Vehicle control method, device, equipment and storage medium for platooning

Abstract

The application discloses a vehicle control method, device and equipment for platoon driving and a storage medium, and belongs to the technical field of automobiles. The method specifically comprises the following steps: obtaining steering wheel steering information of a leading vehicle of a platoon and driving information of a following vehicle; the steering wheel steering information is sent by the leading vehicle through vehicle-to-vehicle (V2V) communication; based on the steering wheel steering information and the driving information, a steering wheel haptic parameter is obtained by using an information conversion strategy; and based on the steering wheel steering information and the steering wheel haptic parameter, steering wheel output steering prompts are controlled. The scheme of the application can solve the problem of poor reliability of steering prompts and control of vehicles in a platoon.

Description

Technical Field

[0001] This application relates to the field of automotive technology, specifically to vehicle control technology and other technical fields, and particularly to a method, device, equipment and storage medium for controlling vehicles traveling in platoons. Background Technology

[0002] Currently, in related technologies, vehicle steering in a convoy usually relies on the driver's observation of the turn signal status of the vehicle in front, or on display prompts to prompt the driver to operate the turn signal.

[0003] However, due to the excessively long information transmission chain when multiple vehicles are in platooning, in some driving conditions with poor visibility, such as at night or in rainy or foggy weather, it may affect the following vehicles' ability to observe the turn signals of the vehicles in front, and there may be information transmission delays. Moreover, drivers need to be distracted to observe multiple signal sources, increasing their workload. Summary of the Invention

[0004] This application provides a vehicle control method, apparatus, device, and storage medium for platooning, which solves the problem of poor reliability in steering prompts and control of platooned vehicles. The technical solution is as follows:

[0005] Firstly, a vehicle control method for platooning is provided, applied to following vehicles in a platoon, the method comprising:

[0006] The steering information of the lead vehicle in the formation and the driving information of the following vehicles are obtained; the steering information is sent by the lead vehicle through vehicle-to-vehicle (V2V) communication.

[0007] Based on the steering wheel information and driving information, steering wheel tactile parameters are obtained using an information conversion strategy;

[0008] Based on the steering wheel information and steering wheel tactile parameters, the steering wheel is controlled to output steering prompts.

[0009] In one possible implementation, obtaining the steering wheel information of the lead vehicle in the formation includes:

[0010] Obtain the V2V data packets sent by the lead vehicle;

[0011] The V2V data packets are verified based on the formation identifier information and the checksum.

[0012] In response to the verification process being passed, the steering wheel information in the V2V data packet is obtained based on a preset priority.

[0013] In one possible implementation, the steering wheel information includes steering wheel angular velocity and path curvature; the steering wheel tactile parameters include steering wheel vibration amplitude, steering wheel vibration frequency, and steering wheel vibration rhythm; and the step of obtaining the steering wheel tactile parameters based on the steering wheel information and driving information using an information conversion strategy includes:

[0014] Based on the steering wheel angular velocity, path curvature, and driving information, the steering wheel vibration amplitude is calculated using the first information conversion algorithm.

[0015] Based on the preset frequency and the path curvature, the steering wheel vibration frequency is calculated using the second information conversion algorithm.

[0016] Based on the steering wheel vibration frequency, the steering wheel vibration rhythm is calculated using a third information conversion algorithm.

[0017] In one possible implementation, the steering wheel information includes the steering direction, and the step of controlling the steering wheel to output steering cues based on the steering wheel information and steering wheel haptic parameters includes:

[0018] Based on the steering direction, determine the vibration area of ​​the steering wheel;

[0019] Based on the steering wheel tactile parameters, the vibration area of ​​the steering wheel is controlled to output steering prompts.

[0020] In one possible implementation, after the steering wheel outputs a steering prompt, the following steps are included:

[0021] Turn on the turn signal corresponding to the steering wheel steering information;

[0022] Based on the preset fleet planning route, the steering wheel information, and the driving information, the steering wheel is controlled.

