Automatic driving processing method and device based on intelligent automobile, terminal and medium

Abstract

The invention discloses an automatic driving processing method and device based on an intelligent automobile, a terminal and a medium, and relates to the technical field of intelligent automobile automatic driving, and the method comprises the steps: controlling real-time monitoring of surrounding environment data when it is detected that the automobile completes path planning and starts an intelligent driving mode; performing communication handshake with surrounding vehicles within a preset distance range during driving, and negotiating to enter an intelligent driving joint mode when detecting that paths are overlapped; when the vehicle agrees to enter the joint mode, the intelligent vehicle is controlled to enter a running accompanying mode, and front and rear vehicles are controlled to keep the same speed and share sensor data; in the running accompanying mode, the front and rear vehicles share sensor data and synchronously advance by keeping a safe vehicle distance together; if the current automobile detects that the abnormal situation needs to be avoided, the running-accompanying intelligent automobile is controlled to synchronously complete the avoidance action; and when the rear vehicle detects that an abnormal vehicle overspeeds and approaches, the running-accompanying intelligent vehicle is controlled to synchronously accelerate and avoid. The method has the advantages that the multi-vehicle cooperation efficiency is improved, and the road safety is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology for smart cars, and in particular to a method and device for autonomous driving processing based on smart cars, a smart car, and a computer-readable storage medium. Background Art

[0002] With the development of automobiles and the continuous improvement of people's living standards, the use of various smart cars is becoming increasingly popular. However, the current autonomous driving systems of smart cars mainly adopt a single-machine independent decision-making model, where each vehicle makes driving decisions based solely on local environmental data collected by its own sensors. In this model, each smart car can only obtain environmental information within a limited range of its surroundings and cannot share perception data with other smart cars. When multiple smart cars travel on the same road, each vehicle needs to repeatedly collect similar environmental data, resulting in a waste of resources and the inability to form collaborative decisions.

[0003] Existing technologies suffer from the following major flaws: First, each smart car operates independently and cannot utilize sensor data from surrounding smart cars, resulting in a limited sensing range. Second, there is a lack of coordination between smart cars on the same route, making it impossible to form a comprehensive fleet planning. Third, when encountering emergencies, each vehicle can only respond independently, making it impossible to achieve coordinated obstacle avoidance in the fleet. These issues not only reduce the efficiency of autonomous driving but also increase road safety risks.

[0004] More critically, existing technologies fail to address the data sharing and collaborative control issues faced by smart car platoons. When multiple smart cars travel the same route, the lack of effective communication mechanisms and collaborative decision-making algorithms prevents overall fleet optimization. This limitation severely restricts the performance of smart cars in complex traffic environments and hinders the overall effectiveness of intelligent transportation systems.

[0005] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0006] The technical problem to be solved by the present invention is that, in response to the above-mentioned defects of the prior art, an automatic driving processing method, device, smart car and storage medium based on smart cars are provided. The present invention interconnects the smart driving system with surrounding vehicles that are also pre-installed with smart driving systems, shares sensor data, reduces overtaking, lane changing, and increases safety warning functions, thereby reducing the accident rate and further improving the safety of smart driving; the present invention has the advantages of improving the efficiency of multi-vehicle collaboration and enhancing road safety.

[0007] This application provides an autonomous driving processing method based on a smart car, and the technical solution is as follows:

[0008] A method for automatic driving based on a smart car, comprising:

[0009] When it detects that the smart car has completed path planning and turned on the smart driving mode, it controls the operation of the smart driving system, monitors the surrounding environment data of the smart car in real time, and performs corresponding smart driving control;

[0010] During intelligent driving, the system controls the communication handshake with other intelligent vehicles within a predetermined distance range. When the system detects that the driving paths of the intelligent vehicles within the predetermined distance range overlap, it negotiates whether to engage in intelligent driving joint mode.

[0011] When it detects that the current smart car and surrounding smart cars with the same intelligent driving system have agreed to enter the intelligent driving joint mode, the smart car is controlled to enter the accompanying mode, controlling the front and rear cars to maintain the same speed and share sensor data for the intelligent driving system of the smart car in the intelligent driving joint mode to complete the intelligent driving strategy decision;

[0012] The smart car that enters the accompanying running mode is controlled to be integrated into the system. The front and rear cars share sensor data and jointly maintain a safe distance and move forward synchronously. If the current car detects an abnormality that needs to be avoided, the accompanying smart car is controlled to complete the evasive action synchronously. When the rear car detects that an abnormal vehicle is speeding, the accompanying smart car is controlled to accelerate synchronously to avoid it.

[0013] The method for processing automatic driving based on a smart car, wherein before the step of detecting that the smart car has completed path planning and started the intelligent driving mode, the method includes:

[0014] A smart driving module is prefabricated on the smart car and synchronously connected to various positioning modules as well as speed sensors, proximity sensors, and camera equipment in the car.

[0015] The method for processing automatic driving based on smart cars, wherein the smart cars that are controlled to enter the accompanying running mode are integrated into a system, the front and rear cars share sensor data, and jointly maintain a safe distance and move forward synchronously, further includes the following steps:

[0016] If a smart car in running companion mode detects other smart vehicles traveling the same route, it will control the other smart vehicles to join the running companion mode after negotiation and agreement, forming a smart driving team.

[0017] Control data sharing with all other intelligent driving vehicles that have completed the intelligent driving handshake, and receive all safety warning data of the front, rear, left, and right paths of each vehicle for intelligent driving control;

[0018] The method for processing autonomous driving based on smart cars, wherein the smart car entering the accompanying running mode, if it detects that other smart driving vehicles are traveling on the same path, controls the other smart driving vehicles to join the accompanying running mode after negotiation and agreement, and before the step of forming a smart driving team, includes:

[0019] A safety threshold is set in advance for the number of smart cars that enter the accompanying mode and are allowed to perform the intelligent driving joint mode, so as to maintain the intelligent driving team installed in the accompanying mode.

[0020] The method for processing automatic driving based on a smart car, wherein the smart car that enters the accompanying running mode is integrated into the system, the front and rear cars share sensor data, and jointly maintain a safe distance and move forward synchronously, further includes:

[0021] When a smart car is detected entering the accompanying running mode and exits the path planning midway, the control will complete the handshake and farewell with the remaining vehicles, cancel the security data sharing, and the remaining smart cars will continue to move forward in the intelligent driving team.

[0022] The method for processing automatic driving based on a smart car, wherein the smart car that enters the accompanying running mode is integrated into the system, the front and rear cars share sensor data, and jointly maintain a safe distance and move forward synchronously, further includes:

[0023] When it is detected that one of the smart cars in the accompanying running mode has arrived at the destination, the smart car that has arrived at the destination is controlled to communicate with the other smart cars in the accompanying running mode to shake hands and say goodbye, and the accompanying running mode of the car that has arrived at the destination is released.

[0024] The autonomous driving processing method based on smart cars, wherein the negotiation method includes: forming a local area network for negotiation through a communication network, WIFI, or Bluetooth;

[0025] The accompanying running mode includes: front and rear following mode, left and right following mode, but if a car exceeds the speed limit in the left and right following mode, the control will complete the avoidance action;

[0026] When it is detected that all smart cars that have entered the accompanying running mode have completed the entire journey, the accompanying running mode is controlled to be terminated, the entire system negotiation is completed, and the entire journey ends.

