embodiment of the present invention relates to a computer-readable storage medium, which is a non-volatile storage medium or a non-transient storage medium, and stores a computer program thereon. When the computer program is run by a processor, it executes the steps of the vehicle control method in the first embodiment.

[0091] Those skilled in the art can understand that all or part of the steps in the methods of the above embodiments can be completed by instructing relevant hardware through a program. The program is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0092] The preferred embodiments of the present invention have been described in detail above. However, it should be understood that if necessary, aspects of the embodiments can be modified to adopt aspects, features, and concepts of various patents, applications, and publications to provide additional embodiments.

[0093] In view of the detailed description above, these and other changes can be made to the embodiments. Generally speaking, in the claims, the terms used should not be construed as being limited to the specific embodiments disclosed in the specification and the claims, but should be understood to include all possible embodiments together with the full equivalent scope enjoyed by these claims.

[0094] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention. In actual applications, various changes can be made in form and details without departing from the spirit and scope of the present invention.

Claims

1. A vehicle formation method, characterized in that, Applied to a cloud control system, including: Obtain the first information sent by the roadside device, where the first information is the information of free vehicles obtained by the roadside device; Obtain the second information sent by the roadside device, where the second information is the feedback information of the target vehicle formation obtained by the roadside device; According to the obtained first information and the second information, generate a communication pipeline between the cloud of the free vehicle and the cloud of the target vehicle formation, and the free vehicle and the target vehicle formation interact information through the communication pipeline to form a strategy for the free vehicle to join the target vehicle formation.

2. The vehicle platooning method according to claim 1, characterized in that The step of, according to the obtained first information and the second information, establishing a communication pipeline between the cloud of the free vehicle and the cloud of the target vehicle formation, and the free vehicle and the target vehicle formation interacting information through the communication pipeline to form a strategy for the free vehicle to join the target vehicle formation specifically includes: Obtain the IP address and port address of the communication pipelines of both the free vehicle and the target vehicle formation; Let the free vehicle and the target vehicle formation know the IP address and port address of each other through the roadside device, and the free vehicle and the target vehicle formation interact information in the communication pipeline according to the obtained IP address and port address.

3. The vehicle platooning method according to claim 2, characterized in that Before the step of obtaining the IP address and port address of the communication pipelines of both the free vehicle and the target vehicle formation, it includes: Obtain a first communication interface and a second communication interface, where the first communication interface is the communication interface of the cloud of the free vehicle, and the second communication interface is the communication interface of the cloud of the target vehicle formation; Notify the cloud of the free vehicle to open its IP address and port address for pipeline communication through the first communication interface, and notify the cloud of the target vehicle formation to open its IP address and port address for pipeline communication through the second communication interface.

4. The vehicle formation method according to claim 1, characterized in that, The information of the free vehicle required to determine whether it can join the target vehicle formation includes one or more of vehicle load, braking performance, or vehicle type.

5. The vehicle formation method according to claim 1, characterized in that After the step of, according to the obtained first information and the second information, establishing a communication pipeline between the cloud of the free vehicle and the cloud of the target vehicle formation, and the free vehicle and the target vehicle formation interacting information through the communication pipeline to form a strategy for the free vehicle to join the target vehicle formation, it further includes: When the distance between the free vehicle and the target vehicle formation reaches a preset distance, after establishing V2V communication between the free vehicle and the target vehicle formation, the cloud of the free vehicle and the cloud of the target vehicle formation destroy the communication pipeline.

6. The vehicle formation method according to claim 3, characterized in that, After the step of obtaining a first communication interface and a second communication interface, where the first communication interface is the communication interface of the cloud of the free vehicle, and the second communication interface is the communication interface of the cloud of the target vehicle formation, and before the step of obtaining the IP address and port address of the communication pipelines of both the free vehicle and the target vehicle formation, it further includes: Send a secret key to the clouds of both the free vehicle and the target vehicle formation through the first communication interface and the second communication interface.

7. A vehicle formation method, characterized in that, Including: A free vehicle broadcasts first information to a roadside device nearby, where the first information is information of the free vehicle obtained by the roadside device; The roadside device sends the obtained first information to the cloud control system; The cloud control system sends the first information to other roadside devices near the free vehicle; After the target formation vehicle feeds back second information to the roadside device according to the free vehicle information broadcast by the roadside device it monitors, the roadside device sends the received second information to the cloud control system; The cloud control system generates a communication pipeline between the cloud of the free vehicle and the cloud of the target vehicle, and the free vehicle and the target vehicle formation interact information through the communication pipeline to form a strategy for the free vehicle to join the target vehicle formation.

8. A control device for vehicle formation, characterized in that, For implementing the vehicle control method according to any one of claims 1 to 6, including: A controlled vehicle, where the controlled vehicle includes: any vehicle in a free vehicle and a target vehicle formation; A cloud control system, configured to establish communication connections with the cloud of the free vehicle and the cloud of the target vehicle formation; Multiple roadside devices, configured to obtain the first information of the free vehicle and the second information of the target vehicle formation, and communicate with the cloud control system; the multiple roadside devices are arranged at a preset distance.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the control method of vehicle formation according to any one of claims 1 to 6.

10. A computer-readable storage medium, which is a non-volatile storage medium or a non-transitory storage medium, and has a computer program stored thereon, characterized in that, When the computer program is run by a processor, it executes the steps of the vehicle control method according to any one of claims 1 - 6.

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