[0023] Secondly, a vehicle control device for platooning is provided, applied to following vehicles in a platoon, the device comprising:

[0024] The acquisition unit is used to acquire the steering wheel information of the lead vehicle in the formation and the driving information of the following vehicles; the steering wheel information is sent by the lead vehicle through vehicle-to-vehicle (V2V) communication.

[0025] The acquisition unit is used to obtain steering wheel tactile parameters based on the steering wheel information and driving information, using an information conversion strategy.

[0026] The control unit is used to control the steering wheel to output steering prompts based on the steering wheel steering information and steering wheel tactile parameters.

[0027] Thirdly, a computer-readable storage medium is provided, wherein at least one instruction is stored therein, the at least one instruction being loaded and executed by a processor to implement the aspects and any possible implementations described above.

[0028] Fourthly, an electronic device is provided, comprising:

[0029] At least one processor; and

[0030] A memory communicatively connected to the at least one processor; wherein,

[0031] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the methods described above and any possible implementations.

[0032] Fifthly, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the aspects and any possible implementations described above.

[0033] Sixthly, a car is provided, including the electronic devices described above.

[0034] The beneficial effects of the technical solution provided in this application include at least the following:

[0035] As can be seen from the above technical solution, in this embodiment of the application, the following vehicles in the convoy can obtain the steering wheel information of the lead vehicle and the driving information of the following vehicles. The steering wheel information is sent by the lead vehicle through vehicle-to-vehicle (V2V) communication. Based on the steering wheel information and driving information, the steering wheel tactile parameters can be obtained using an information conversion strategy. Based on the steering wheel information and steering wheel tactile parameters, the steering wheel can be controlled to output steering prompts. Since the corresponding steering wheel tactile parameters can be determined based on the steering wheel information sent by the lead vehicle through V2V communication, and the steering wheel output steering prompts of the following vehicles can be controlled using the steering wheel tactile parameters, the driver does not need to observe the steering situation of the vehicle in front or receive prompt signals, which reduces the driver's workload and ensures the reliability of steering control of vehicles traveling in convoy.

[0036] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic flowchart of a vehicle platooning control method provided in one embodiment of this application;

[0039] Figure 2 This is a structural block diagram of a vehicle control device for platooning provided in another embodiment of this application;

[0040] Figure 3 This is a block diagram of an electronic device used to implement the vehicle control method for platooning according to the embodiments of this application. Detailed Implementation

[0041] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application, including various details to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0042] Obviously, the described embodiments are only some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0043] It should be noted that the terminal devices involved in the embodiments of this application may include, but are not limited to, smart devices such as mobile phones, personal digital assistants (PDAs), wireless handheld devices, and tablet computers; the display devices may include, but are not limited to, personal computers, televisions, and other devices with display functions.

[0044] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0045] Currently, the platooning vehicle control methods of relevant technical solutions lack a collaborative feedback mechanism that directly maps the steering intention of the vehicle in front to an intuitive tactile cues for the vehicle behind, and do not address the need for dynamic adjustment of feedback intensity based on changes in platooning distance.

[0046] Please refer to Figure 1 This document illustrates a flowchart of a vehicle control method for platooning provided in one embodiment of this application. This vehicle control method for platooning can be applied to following vehicles in a platoon and may specifically include:

[0047] Step 101: Obtain the steering information of the lead vehicle in the formation and the driving information of the following vehicles; the steering information is sent by the lead vehicle through vehicle-to-vehicle (V2V) communication.

[0048] Step 102: Based on the steering wheel information and driving information, obtain steering wheel tactile parameters using an information conversion strategy.

[0049] Step 103: Based on the steering wheel information and steering wheel tactile parameters, control the steering wheel to output steering prompts.

[0050] It should be noted that there can be multiple following vehicles in a convoy. The lead vehicle can send information to each following vehicle via vehicle-to-vehicle (V2V) communication. This enables low-latency inter-vehicle information sharing.

[0051] It should be noted that the steering information of the lead vehicle can be determined by the lead vehicle based on the planned path and the driver's steering wheel operation data.