[0027] An automatic driving processing device based on a smart car, wherein the device comprises:

[0028] A pre-set module is used to prefabricate an intelligent driving module on a smart car and synchronously connect various positioning modules as well as speed sensors, proximity sensors, and camera devices in the car;

[0029] The intelligent driving startup module is used to control the operation of the intelligent driving system when it detects that the intelligent car has completed path planning and started the intelligent driving mode, and monitor the environmental data around the intelligent car in real time to perform corresponding intelligent driving control;

[0030] The communication handshake module is used to control the communication handshake with other smart cars with smart driving enabled within a predetermined distance during smart driving. When it is detected that the driving paths of smart cars within the predetermined distance overlap, it negotiates whether to adopt the smart driving joint mode.

[0031] The intelligent driving joint mode control module is used to control the intelligent driving system of the intelligent driving system to enter the running mode when it detects that the current intelligent vehicle and surrounding intelligent driving systems have agreed to enter the intelligent driving joint mode. The module controls the front and rear vehicles to maintain the same speed and shares sensor data for the intelligent driving system of the intelligent driving system to make intelligent driving strategy decisions.

[0032] The Joint Intelligent Driving Collaborative Control Module is used to control the smart cars in the accompanying running mode. The system integrates them into one, allowing the front and rear vehicles to share sensor data and jointly maintain a safe distance and move forward synchronously. If the leading vehicle detects an abnormality and needs to avoid it, the accompanying smart car will be controlled to complete the evasive action synchronously. If the rear vehicle detects an abnormal vehicle speeding, the accompanying smart car will be controlled to accelerate synchronously to avoid it.

[0033] The intelligent driving team control module is used for intelligent cars entering the companion running mode. If other intelligent driving vehicles are detected traveling along the same route, the module controls the other intelligent driving vehicles to join the companion running mode after negotiation and agreement, thus forming an intelligent driving team. The module also controls data sharing with all other intelligent driving vehicles that have completed the intelligent driving handshake, and receives all safety warning data on the paths ahead, behind, and around each vehicle for intelligent driving control.

[0034] The mid-trip exit control module is used to control the handshake and farewell of the remaining cars when it detects that the smart car has entered the accompanying running mode and exits the path planning mid-trip, and then terminates the security data sharing, so that the remaining smart cars can continue to move forward in the intelligent driving team;

[0035] The arrival control module is used to control the smart car that has arrived at the destination to communicate and shake hands with other smart cars in the accompanying running mode when it detects that a car has arrived at the destination, thereby releasing the accompanying running mode of the car that has arrived at the destination;

[0036] The trip end control module is used to control the dissolution of the accompanying running mode, complete the entire system negotiation, and end the entire trip when it detects that all smart cars entering the accompanying running mode have completed the entire trip.

[0037] A smart car includes a memory and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by one or more processors, including the one or more programs for executing any one of the methods described above.

[0038] A computer-readable storage medium, wherein when instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform any one of the methods described above.

[0039] From the above, it can be seen that the present application provides an automatic driving processing method, device, smart car and storage medium based on smart cars. The present invention interconnects the smart driving system with surrounding vehicles that are also pre-installed with smart driving systems, shares sensor data, reduces overtaking, lane changing, and increases safety warning functions, thereby reducing the accident rate and further improving the safety of smart driving.

[0040] This invention establishes a communication handshake mechanism and a running-along mode between intelligent vehicles, enabling multi-vehicle sensor data sharing and collaborative control. This solves the existing problems of limited perception range and low collaborative efficiency caused by independent vehicle decision-making, improving multi-vehicle collaborative efficiency and enhancing road safety. The intelligent driving running-along mode of this invention not only involves two vehicles, but also allows any vehicle that meets the requirements to team up and operate in running-along mode. The ultimate goal is that all vehicles on the road are in running-along mode, all moving at a predetermined speed and maintaining a safe distance from each other, ensuring true safety and greatly improving user convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 This is a flow chart of the automatic driving processing method based on a smart car provided in Example 1 of the present invention.

[0043] Figure 2 This is a principle block diagram of an automatic driving processing device based on a smart car provided by an embodiment of the present invention.

[0044] Figure 3 This is a block diagram of the internal structure of a smart car provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present invention more clear and distinct, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0046] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0047] The existing intelligent driving systems are all based on an intelligent driving strategy of the vehicle itself, and perform actions such as changing lanes, accelerating and decelerating, overtaking, and following vehicles according to the environment around the vehicle itself. The main starting point is a maneuvering strategy based on the vehicle itself, and other vehicles cannot be taken into account.

[0048] The main disadvantage of the existing technology is that all intelligent driving strategies are based on the corresponding action instructions made by the surrounding environment of the local vehicle, and are unable to utilize the sensors and corresponding data of surrounding vehicles that support intelligent driving to complete the function of team intelligent driving.

[0049] Existing technologies do not provide overall planning for vehicles on the same route with intelligent driving enabled, and do not complete shared analysis and utilization of the data of this fleet; only by completing the overall intelligence and data sharing of the intelligent driving fleet can it be truly intelligent and thus improve traffic conditions on the route.

[0050] Today's smart driving machines can only complete relevant smart driving strategies based on their own intelligent algorithms and data from sensors, cameras, and other devices connected to them. All calculations and strategy specifications are completed locally, and they are unable to interact with surrounding smart driving vehicles to achieve a complementary strategy of 1+1>2, thereby optimizing the user experience.

[0051] Existing autonomous driving systems typically rely on sensor data from a single vehicle to make independent decisions, failing to form a collaborative mechanism with other intelligent vehicles. When multiple intelligent vehicles are traveling on the same road, each independently performs operations such as acceleration, deceleration, and lane changes, which can easily lead to frequent starts and stops or conflicts over safe distances, impacting overall traffic efficiency. For example, on a highway, if the vehicle ahead brakes suddenly due to an unexpected obstacle, the vehicle behind can only rely on its own sensor response, posing a risk of chain collisions.

[0052] To address these issues, the inventors recognized the need for a collaborative decision-making mechanism between vehicles. First, they considered how to identify intelligent vehicles on the same path and verify the degree of path overlap between vehicles through communication protocols. Next, they explored the possibility of data sharing between vehicles, integrating sensor information from multiple vehicles into a unified decision-making basis. Finally, they designed a coordinated action execution scheme to ensure the fleet remains synchronized when avoiding anomalies, preventing subsequent chain reactions caused by adjustments to individual vehicle intervals.

[0053] Therefore, this application proposes an automatic driving processing method based on smart cars. When it is detected that the smart car has completed path planning and turned on the smart driving mode, the smart driving system is controlled to work and the surrounding environment data is monitored in real time; during driving, a communication handshake is carried out with vehicles that have turned on smart driving within a predetermined distance range, and when a path overlap is detected, it negotiates to enter the smart driving joint mode; when the vehicle agrees to enter the joint mode, it is controlled to enter the accompanying mode, maintain the same speed and share sensor data; in the accompanying mode, the front and rear vehicles share data and synchronously perform evasive actions, and the rear vehicle synchronously accelerates to avoid when it detects an abnormal approach. It solves the problems of limited perception range and low coordination efficiency caused by independent vehicle decision-making in the existing technology, and has the advantages of improving the efficiency of multi-vehicle coordination and enhancing road safety. The specific embodiments are as follows:

[0054] like Figure 1 As shown, this application proposes an automatic driving processing method based on a smart car, comprising the following steps:

[0055] Step S100: prefabricate an intelligent driving module on the smart car and synchronously connect it to various positioning modules, speed sensors, proximity sensors, and camera devices in the car;

[0056] In this embodiment, multiple key hardware and sensor devices are pre-installed and integrated in the smart car to realize the vehicle's intelligent driving function. Specifically, it includes the following aspects:

[0057] The prefabricated intelligent driving module is the core control unit of a smart car, responsible for processing data from various sensors, performing environmental perception, path planning, and decision-making control.