[0052] It should be noted that vibration devices can be installed at the 3 o'clock and 9 o'clock positions of the steering wheel of the following vehicle. The following vehicle can control the steering wheel vibration devices to output steering cues based on steering wheel steering information and steering wheel tactile parameters. Here, steering cues can include left turn vibration cues and right turn vibration cues.

[0053] In this way, following vehicles in a convoy can obtain steering wheel information from the lead vehicle and driving information from the following vehicles. The steering wheel information is sent by the lead vehicle via vehicle-to-vehicle (V2V) communication. Based on this steering wheel information and driving information, an information conversion strategy can be used to obtain steering wheel tactile parameters. Based on these steering wheel information and tactile parameters, the steering wheel can be controlled to output steering prompts. Since the corresponding steering wheel tactile parameters can be determined based on the steering wheel information sent by the lead vehicle via V2V communication, and the steering wheel output steering prompts of the following vehicles can be controlled using these parameters, the driver does not need to observe the steering situation of the vehicle in front or receive prompt signals. This reduces the driver's workload while ensuring the reliability of steering control for vehicles traveling in a convoy.

[0054] Optionally, in one possible implementation of this embodiment, in step 101, firstly, the V2V data packet sent by the lead vehicle can be acquired. Secondly, the V2V data packet can be verified based on the formation identification information and checksum. Thirdly, in response to the verification process being successful, the steering wheel information in the V2V data packet is acquired based on a preset priority.

[0055] In this implementation, the V2V communication protocol can be IEEE 802.11p.

[0056] In one specific implementation of this approach, the lead vehicle can broadcast V2V data packets to each following vehicle at a preset period.

[0057] In this implementation, V2V data packets may include, but are not limited to, vehicle unique identifiers, platoon identifiers, position, speed, steering wheel information, etc.

[0058] In another specific implementation of this approach, all vehicles in the platoon can synchronize V2V data packets using a GPS clock. Here, the time error can be less than 1 millisecond (ms).

[0059] In another specific implementation of this approach, V2V data packets can be processed for array verification based on array identifier information, and / or, V2V data packets can be processed for data integrity verification based on CRC checksum.

[0060] In this implementation, the preset priority can be determined based on the information type. Steering wheel information can have a higher priority than infotainment system information. Steering wheel information can utilize a dedicated communication channel.

[0061] In this way, steering information can be obtained by acquiring V2V data packets sent by the lead vehicle, achieving low-latency inter-vehicle information sharing and ensuring the timeliness and reliability of the information acquired by the following vehicles.

[0062] Optionally, in one possible implementation of this embodiment, the steering wheel information may include steering wheel angular velocity and path curvature. The steering wheel tactile parameters may include steering wheel vibration amplitude, steering wheel vibration frequency, and steering wheel vibration rhythm. In step 102, firstly, the steering wheel vibration amplitude can be calculated using a first information conversion algorithm based on the steering wheel angular velocity, path curvature, and driving information. Secondly, the steering wheel vibration frequency can be calculated using a second information conversion algorithm based on a preset frequency and the path curvature. Thirdly, the steering wheel vibration rhythm can be calculated using a third information conversion algorithm based on the steering wheel vibration frequency.

[0063] In this implementation, the following vehicle's driving information may include speed, preset braking deceleration, distance to the adjacent preceding vehicle, and preset reaction time.

[0064] Here, the speed of the following vehicle can be the same as the speed of the other vehicles in the platoon. The preset braking deceleration can be determined based on the type of vehicle following. For example, the preset braking deceleration for a typical commercial vehicle can be 4 meters per second squared (m / s²). 2 The preset reaction time can be the driver's reaction time. For example, the reaction time can be 0.5 seconds (s).

[0065] In this implementation, the first information conversion algorithm may include a vehicle distance compensation algorithm, a steering urgency gain algorithm, and a curvature gain algorithm.