[0058] Synchronously connect various positioning modules in the vehicle. Positioning modules (such as GPS, inertial navigation, etc.) help the vehicle determine its position in space, ensure that all positioning information is consistent and synchronized, and improve positioning accuracy.

[0059] Speed ​​sensors are used to monitor vehicle speed in real time, provide vehicle dynamic information, and support driving control and safety protection.

[0060] Proximity sensors detect distance information from the front, back, left, and right sides, and are used to implement safety functions such as adaptive cruise control and emergency braking.

[0061] Camera equipment collects visual information and is used to identify environmental objects such as traffic signs, vehicles, and pedestrians.

[0062] Step S200: When it is detected that the smart car has completed path planning and turned on the smart driving mode, the smart driving system is controlled to work, and the surrounding environment data of the smart car is monitored in real time to perform corresponding smart driving control;

[0063] Step S300: During the intelligent driving process, control the communication handshake with the surrounding intelligent vehicles that are also enabled for intelligent driving within a predetermined distance range. When it is detected that the driving paths of the surrounding intelligent vehicles within the predetermined distance range overlap, negotiate whether to use the intelligent driving joint mode.

[0064] Among them, the communication handshake refers to the exchange of path planning information between vehicles through wireless communication protocols, which can be implemented using vehicle-to-vehicle (V2V) technology to verify the overlapping areas of vehicle driving paths;

[0065] This step describes how vehicles communicate and collaborate with each other to ensure safety and efficiency during the driving process of intelligent driving vehicles. The specific content includes the following aspects:

[0066] Regarding controlling the communication handshake with smart cars within a predetermined distance: When a smart car is driving, it actively detects whether there are other vehicles in smart driving mode within a certain range (for example, a few hundred meters or a few meters). These vehicles "handshake" through wireless communication (such as vehicle-to-vehicle communication) - that is, establishing a connection and exchanging basic information (such as location, speed, driving status, etc.).

[0067] Regarding the detection of overlapping driving paths of surrounding vehicles, vehicles can analyze each other's future driving paths (e.g., through path prediction algorithms) through communication and sensor information. If it is found that the planned driving paths of some vehicles overlap or are close in time and space (such as about to pass through an intersection or change lanes into the same lane at the same time), a potential conflict risk will arise.

[0068] Regarding the negotiation of whether to engage in intelligent driving joint mode, specifically, when paths overlap, vehicles will negotiate (exchanging intent information through communication) to discuss whether to cooperate (joint driving mode) to avoid collisions or optimize traffic flow. This cooperation may include: slowing down, accelerating, changing lanes, or adjusting driving trajectories to ensure that all vehicles can complete the journey safely and efficiently.

[0069] The benefits of this approach include enhanced driving safety: identifying potential conflicts in advance, enabling coordinated adjustments, and avoiding accidents. It also improves traffic flow efficiency: Multi-vehicle collaboration optimizes routes and pacing, reducing braking and waiting, thereby increasing overall traffic speed. It also enables collaborative control of intelligent driving: shifting from single-vehicle autonomy to multi-vehicle collaborative driving, moving towards more intelligent traffic management.

[0070] Step S400: When it is detected that the current smart car and surrounding smart cars with similarly activated intelligent driving systems agree to enter the intelligent driving joint mode, the smart car is controlled to enter the accompanying running mode, controlling the front and rear cars to maintain the same speed and sharing sensor data for the intelligent driving systems of the smart cars in the intelligent driving joint mode to complete intelligent driving strategy decisions.

[0071] Among them, the accompanying running mode refers to the formation of a coordinated formation of multiple vehicles, which can be achieved by setting a unified speed threshold and a dynamic safety distance to ensure that the vehicles in the formation keep driving synchronously.

[0072] Sensor data sharing refers to the real-time transmission of camera, radar and other perception data between vehicles. Specifically, edge computing nodes can be used to integrate multi-source information to provide global environmental perception for collaborative decision-making.

[0073] In this embodiment, when a nearby smart car with its own intelligent driving system is detected and both vehicles agree to enter joint mode, the vehicles communicate and negotiate to confirm their readiness for cooperative driving, preventing them from operating independently. This autonomous decision-making process ensures both parties agree to cooperative driving, enhancing safety.

[0074] Regarding controlling smart cars to enter the accompanying running mode, specifically, in the accompanying running mode, the vehicles will maintain a close and coordinated driving state. One vehicle (usually the "lead vehicle") will lead the driving, and the other vehicles (the "accompanying vehicles") will follow closely behind.

[0075] Regarding controlling the front and rear vehicles to maintain the same speed, specifically, coordinating the speeds of the vehicles to avoid unexpected situations or rear-end collisions caused by speed differences. This can form a stable convoy, reduce unnecessary acceleration and deceleration, and improve driving smoothness.

[0076] Regarding shared sensor data: Each vehicle shares its sensor information (such as environmental perception, location, speed, obstacles, etc.) with other vehicles in the team. This shared data helps all vehicles have a comprehensive, real-time view of the environment, facilitating the collective development of intelligent driving strategies.

[0077] Regarding intelligent driving strategy decision-making, specifically, based on shared data, the intelligent driving system can make more comprehensive and accurate decisions, such as lane changes, following vehicles on curves, and obstacle avoidance. This multi-vehicle collaboration optimizes the entire fleet's routes and strategies, achieving more efficient driving performance.

[0078] This invention improves safety because cooperative control reduces errors and unexpected situations, especially in complex road conditions and at high speeds. It also enhances traffic flow efficiency because synchronized multi-vehicle operation shortens travel time and reduces energy consumption. It also enhances the driving experience: vehicle coordination is smooth and stable, reducing sudden braking and acceleration, resulting in a better ride experience. It also enables collective intelligence: by sharing information and negotiating strategies, vehicles exhibit a higher level of intelligence.

[0079] Step S500: Control the smart cars that enter the accompanying running mode to be integrated into the system, and the front and rear cars share sensor data to maintain a safe distance and move forward synchronously; if the current car detects an abnormality and needs to avoid it, the accompanying smart car is controlled to complete the avoidance action synchronously; if the rear car detects that an abnormal vehicle is speeding, the accompanying smart car is controlled to accelerate synchronously to avoid it.

[0080] Among them, synchronized avoidance action refers to the unified operation performed by platoon vehicles based on the anomaly detection results, and the timing alignment of actions can be achieved through distributed decision-making algorithms.

[0081] Specifically, in an embodiment of the present application, when the vehicle turns on the intelligent driving mode, the system continuously scans the surrounding vehicles and screens out targets with the intelligent driving function turned on and whose paths overlap. Driving plans are exchanged through encrypted communication channels, and the start and end positions and time windows of the overlapping path segments are calculated. If both parties confirm to enter the joint mode, the master control vehicle generates a formation control instruction and synchronizes the speed and acceleration parameters of each vehicle. During formation driving, when the front vehicle radar detects an obstacle, the obstacle avoidance path planning result is pushed to the rear vehicle control system in real time, triggering a synchronized steering operation. When the rear millimeter-wave radar detects that an external vehicle is approaching rapidly, the formation as a whole increases its speed to a safety threshold, and at the same time, it notifies surrounding vehicles through headlight signals.