[0066] In a specific implementation of this method, firstly, a distance compensation coefficient can be calculated using a distance compensation algorithm based on the following vehicle's speed, a preset reaction time, a preset braking deceleration, and the distance between the following vehicle and the adjacent vehicle in front. Secondly, a steering urgency gain can be calculated using a steering urgency gain algorithm based on the steering wheel's angular velocity. Thirdly, a curvature gain can be calculated using a curvature gain algorithm based on the path curvature. Finally, based on a preset base amplitude, the distance compensation coefficient, the steering urgency gain, and the curvature gain, an amplitude algorithm can be used to calculate the steering wheel vibration amplitude.

[0067] In one specific implementation process, based on the speed of the following vehicle, the preset reaction time, the preset braking deceleration, and the distance between the following vehicle and the adjacent vehicle in front, the distance compensation coefficient is calculated using a distance compensation algorithm, which can be expressed as the following formula (1):

[0068] K1 = D1 ÷ D2;

[0069]

[0070] Where K1 is the distance compensation coefficient, D1 is the safe distance, V1 is the speed of the following vehicle, t is the preset reaction time, a is the preset braking deceleration, and D2 is the distance between the following vehicle and the adjacent vehicle in front, i.e., the actual distance between the two vehicles.

[0071] Another specific implementation process is to calculate the steering urgency gain based on the steering wheel angular velocity using the steering urgency gain algorithm, which can be expressed as the following formula (2):

[0072] K2=1+0.02ω (2)

[0073] Where K2 is the steering urgency gain, and ω is the steering wheel angular velocity.

[0074] Another specific implementation process is to calculate the curvature gain based on the path curvature using the curvature gain algorithm, which can be expressed as the following formula (3):

[0075] K3 = 1 + 0.1q (3)

[0076] Where K3 is the curvature gain and q is the path curvature.

[0077] Another specific implementation process involves using an amplitude algorithm to calculate the steering wheel vibration amplitude based on a preset base amplitude, vehicle distance compensation coefficient, steering urgency gain, and curvature gain. This amplitude can be expressed as the following formula (4):

[0078] A = A1 × K1 × K2 × K3 (4)

[0079] Where A is the steering wheel vibration amplitude, A1 is the preset base amplitude, K1 is the distance compensation coefficient, K2 is the steering urgency gain, and K3 is the curvature gain.

[0080] In another specific implementation of this method, the preset frequency can be a preset base frequency. Here, based on the preset frequency and the path curvature, the steering wheel vibration frequency is calculated using the second information conversion algorithm, which can be expressed as the following formula (5):

[0081] f = f base +100q (5)

[0082] Where f is the frequency of steering wheel vibration, f base q is the preset frequency, and q is the path curvature.

[0083] In another specific implementation of this method, based on the steering wheel vibration frequency, the steering wheel vibration rhythm is calculated using a third information conversion algorithm, which can be expressed as the following formula (6):

[0084] T = 1 ÷ f (6)

[0085] Where T represents the vibration rhythm of the steering wheel, and f represents the vibration frequency of the steering wheel.

[0086] In this way, based on the steering wheel angular velocity, path curvature, driving information, preset frequency, and path curvature, the first information conversion algorithm, the second information conversion algorithm, and the third information conversion algorithm are used to calculate accurate and effective steering wheel vibration amplitude, steering wheel vibration frequency, steering wheel vibration rhythm, and other steering wheel tactile parameters, thereby further improving the accuracy and reliability of the steering wheel tactile parameters.

[0087] In this specific implementation, for example, firstly, after the lead vehicle performs a left turn, left turn operation data can be obtained, including the lead vehicle's turning direction as left, the steering wheel angle as 15 degrees (°) to the left, and the steering angular velocity as 50 degrees per second (° / s) for a sharp turn. The lead vehicle calculates a path curvature of 0.03 (1 / m) based on a high-precision map and inertial navigation. The lead vehicle's current speed is 90 km / h, or 25 m / s.

[0088] Secondly, based on the left-turn operation data of the lead vehicle, a V2V data packet is generated and sent to the following vehicles, as shown below:

[0089]

[0090] Secondly, after the following vehicle receives the V2V data packet, it can perform Platoon_ID matching: verifying whether the message belongs to the current formation (0x8D4A9B2C), and can also verify data integrity through CRC checksum to prevent transmission errors.

[0091] Next, obtain steering information from the following vehicles. This steering information includes a steering angular velocity ω of 50° / s, a path curvature q of 0.03 (1 / m), a left turn direction, and a steering wheel angle of 15 degrees. Here, it can be understood that the speeds within the convoy are the same; the lead vehicle's speed V1 is 25 m / s, meaning that both the following and lead vehicles can have a speed of 25 m / s.

[0092] Furthermore, the driver's reaction time t is 0.5s, the actual distance D2 between the following vehicle and the adjacent vehicle in front is 80m, and the braking deceleration a is 4m / s². 2The safe following distance D1 is calculated to be 90.625m and the following following distance compensation coefficient K1 is 1.13 using formula (1). The steering angular velocity ω is 50° / s, and the steering urgency gain K2 is calculated to be 2.0 using formula (2). Based on the path curvature q of 0.03 (1 / m), the curvature gain K3 is calculated to be 1.003 using formula (3). The preset basic amplitude A1 is 0.3 Newtons (N). Here, the amplitude is in Newtons to characterize the intensity of the amplitude, and the steering wheel vibration amplitude A is calculated to be 0.68N using formula (4).

[0093] Furthermore, the path curvature q is 0.03 (1 / m), and the fundamental frequency f base The frequency of the steering wheel vibration is 10 Hz. The vibration frequency f of the steering wheel can be calculated as 13 Hz using formula (5). Based on the vibration frequency f of the steering wheel, the vibration rhythm T of the steering wheel can be calculated using formula (6), that is, the pulse interval is 0.077s (the duration can be 0.5 seconds).

[0094] It should be noted that the specific implementation process provided in this embodiment can be combined with various specific implementation processes provided in the aforementioned implementation methods to realize the vehicle control method for platooning in this embodiment. Detailed descriptions can be found in the relevant content of the aforementioned implementation methods, and will not be repeated here.

[0095] Optionally, in one possible implementation of this embodiment, the steering wheel information may further include the steering direction. In step 103, firstly, the vibration area of ​​the steering wheel can be determined based on the steering direction. Secondly, based on the steering wheel haptic parameters, the vibration area of ​​the steering wheel is controlled to output steering cues.

[0096] In this implementation, the steering direction can represent the steering intention of the leading vehicle. The steering direction can include turning left, turning right, or continuing straight.

[0097] Here, the steering direction can be determined based on the pre-planned route of the fleet, or it can be determined in response to the driver's operation of the steering wheel.

[0098] In one specific implementation of this method, when the steering direction is left turn, the vibration area of ​​the steering wheel can be determined to be the left side of the steering wheel. Secondly, based on the steering wheel tactile parameters, the left side of the steering wheel is controlled to output steering cues, that is, the left side of the steering wheel is controlled to vibrate according to the steering wheel tactile parameters.

[0099] In another specific implementation of this method, when the steering direction is right turn, the vibration area of ​​the steering wheel can be determined to be the right side of the steering wheel. Secondly, based on the steering wheel tactile parameters, the right side of the steering wheel is controlled to output steering cues; that is, the vibration of the right side of the steering wheel is controlled according to the steering wheel tactile parameters.

[0100] In another specific implementation of this method, after the lead vehicle determines the turning direction based on the pre-planned path of the fleet, it can first send a V2V data packet including the turning direction to the following vehicles. The following vehicles can then directly control the steering wheel area corresponding to the turning direction to pre-vibrate at a preset frequency based on the turning direction in the received V2V data packet.

[0101] In one specific implementation scenario, when the steering direction is left, the left side of the steering wheel of the following vehicle can be directly controlled to pre-vibrate at a preset frequency.

[0102] Another specific implementation method is that when the steering direction is right, the right side of the steering wheel of the following vehicle can be directly controlled to pre-vibrate at a preset frequency.