[0082] Compared to existing technologies, each vehicle in the existing single-vehicle decision-making model processes environmental information independently, which can easily lead to conflicting actions due to perception blind spots or decision delays. This solution establishes a data sharing and collaborative control mechanism between vehicles, fusing multi-vehicle perception data into a global environmental model. This enables platoon vehicles to predict the overall traffic situation and execute coordinated actions, effectively reducing the frequency of emergency braking and the risk of rear-end collisions.

[0083] Through the above technical solution, this application achieves collaborative perception and joint decision-making for intelligent vehicle platooning, improving the platoon's traffic efficiency while maintaining a safe distance. When encountering sudden obstacles, the platoon vehicles synchronously perform evasive maneuvers to avoid the chain reaction caused by sudden braking of a single vehicle. For rapidly approaching vehicles from behind, the platoon accelerates as a whole to escape the danger zone, while simultaneously providing collaborative signal prompts to reduce the probability of misjudgment of surrounding vehicles.

[0084] This application further proposes to prefabricate an intelligent driving module on the smart car and synchronously connect various positioning modules as well as speed sensors, proximity sensors, and camera equipment in the car.

[0085] Among them, the intelligent driving module refers to the control unit used to realize the autonomous driving function, which can be implemented by an on-board computer or a dedicated processor to integrate sensor data and execute the autonomous driving algorithm.

[0086] Among them, the positioning module refers to a device used to obtain real-time location information of the vehicle, which can be implemented using the Global Positioning System or the Beidou Satellite Navigation System to provide basic location data for route planning.

[0087] Among them, the speed sensor refers to a device used to monitor the vehicle's driving speed, which can be implemented using a Hall sensor or a wheel speed sensor to provide real-time speed feedback for the intelligent driving system.

[0088] Among them, the proximity sensor refers to a device used to detect the distance of obstacles around the vehicle. It can be specifically implemented using ultrasonic radar or millimeter wave radar to identify the relative positions of surrounding vehicles or objects.

[0089] Among them, the camera device refers to a device used to collect visual information around the vehicle, which can be specifically implemented using a wide-angle camera or an infrared camera to provide image data support for environmental perception.

[0090] Specifically, before a smart car activates its autonomous driving function, the intelligent driving module is pre-integrated into the vehicle system and establishes a data connection with the positioning module to continuously obtain vehicle location information. The speed sensor collects real-time speed data and transmits it to the intelligent driving module. The proximity sensor continuously scans the distance to obstacles around the vehicle, and the camera equipment simultaneously captures images of the road environment. These devices are initialized and data is interconnected before the intelligent driving mode is activated, ensuring that the autonomous driving system can access multi-dimensional sensor data during the path planning phase, providing the basic data support for subsequent collaborative driving.

[0091] Compared to existing technologies, existing autonomous driving systems typically rely on the independent operation of a single vehicle's sensors, without pre-established multi-sensor coordination mechanisms at the hardware level. This solution pre-integrates the intelligent driving module and connects multiple sensors, enabling the vehicle to integrate multi-source data before autonomous driving begins. This addresses the existing issues of isolated sensor data and low coordination efficiency.

[0092] Through the above technical solution, this application realizes that the vehicle can call complete sensor data when the autonomous driving function is started, avoiding the data loss problem caused by sensor initialization delay or communication interruption, and providing a reliable data basis for subsequent path planning and obstacle avoidance decisions in multi-vehicle collaborative driving.

[0093] This application further proposes that when a smart car entering the accompanying running mode detects that other smart driving vehicles are traveling on the same path, it controls the other smart driving vehicles to join the accompanying running mode after negotiation and agreement to form an intelligent driving team, and shares data with all vehicles that have completed the intelligent driving handshake, and receives safety warning data on the front, back, left, and right paths of each vehicle to perform intelligent driving control.

[0094] Among them, the accompanying mode refers to a collaborative driving state formed by multiple smart cars through communication protocols. Specifically, vehicle network communication technology can be used to realize real-time data interaction between vehicles, such as using the V2V communication module to establish a low-latency data transmission channel.

[0095] Intelligent driving teaming refers to the dynamic formation of a fleet by multiple smart cars during driving. Specifically, the path matching algorithm can be used to identify vehicles on the same path, and the willingness to join can be confirmed in combination with a negotiation mechanism. For example, after detecting vehicles on the same path, a teaming request is sent and a confirmation signal is waited for.

[0096] Data sharing refers to the exchange of environmental information and driving status data collected by sensors between vehicles. Specifically, standardized data formats can be used to achieve cross-platform compatibility. For example, data from cameras, radars, and positioning modules can be integrated into a unified format and transmitted through encrypted channels.

[0097] Specifically, when a vehicle in accompanying mode detects another intelligent vehicle traveling along the same route, it first initiates a team negotiation request via wireless communication. If the other vehicle agrees to join, it is incorporated into the existing team and a data sharing link is established. All vehicles upload safety warning data, including obstacle locations, road conditions, and emergency braking signals, in real time, and synchronously adjust vehicle speed and driving trajectory through a distributed decision-making algorithm. For example, if a vehicle detects a sudden roadblock ahead, the warning data will be immediately broadcast to all members of the team, triggering a coordinated avoidance action.

[0098] Compared to existing technologies, which rely solely on single-vehicle sensor data and cannot dynamically scale the fleet size, this solution leverages a dynamic teaming mechanism to flexibly adjust the fleet size and utilizes multi-vehicle data fusion to improve environmental perception redundancy. For example, traditional single-vehicle systems have limitations in blind spot detection, while this solution eliminates blind spots by sharing side camera data from adjacent vehicles.

[0099] Through the above technical solution, this application solves the problem of existing intelligent driving systems being unable to dynamically form fleets and integrate multi-vehicle data. It enables on-demand expansion of fleet size and collaborative analysis of multi-source data, effectively improving the fleet's overall decision-making capabilities in complex road conditions. For example, on a highway, a newly added vehicle can immediately obtain braking status data from the five vehicles ahead, allowing it to predict and adjust the following distance in advance.

[0100] This application further proposes to set a safety threshold in advance for the number of smart cars that enter the accompanying running mode and are allowed to perform the intelligent driving joint mode, so as to maintain the intelligent driving team in the accompanying running mode.

[0101] The safety threshold is a pre-set upper limit on the number of vehicles allowed to participate in the accompanying running mode. This can be implemented through the parameter configuration module of the vehicle control system, for example, by setting the maximum number of vehicles in the vehicle computer to 5. This threshold is used to prevent communication delays or data processing capacity overload caused by too many vehicles in the team.

[0102] The accompanying driving mode involves multiple smart cars sharing data and coordinating their movements. Specifically, this mode utilizes inter-vehicle communication protocols to achieve real-time speed synchronization and path coordination. This mode ensures efficient transmission of control commands between vehicles by limiting the size of the team.

[0103] Specifically, when the number of vehicles in the accompanying mode reaches a preset safety threshold, the onboard system will automatically reject new vehicle requests to join. For example, if the threshold is set at five vehicles, the fifth vehicle in the team will serve as the last vehicle and send a rejection command to subsequent vehicles requesting to join. This mechanism, implemented through the linkage between the onboard communication module and the path planning module, ensures team stability while avoiding the risk of path conflicts caused by excessive number of vehicles.