[0103] In this way, in practical applications, a pre-vibration warning can be issued 200 milliseconds before the turn signal of the vehicle in front is activated.

[0104] It should be noted that the specific implementation process provided in this embodiment can be combined with various specific implementation processes provided in the aforementioned implementation methods to realize the vehicle control method for platooning in this embodiment. Detailed descriptions can be found in the relevant content of the aforementioned implementation methods, and will not be repeated here.

[0105] Optionally, in one possible implementation of this embodiment, after step 103, the turn signal corresponding to the steering wheel information can be turned on, and the steering wheel can be controlled based on the preset fleet planning path, the steering wheel information, and the driving information.

[0106] In this implementation, the following vehicle can include both autonomous and non-autonomous vehicles.

[0107] In one specific implementation of this method, the steering wheel information may include the steering direction. When the following vehicle is an autonomous vehicle, the turn signal corresponding to the steering direction can be turned on, and the steering wheel can be controlled based on the preset fleet planning path, the steering wheel information, and the driving information of the following vehicle.

[0108] In this way, by controlling the steering of autonomous vehicles, it is possible to control the mixed formation of autonomous vehicles and traditional commercial vehicles, thus optimizing the vehicle formation control method.

[0109] It should be noted that the specific implementation process provided in this embodiment can be combined with various specific implementation processes provided in the aforementioned implementation methods to realize the vehicle control method for platooning in this embodiment. Detailed descriptions can be found in the relevant content of the aforementioned implementation methods, and will not be repeated here.

[0110] Figure 2 This invention provides a structural block diagram of a vehicle control device for platooning according to an embodiment of the present application, as shown below. Figure 2 As shown. The vehicle control device 200 for platooning in this embodiment can be applied to following vehicles in a platoon and may include an acquisition unit 201, an acquisition unit 202, and a control unit 203. The acquisition unit 201 is used to acquire the steering wheel information of the lead vehicle in the platoon and the driving information of the following vehicles; the steering wheel information is sent by the lead vehicle via vehicle-to-vehicle (V2V) communication. The acquisition unit 202 is used to obtain steering wheel tactile parameters based on the steering wheel information and driving information using an information conversion strategy. The control unit 203 is used to control the steering wheel to output steering prompts based on the steering wheel information and steering wheel tactile parameters.

[0111] Optionally, in one possible implementation of this embodiment, the acquisition unit 201 is used to acquire the V2V data packet sent by the lead vehicle; to perform verification processing on the V2V data packet based on the formation identification information and the check code; and in response to the result of the verification processing being passed, to acquire the steering wheel information in the V2V data packet based on a preset priority.

[0112] Optionally, in one possible implementation of this embodiment, the steering wheel information includes steering wheel angular velocity and path curvature, and the steering wheel tactile parameters include steering wheel vibration amplitude, steering wheel vibration frequency, and steering wheel vibration rhythm. The obtaining unit 202 is used to calculate the steering wheel vibration amplitude based on the steering wheel angular velocity, path curvature, and driving information using a first information conversion algorithm; calculate the steering wheel vibration frequency based on a preset frequency and the path curvature using a second information conversion algorithm; and calculate the steering wheel vibration rhythm based on the steering wheel vibration frequency using a third information conversion algorithm.

[0113] Optionally, in one possible implementation of this embodiment, the steering wheel information includes the steering direction, and the control unit 203 is used to determine the vibration area of ​​the steering wheel based on the steering direction; and to control the vibration area of ​​the steering wheel to output steering prompts based on the steering wheel tactile parameters.

[0114] Optionally, in one possible implementation of this embodiment, the control unit 203 is used to turn on the turn signal corresponding to the steering wheel information; and to control the steering wheel based on a preset fleet planning path, the steering wheel information, and driving information.

[0115] In this embodiment, the steering wheel information of the lead vehicle in the convoy and the driving information of the following vehicles can be acquired by the acquisition unit. The steering wheel information is sent by the lead vehicle through vehicle-to-vehicle (V2V) communication. The acquisition unit can then obtain steering wheel tactile parameters based on the steering wheel information and driving information using an information conversion strategy. This allows the control unit to control the steering wheel to output steering prompts based on the steering wheel information and steering wheel tactile parameters. Since the corresponding steering wheel tactile parameters can be determined based on the steering wheel information sent by the lead vehicle through V2V communication, and the steering wheel output steering prompts of the following vehicles can be controlled using the steering wheel tactile parameters, the driver does not need to observe the steering situation of the vehicle in front or receive prompt signals, which reduces the driver's workload and ensures the reliability of steering control of vehicles traveling in convoy.

[0116] The technical solution of this application involves the collection, storage, use, processing, transmission, provision, and disclosure of user personal information, such as user image and attribute data, which comply with relevant laws and regulations and do not violate public order and good morals.

[0117] According to embodiments of this application, this application also provides an electronic device, a readable storage medium, and a computer program product.

[0118] According to embodiments of this application, a vehicle including the provided electronic equipment is further provided. For example, the vehicle may include new energy vehicles, autonomous vehicles, and traditional vehicles. New energy vehicles may be new energy passenger cars, new energy commercial vehicles, new energy logistics vehicles, new energy large vehicles, etc. Autonomous vehicles may be autonomous passenger cars, autonomous commercial vehicles, autonomous logistics vehicles, autonomous large vehicles, etc.

[0119] Figure 3A schematic block diagram of an example electronic device 300 that can be used to implement embodiments of this application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0120] like Figure 3 As shown, the electronic device 300 includes a computing unit 301, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 302 or a computer program loaded from a storage unit 308 into a random access memory (RAM) 303. The RAM 303 may also store various programs and data required for the operation of the electronic device 300. The computing unit 301, ROM 302, and RAM 303 are interconnected via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0121] Multiple components in electronic device 300 are connected to I / O interface 305, including: input unit 306, such as keyboard, mouse, etc.; output unit 307, such as various types of displays, speakers, etc.; storage unit 308, such as disk, optical disk, etc.; and communication unit 309, such as network card, modem, wireless transceiver, etc. Communication unit 309 allows electronic device 300 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0122] The computing unit 301 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 301 performs the various methods and processes described above, such as a platooning vehicle control method. For example, in some embodiments, the platooning vehicle control method can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 308. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 300 via ROM 302 and / or communication unit 309. When the computer program is loaded into RAM 303 and executed by the computing unit 301, one or more steps of the platooning vehicle control method described above can be performed. Alternatively, in other embodiments, the computing unit 301 may be configured to perform a vehicle control method for platooning by any other suitable means (e.g., by means of firmware).

[0123] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0124] The program code used to implement the methods of this application may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0125] In the context of this application, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0126] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0127] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0128] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0129] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this application can be achieved, and this is not limited herein.

[0130] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A vehicle control method for platooning, characterized by, The method, applied to following vehicles in a convoy, includes: The system acquires steering information from the lead vehicle in the formation and driving information from the following vehicles. The steering information is transmitted by the lead vehicle via vehicle-to-vehicle (V2V) communication. The steering information includes steering angular velocity and path curvature. The driving information of the following vehicles includes speed, preset braking deceleration, distance to the adjacent vehicle in front, and preset reaction time. Based on the steering wheel information and driving information, steering wheel tactile parameters are obtained using an information conversion strategy; the steering wheel tactile parameters include steering wheel vibration amplitude, steering wheel vibration frequency, and steering wheel vibration rhythm. Based on the steering wheel information and steering wheel haptic parameters, control the steering wheel to output steering prompts; Based on the steering wheel angular velocity, path curvature, and driving information, the steering wheel vibration amplitude is calculated using the first information conversion algorithm. Based on the preset frequency and the path curvature, the steering wheel vibration frequency is calculated using the second information conversion algorithm. Based on the steering wheel vibration frequency, the steering wheel vibration rhythm is calculated using a third information conversion algorithm; wherein... The first information conversion algorithm includes a distance compensation algorithm, a steering urgency gain algorithm, and a curvature gain algorithm. Based on the steering wheel angular velocity, path curvature, and driving information, the first information conversion algorithm is used to calculate the steering wheel vibration amplitude, including: based on the speed of the following vehicle, a preset reaction time, a preset braking deceleration, and the distance between the following vehicle and the adjacent vehicle, the distance compensation algorithm is used to calculate the distance compensation coefficient; based on the steering wheel angular velocity, the steering urgency gain algorithm is used to calculate the steering urgency gain; based on the path curvature, the curvature gain algorithm is used to calculate the curvature gain; and based on the preset base amplitude, distance compensation coefficient, steering urgency gain, and curvature gain, the amplitude algorithm is used to calculate the steering wheel vibration amplitude.