[0104] Compared to existing technologies, existing solutions do not limit the number of vehicles in a platoon. This can lead to excessively long platoons when vehicles are densely packed on the same route, resulting in the end vehicle being unable to respond promptly to the preceding vehicle's actions due to communication delays. This solution enforces platoon size control by presetting a threshold, ensuring that the inter-vehicle communication load remains within the data processing module's capacity, thereby improving the overall control response speed and driving safety of the platoon.

[0105] Through the above technical solution, this application effectively solves the communication delay and data processing bottleneck problems caused by the excessive number of vehicles when driving in a team, ensuring that all vehicles in the accompanying mode can share sensor data in real time and perform evasive actions synchronously, avoiding the risk of collaborative control failure caused by system overload.

[0106] This application further proposes that when it is detected that the smart car entering the accompanying running mode exits the path planning midway, the control is used to complete the handshake and farewell with the remaining vehicles, and the security data sharing is terminated, and the remaining smart cars continue to move forward in the intelligent driving team.

[0107] Among them, mid-way exit path planning refers to the behavior of a vehicle needing to leave the current driving path due to a route change or system failure. This can be achieved by sending a path deviation signal through the on-board navigation module or the driver manually triggering an exit command. This feature is used to identify the vehicle's intention to leave the team. Handshake farewell refers to establishing a communication link with other vehicles in the group before the vehicle exits to confirm the status change. Specifically, the Internet of Vehicles communication protocol can be used to send an exit request and receive a confirmation response. This feature is used to ensure that the remaining vehicles update the team status in a timely manner. Release of secure data sharing refers to the termination of real-time transmission of sensor data and control commands between vehicles. This can be achieved by closing the dedicated communication channel or deleting the temporary shared key. This feature is used to prevent invalid data from occupying communication resources.

[0108] Specifically, when a vehicle in the accompanying mode detects that the navigation path deviates from the threshold distance or receives a forced exit command from the driver, it sends an exit request message to other vehicles in the group. After receiving the request, the master vehicle in the group verifies the legitimacy of the exit operation through the vehicle-to-vehicle communication link, for example, to determine whether the path change is caused by a sudden obstacle. After the verification is passed, the master vehicle sends a confirmation command to the exiting vehicle, and at the same time updates the list of team vehicles and reallocates the sensor data fusion node. The exiting vehicle closes the data sharing interface and switches to independent decision-making mode. The remaining vehicles dynamically adjust the following distance and collaborative control strategy based on the updated team size, for example, adjusting the safety spacing parameters of the original three-vehicle team to a two-vehicle team mode.

[0109] Compared to existing technologies, existing intelligent driving systems only execute a single vehicle disengagement action when a vehicle exits a route, without establishing a mechanism for synchronizing the group's status. This results in the remaining vehicles continuing to receive invalid data or maintaining redundant communication connections. This solution atomically updates the group's status through a handshake and farewell process, avoiding control conflicts caused by residual data. For example, the risk of sudden braking caused by a following vehicle attempting to maintain the original following distance after the leading vehicle exits.

[0110] Through the above technical solution, this application solves the problem of interrupted platoon collaborative control when vehicles dynamically exit, and achieves seamless degradation of the accompanying running mode. Specifically, the exiting vehicle can safely leave the platoon without affecting the collaborative decision-making of the remaining vehicles. At the same time, the remaining platoon vehicles can immediately optimize the data fusion algorithm based on the latest member list. For example, the obstacle detection range originally shared by three vehicles can be automatically reduced to the coverage area of ​​two vehicles, thereby maintaining the continuity and safety of the platoon.

[0111] The present application further proposes that when it is detected that a vehicle among the smart cars in the accompanying running mode arrives at the destination, the smart car that has arrived at the destination is controlled to communicate, shake hands and say goodbye to the other smart cars in the accompanying running mode, and the accompanying running mode of the car that has arrived at the destination is released.

[0112] Among them, the communication handshake farewell refers to the sending of confirmation signals between vehicles through the wireless communication protocol to complete the exit process. Specifically, it can be achieved by using the Internet of Vehicles communication module to send a data packet containing the exit instruction. This process ensures that the accompanying team members synchronously update the status information.

[0113] Among them, canceling the accompanying running mode means terminating the sensor data sharing and collaborative control logic between vehicles. This can be achieved by closing the data sharing interface and restoring the operation of the single-vehicle autonomous decision-making module. This operation prevents vehicles that have reached the destination from continuing to occupy communication resources.

[0114] Specifically, when a car in the accompanying driving fleet determines through the positioning module that it has arrived at the preset destination coordinates, its intelligent driving system will generate an exit request and broadcast it to other vehicles through the local area network; the vehicle receiving the request will return a confirmation signal, triggering the data sharing link disconnection operation; after the accompanying driving mode is released, the vehicle exits the collaborative control queue and switches to an independent driving state, and the remaining vehicles recalculate the safe vehicle distance and driving strategy to maintain the integrity of the fleet.

[0115] Compared to existing technologies, existing solutions cannot automatically identify target achievement status and require manual exit from collaborative mode, which can lead to response delays and the risk of misoperation. This solution achieves standardization and real-time dynamic fleet adjustment by automatically triggering communication handshakes and mode switching mechanisms.

[0116] Through the above technical solution, this application solves the problem that some vehicles in the accompanying fleet cannot automatically exit after completing the journey, avoids the interference of residual vehicle data on the collaborative control of the fleet, and at the same time reduces the communication delay and safety hazards caused by manual intervention.

[0117] This application further proposes that the negotiation method includes negotiation through a local area network formed by a communication network, WIFI, and Bluetooth; the accompanying running mode includes a front and rear following mode and a left and right side by side following mode, but the left and right side by side following mode is controlled to complete the avoidance action when a speeding vehicle is detected; when it is detected that all smart cars that have entered the accompanying running mode have completed the entire journey, the accompanying running mode is controlled to be disbanded.

[0118] Among them, the local area network composed of communication networks, WIFI, and Bluetooth refers to a short-distance communication network established between vehicles. Specifically, the on-board communication module can be used to achieve low-latency data transmission between multiple devices to ensure the real-time nature of the negotiation process. The front and rear following mode refers to vehicles maintaining a longitudinal queue. Specifically, the speed synchronization algorithm can be used to achieve dynamic adjustment of the distance between the front and rear vehicles to improve the stability of the team's driving. The left and right side-by-side following mode refers to vehicles traveling in parallel laterally. Specifically, the lane keeping system and the lateral distance sensor can be used to coordinate control to improve the utilization rate of road resources. The speeding avoidance action refers to the generation of lateral displacement instructions through the path planning algorithm when the speeding of the vehicle in the adjacent lane is detected, which is used to avoid the risk of collision in the parallel state. The trip completion disbanding control refers to sending a disbanding instruction through the communication protocol after the navigation system confirms that all vehicles have reached the destination coordinates, which is used to safely dissolve the team association.

[0119] Specifically, after detecting an intelligent driving vehicle with overlapping paths, a local area network connection is established through the on-board communication equipment, and an encrypted protocol is used to transmit the negotiation request. When it is confirmed that the accompanying running mode has been entered, the master vehicle generates the formation parameters, including the longitudinal spacing set value, the lateral offset threshold and other operating parameters. During parallel driving, the millimeter-wave radar continuously monitors the speed of vehicles in adjacent lanes. When an abnormal vehicle approaching at excessive speed is detected, the path planning module generates a lateral avoidance trajectory and sends a coordinated instruction to the accompanying vehicle through the local area network to ensure that all vehicles perform avoidance actions synchronously. After the navigation system determines that all vehicles have arrived at the destination, a disbandment instruction is sent through the communication module, and each vehicle releases the data sharing connection and resumes independent driving.

[0120] Compared to existing technologies, existing intelligent driving systems can only make independent decisions based on sensor data from individual vehicles and are unable to achieve coordinated actions between vehicles. This solution establishes a local communication network, enabling accompanying vehicles to share real-time driving data. When a speeding vehicle is detected, a joint avoidance strategy is generated, eliminating the asynchronous avoidance actions caused by isolated information in traditional methods. Furthermore, an automatic disbanding mechanism at the end of a trip addresses the inefficiency of manual operations in traditional platooning models.

[0121] Through the above technical solution, this application realizes the collaborative avoidance control of multiple intelligent vehicles under complex road conditions, solves the problem of action conflicts caused by independent decision-making of vehicles with overlapping paths, improves the overall safety of fleet driving through data sharing and joint planning, and reduces the operating cost of human intervention through the automated disbanding mechanism.

[0122] The present invention is further described in detail below through a specific application example:

[0123] A specific application embodiment of the present invention provides an automatic driving processing method based on a smart car, comprising the following steps:

[0124] S11: The smart car is prefabricated with an intelligent driving module before leaving the factory and is synchronously connected to various positioning modules as well as speed sensors, proximity sensors, cameras and other devices in the car; then enters S12.

[0125] In this specific embodiment, the vehicle is pre-installed with an intelligent driving core module when it leaves the factory. This module includes a modem communication tool and devices such as various distance sensors connected to the vehicle body; these sensors can obtain various information about the vehicle, including location, surrounding vehicle information, and lane position.

[0126] S12: After the smart car driver enters the vehicle, completes path planning and turns on the smart driving mode, the smart driving system starts working and monitors the surrounding vehicle information in real time; and enters S13.

[0127] In this embodiment, after the user starts the intelligent driving system, the driving route is first planned, the network communication function is started and the various sensors on the vehicle body are connected to obtain the current surrounding vehicle data.

[0128] S13: If a handshake is completed with surrounding vehicles that have also turned on the intelligent driving system and there are overlapping paths, the intelligent driving joint mode will be entered into the accompanying running mode; the front and rear vehicles will maintain the same speed and share sensor data so that the two vehicles can complete the intelligent driving strategy decision; and then enter S14.

[0129] S14: The two intelligent driving vehicles entering the accompanying running mode are integrated into the system. The front and rear vehicles share sensor data and jointly maintain a safe distance and move forward synchronously. If the front vehicle detects an abnormality and needs to avoid it, the two accompanying vehicles will complete the avoidance action synchronously. If the rear vehicle detects an abnormal vehicle approaching at a high speed, the two vehicles will accelerate synchronously to avoid it. Then enter S15.

[0130] In this embodiment, during driving, the intelligent driving system will continuously communicate and shake hands with the surrounding systems that have also turned on intelligent driving. When the two systems negotiate and find that the paths overlap, they negotiate whether to enter the intelligent driving joint mode. After the two intelligent driving systems successfully shake hands, the accompanying running mode is turned on, with the front car leading and the rear car following. Sensor data is shared in the system. If the front car's sensor detects a roadblock, it performs routine avoidance while urgently notifying the rear car to take evasive action. This way, intelligent driving can be completed more safely.

[0131] S15: If other intelligent driving vehicles are detected traveling along the same route, they can also join the accompanying mode after negotiation, set a safety threshold, and maintain the accompanying mode for a maximum of five vehicles. In this way, a normal driving, no overtaking, no lane changing, and safe driving intelligent driving team can be achieved; and enter S16.

[0132] S16: If a vehicle arrives at the destination during the journey, it communicates with other vehicles in the accompanying running mode, shakes hands and says goodbye, and cancels the accompanying running mode; and then enters S17.

[0133] S17: The entire journey is completed, the intelligent driving system disbands the accompanying mode, completes the entire system negotiation, and ends the entire journey.

[0134] As can be seen from the above, in an embodiment of the present invention, when the user completes the path setting for the smart car and enters the smart driving mode, the smart driving system performs the automatic driving process and continues to communicate and interact with the outside world through handshake actions; when encountering a vehicle that has also turned on smart driving, negotiation is carried out. If a road with the same path is detected and the current driving distance is also within the predetermined distance, such as 100 meters in the urban area and 200 meters on the highway, the control is carried out to perform the accompanying running process, and the two vehicles maintain the same allowed synchronous journey, thus preventing the existence of dangers such as overtaking and lane changing; at the same time, the two vehicles can also share relevant sensor data. If there is an obstacle in front that needs to be avoided, the two vehicles complete the avoidance action at the same time to prevent the danger from occurring; similarly, if there is a car approaching dangerously from behind, the two vehicles start the acceleration action at the same time to prevent rear-end collision; this ensures safety when smart driving is turned on, thereby providing a better user experience.

[0135] The present invention is mainly based on the intercommunication between intelligent driving systems, and then completes the information sharing between intelligent driving vehicles, synchronizes the travel data, and synchronously completes driving, avoidance, acceleration and other actions, reducing overtaking, lane changing, and rear-end collisions, and also ensuring the safety of vehicle drivers.

[0136] This invention proposes a running companion mode for an intelligent driving system. This mode allows vehicles on the same route to enter the running companion mode through negotiation, and exits the running companion mode at the end of the trip. During the running companion mode, computing power and data are shared, speed synchronization is achieved, and hazard warnings and other actions are performed. There are many ways to negotiate, including existing communication networks, Wi-Fi, Bluetooth, and other forms to form a local area network. There may also be multiple running companion modes, such as following the front and rear vehicles, and side-by-side (but if a car is speeding, avoidance action must be completed). At the end of the running companion mode, there may also be related actions to be completed, such as the middle vehicle exiting and the rear vehicle slowing down to avoid it, while also notifying the entire team of accompanying vehicles. All of these require corresponding strategies.

[0137] Exemplary devices

[0138] like Figure 2 As shown in , an embodiment of the present invention provides an automatic driving processing device based on a smart car, the device comprising:

[0139] The pre-setting module 310 is used to prefabricate an intelligent driving module on the smart car and synchronously connect various positioning modules as well as speed sensors, proximity sensors, and camera equipment in the car; this can be specifically achieved through the communication interface between the on-board controller and the sensor, and its function is to provide basic data collection capabilities for subsequent modules.

[0140] The intelligent driving startup module 320 is used to control the operation of the intelligent driving system when it detects that the intelligent car has completed path planning and turned on the intelligent driving mode, and to monitor the environmental data around the intelligent car in real time to perform corresponding intelligent driving control; specifically, it can be implemented by combining an embedded system with an environmental perception algorithm, and its function is to start the automatic driving function according to the path planning.

[0141] The communication handshake module 330 is used to control the communication handshake with smart cars that have also enabled smart driving within a predetermined distance range during smart driving. When it is detected that the driving paths of smart cars within the predetermined distance range overlap, it negotiates whether to enter the smart driving joint mode. Specifically, it can be implemented by combining the on-board communication module with the local area network protocol. Its function is to provide a communication basis for collaboration between vehicles.