2. The method according to claim 1, characterized in that, The acquisition of the steering wheel information of the lead vehicle in the formation includes: Obtain the V2V data packets sent by the lead vehicle; The V2V data packets are verified based on the formation identifier information and checksum. In response to the verification process being passed, the steering wheel information in the V2V data packet is obtained based on a preset priority.

3. The method according to claim 1, characterized in that, The steering wheel information includes the steering direction. The step of controlling the steering wheel to output steering cues based on the steering wheel information and steering wheel haptic parameters includes: Based on the steering direction, determine the vibration area of ​​the steering wheel; Based on the steering wheel tactile parameters, the vibration area of ​​the steering wheel is controlled to output steering prompts.

4. The method according to any one of claims 1-3, characterized in that, After the steering wheel outputs a steering prompt, the following is included: Turn on the turn signal corresponding to the steering wheel steering information; Based on the preset fleet planning route, the steering wheel information, and the driving information, the steering wheel is controlled.

5. A vehicle control device for platooning, characterized in that, The device, applied to following vehicles in a convoy, includes: The acquisition unit is used to acquire the steering information of the lead vehicle in the formation and the driving information of the following vehicles; the steering information is sent by the lead vehicle through vehicle-to-vehicle (V2V) communication; the steering information includes steering angular velocity and path curvature, and the driving information of the following vehicles includes speed, preset braking deceleration, distance to the adjacent vehicle in front, and preset reaction time. The acquisition unit is used to obtain steering wheel tactile parameters based on the steering wheel information and driving information, using an information conversion strategy; the steering wheel tactile parameters include steering wheel vibration amplitude, steering wheel vibration frequency, and steering wheel vibration rhythm; The control unit is used to control the steering wheel to output steering prompts based on the steering wheel information and steering wheel tactile parameters; The obtaining unit is further configured to: calculate the steering wheel vibration amplitude based on the steering wheel angular velocity, path curvature, and driving information using a first information conversion algorithm; calculate the steering wheel vibration frequency based on a preset frequency and the path curvature using a second information conversion algorithm; and calculate the steering wheel vibration rhythm based on the steering wheel vibration frequency using a third information conversion algorithm. The first information conversion algorithm includes a distance compensation algorithm, a steering urgency gain algorithm, and a curvature gain algorithm. Calculating the steering wheel vibration amplitude based on the steering wheel angular velocity, path curvature, and driving information using the first information conversion algorithm includes: calculating a distance compensation coefficient based on the following vehicle's speed, a preset reaction time, a preset braking deceleration, and the distance between the following vehicle and the adjacent vehicle using a distance compensation algorithm; calculating a steering urgency gain based on the steering wheel angular velocity using a steering urgency gain algorithm; calculating a curvature gain based on the path curvature using a curvature gain algorithm; and calculating the steering wheel vibration amplitude based on a preset base amplitude, distance compensation coefficient, steering urgency gain, and curvature gain using an amplitude algorithm.

6. An electronic device, characterized in that, include: At least one processor; as well as A memory that is communicatively connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1-4.

7. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-4.

8. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1-4.

9. A car, characterized in that, Including the electronic device according to claim 6.

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