[0142] The intelligent driving joint mode control module 340 is used to control the intelligent car to enter the accompanying running mode when it detects that the current intelligent car and the surrounding intelligent cars with the same intelligent driving system turned on agree to enter the intelligent driving joint mode, control the front and rear cars to maintain the same speed, and share sensor data so that the intelligent driving system of the intelligent car entering the intelligent driving joint mode can complete the intelligent driving strategy decision; specifically, it can be implemented by using a collaborative control algorithm combined with a vehicle dynamics model, and its function is to achieve dynamic collaboration between vehicles.

[0143] The joint intelligent driving collaborative control module 350 is used to control the smart cars entering the accompanying running mode to be integrated into the system. The front and rear vehicles share sensor data and jointly maintain a safe distance and move forward synchronously. If the current vehicle detects an abnormality and needs to avoid it, the accompanying smart car is controlled to complete the avoidance action synchronously. When the rear vehicle detects that an abnormal vehicle is speeding, the accompanying smart car is controlled to accelerate and avoid it synchronously. Specifically, this can be achieved by using a multi-vehicle collaborative control algorithm combined with real-time path planning. Its function is to ensure the overall driving safety of the fleet.

[0144] The intelligent driving team control module 360 ​​is used for smart cars entering the accompanying running mode. If it detects that other intelligent driving vehicles are traveling on the same path during the journey, it controls other intelligent driving vehicles to join the accompanying running mode after negotiation and agreement, and forms an intelligent driving team. It controls data sharing with all other external intelligent driving vehicles that have completed the intelligent driving handshake, and receives all safety warning data on the front, back, left, and right paths of each vehicle for intelligent driving control. Specifically, it can be implemented by combining a distributed system architecture with data fusion technology, and its function is to enhance the team's ability to cope with complex environments.

[0145] The mid-way exit control module 370 is used to control the handshake and farewell with the remaining vehicles when it detects that the smart car has entered the accompanying running mode and exits the path planning midway, and to terminate the safety data sharing, so that the remaining smart cars continue to move forward in the intelligent driving team; specifically, it can be implemented by combining a communication protocol with a status monitoring mechanism, and its function is to maintain the stability of the fleet operation.

[0146] The arrival control module 380 is used to control the smart car that has arrived at the destination to communicate and shake hands with other smart cars in the accompanying running mode when it detects that a vehicle has arrived at the destination, thereby canceling the accompanying running mode of the car that has arrived at the destination. This can be specifically implemented by combining a destination recognition algorithm with a communication confirmation mechanism, and its function is to achieve orderly replacement of team members.

[0147] The trip end control module 390 is used to control the dissolution of the running-along mode, complete the entire system negotiation, and end the entire trip when it detects that all smart cars entering the running-along mode have completed the entire trip. This can be specifically implemented by combining task status monitoring with a collaborative decision-making algorithm, and its function is to complete the closed-loop management of the entire collaborative driving process.

[0148] Specifically, after the device establishes the basic hardware connection through the pre-set module, the intelligent driving start module activates the intelligent driving function and collects environmental data in real time. When an intelligent driving vehicle on the same path is detected, the communication handshake module establishes a connection through the on-board communication equipment and negotiates the joint driving mode. After confirmation by the intelligent driving joint mode control module, the vehicle enters the accompanying running mode, and maintains synchronous driving and sharing of sensor data through the joint intelligent driving collaborative control module. The intelligent driving team control module dynamically manages the size of the fleet, and the mid-way exit control module and the arrival destination control module handle the mid-way exit and arrival at the destination respectively. Finally, the end of trip control module completes the disbanding of the fleet. The modules are interconnected through the data bus to form a complete collaborative control system.

[0149] Compared to existing autonomous driving systems, which only enable single-vehicle environmental perception and decision-making, this system achieves dynamic teaming, data sharing, and coordinated control among vehicles through multi-module collaboration. While existing technologies lack effective inter-vehicle communication mechanisms, this system, through dedicated communication modules and collaborative algorithms, enables the fleet to respond to environmental changes as a whole, significantly improving driving safety and road resource utilization in complex traffic scenarios.

[0150] Through the above technical solution, this application solves the problem that existing autonomous driving devices cannot achieve coordinated control between vehicles, and realizes fleet-level data sharing and dynamic coordination. Specifically, when a vehicle in the fleet detects an obstacle, the avoidance command can be synchronized to the entire fleet through the coordinated control module; when a new vehicle joins, the intelligent driving team control module can quickly integrate its sensor data, expanding the fleet's perception range; when the vehicle arrives at the destination, the system can safely and orderly adjust the fleet structure to avoid traffic disruption caused by changes in team members.

[0151] Based on the above embodiment, the present invention also provides a smart car, whose principle block diagram can be shown as follows: Figure 3 As shown. The smart car includes a processor, memory, network interface, display screen, and database connected via a system bus. The smart car of the present application also includes one or more programs, wherein one or more programs are stored in the memory and configured to be executed by one or more processors, including the one or more programs for executing any of the methods described above.

[0152] Memory refers to the hardware device used to store program code and operating data. It can be implemented as a solid-state drive or flash memory chip. Its function is to provide persistent storage support for the autonomous driving processing logic. Program refers to a computer executable file containing a sequence of instructions. It can be generated by compiling the autonomous driving control algorithm and is used to implement functions such as path planning, communication negotiation, and running mode coordination. Processor refers to the computing unit that executes program instructions. It can be implemented as a multi-core central processing unit or embedded microcontroller. Its function is to process sensor data in real time and generate control instructions according to the program logic.

[0153] Specifically, the smart car uses the program stored in the memory to load and execute the automatic driving method defined in claims 1-7 by the processor. For example, when the vehicle starts the intelligent driving mode, the processor calls the path planning program to generate a driving route, and at the same time establishes a connection with the surrounding intelligent driving vehicles through the on-board communication module. If a vehicle with overlapping paths is detected, the processor executes a negotiation program to exchange driving intention data, and triggers the accompanying mode control program according to the negotiation results. In the accompanying mode, the processor continuously receives sensor data from the vehicle and the cooperative vehicle, and generates synchronous control instructions through the data fusion algorithm to achieve fleet speed matching, safe distance maintenance and collaborative obstacle avoidance actions.

[0154] In some specific implementations, the program can be divided into a communication handshake module, a path matching analysis module, and a collaborative control module. The communication handshake module uses a wireless local area network protocol to implement inter-vehicle handshake connections. The path matching analysis module determines whether to trigger a collaborative request by comparing the overlap ratio between vehicle coordinates and the planned path. The collaborative control module calculates fleet synchronization parameters based on shared acceleration and steering angle data. A safety threshold database can also be pre-set in the memory to store parameters limiting the maximum fleet size under different road conditions.

[0155] Compared to existing intelligent driving systems, which rely solely on sensor data from a single vehicle for independent decision-making, this solution uses programmatic data sharing and collaborative control across multiple vehicles, enabling vehicles to dynamically adjust their driving strategies based on the overall state of the fleet. For example, with traditional technology, if the leading vehicle suddenly brakes, the following vehicle can only rely on its own radar response. However, this solution, through a program-driven data sharing mechanism, synchronizes the leading vehicle's braking signal with the fleet in advance, achieving synchronized deceleration among multiple vehicles.

[0156] Through the above technical solutions, this application solves the problem that single-vehicle intelligent driving systems cannot utilize collaborative vehicle data, and realizes fleet-level environmental perception and decision-making optimization. In the accompanying mode, multiple vehicles can reduce fluctuations in following distance through programmatic collaboration, improving the overall traffic efficiency of the fleet; in abnormal obstacle avoidance scenarios, program-triggered synchronous control can eliminate response delays between vehicles and reduce the risk of chain collisions. In addition, through the dynamic teaming mechanism, the program can automatically handle the situation of vehicles joining or leaving the fleet, ensuring the continuity and stability of collaborative control.

[0157] The present application further proposes a computer-readable storage medium, which, when the instructions in the storage medium are executed by the processor of an electronic device, enables the electronic device to execute an automatic driving processing method based on a smart car, the method including controlling the smart car to turn on the intelligent driving mode after completing path planning, monitoring the surrounding environment data in real time and performing driving control; communicating and shaking hands with vehicles that have turned on intelligent driving within a predetermined distance range, and negotiating to enter the intelligent driving joint mode when the paths overlap; controlling the vehicles that agree to join to enter the accompanying mode, maintaining the same speed and sharing sensor data to complete strategic decisions; making the accompanying vehicles integrated into the system, sharing data and synchronously maintaining a safe distance, and synchronously performing evasive actions according to abnormal conditions detected by the front and rear vehicles; allowing the vehicles to negotiate to join the accompanying team when an intelligent driving vehicle on the same path is detected midway, and sharing the safety warning data of all vehicles; controlling the vehicles that exit midway or reach the destination to release the accompanying mode.

[0158] Among them, computer-readable storage media refers to non-temporary physical carriers capable of storing program code, which can be implemented specifically as solid-state drives, flash memory chips, or optical disks. Its function is to provide a portable instruction storage basis for the execution of autonomous driving processing methods. The processor of an electronic device refers to an integrated circuit with computing capabilities, such as an on-board ECU or central computing unit. Its function is to implement logical control of method steps by reading instructions from a storage medium. The instruction execution autonomous driving processing method refers to program code that includes path planning, communication negotiation, data sharing, and collaborative control. It can be implemented specifically through the interaction between the vehicle bus system and the sensor network. Its function is to transform decentralized intelligent driving decisions into multi-vehicle collaborative actions.

[0159] Specifically, when the processor executes the instructions in the storage medium, the electronic device first controls the smart car to complete path planning and activate the intelligent driving system, and continuously collects environmental data through cameras and proximity sensors. During driving, the vehicle establishes local area network communication through WiFi or Bluetooth, exchanges path information with neighboring intelligent driving vehicles, and initiates a joint mode request when a path overlap is detected. If the negotiation is successful, the vehicle enters the accompanying mode and shares speed, distance and obstacle data to form a unified decision-making system. In the accompanying team, the abnormal avoidance instructions of the leading vehicle will be synchronized to the following vehicle to execute acceleration or steering, and the team will trigger a synchronous response when the following vehicle detects a threat from the rear. For vehicles joining the same path midway, the team size is limited by the preset safety threshold, and the newly added vehicles access the data sharing network through a handshake protocol. When some vehicles exit or reach the end, the remaining vehicles automatically adjust the formation and maintain collaborative driving.

[0160] Compared with existing technologies, existing intelligent driving systems only rely on single-vehicle sensor data to make independent decisions and are unable to achieve data interoperability and action coordination between vehicles. However, this solution uses an instruction set carried by a storage medium to enable electronic devices to drive multiple vehicles to form a dynamic running team, share sensor data and synchronously perform evasive actions, solving the decision-making lag problem caused by the limited perception range of a single vehicle.

[0161] Through the above technical solution, this application enables smart cars to dynamically form collaborative driving teams during driving, expand the range of environmental perception by sharing sensor data, and synchronously perform evasive actions to reduce collision risks. At the same time, it optimizes the efficiency of road resource utilization and avoids traffic flow disruptions caused by frequent lane changes of single vehicles.

[0162] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for automatic driving based on a smart car, characterized in that: include: When it detects that the smart car has completed path planning and turned on the smart driving mode, it controls the operation of the smart driving system, monitors the surrounding environment data of the smart car in real time, and performs corresponding smart driving control; During intelligent driving, the system controls the communication handshake with other intelligent vehicles within a predetermined distance range. When the system detects that the driving paths of the intelligent vehicles within the predetermined distance range overlap, it negotiates whether to engage in intelligent driving joint mode. When it detects that the current smart car and surrounding smart cars with the same intelligent driving system have agreed to enter the intelligent driving joint mode, the smart car is controlled to enter the accompanying mode, controlling the front and rear cars to maintain the same speed and share sensor data for the intelligent driving system of the smart car in the intelligent driving joint mode to complete the intelligent driving strategy decision; The smart car that enters the accompanying running mode is controlled to be integrated into the system. The front and rear cars share sensor data and jointly maintain a safe distance and move forward synchronously. If the current car detects an abnormality that needs to be avoided, the accompanying smart car is controlled to complete the evasive action synchronously. When the rear car detects that an abnormal vehicle is speeding, the accompanying smart car is controlled to accelerate synchronously to avoid it.

2. The automatic driving processing method based on a smart car according to claim 1, characterized in that: The step of detecting that the intelligent vehicle has completed path planning and started the intelligent driving mode includes: A smart driving module is prefabricated on the smart car and synchronously connected to various positioning modules as well as speed sensors, proximity sensors, and camera equipment in the car.

3. The automatic driving processing method based on a smart car according to claim 1, characterized in that: The steps of controlling the smart cars entering the accompanying running mode to be integrated into a system, and the front and rear cars sharing sensor data to jointly maintain a safe distance and move forward synchronously also include: If a smart car in running companion mode detects other smart vehicles traveling the same route, it will control the other smart vehicles to join the running companion mode after negotiation and agreement, forming a smart driving team. The control is to share data with all other intelligent driving vehicles that have completed the intelligent driving handshake, and receive all safety warning data of the front, rear, left and right paths of each vehicle for intelligent driving control.

4. The automatic driving processing method based on a smart car according to claim 3, characterized in that: If the smart car in the accompanying running mode detects that other smart driving vehicles are traveling on the same route, the smart car controls the other smart driving vehicles to join the accompanying running mode after negotiation and agreement. The steps before the smart driving team is formed include: A safety threshold is set in advance for the number of smart cars that enter the accompanying mode and are allowed to perform the intelligent driving joint mode, so as to maintain the intelligent driving team installed in the accompanying mode.

5. The automatic driving processing method based on a smart car according to claim 1, characterized in that: The steps of controlling the smart cars entering the accompanying running mode to be integrated into a system, and the front and rear cars sharing sensor data to jointly maintain a safe distance and move forward synchronously also include: When a smart car is detected entering the accompanying running mode and exits the path planning midway, the control will complete the handshake and farewell with the remaining vehicles, cancel the security data sharing, and the remaining smart cars will continue to move forward in the intelligent driving team.

6. The automatic driving processing method based on a smart car according to claim 1, characterized in that: After the step of controlling the smart cars entering the accompanying running mode to be integrated into a system, the front and rear cars share sensor data, and jointly maintain a safe distance and move forward synchronously, the following steps are further included: When it is detected that one of the smart cars in the accompanying running mode has arrived at the destination, the smart car that has arrived at the destination is controlled to communicate with the other smart cars in the accompanying running mode to shake hands and say goodbye, and the accompanying running mode of the car that has arrived at the destination is released.

7. The automatic driving processing method based on a smart car according to claim 1, characterized in that: The negotiation method includes: forming a local area network for negotiation through a communication network, WIFI, or Bluetooth; The accompanying running mode includes: front and rear following mode, left and right following mode, but if a car exceeds the speed limit in the left and right following mode, the control will complete the avoidance action; When it is detected that all smart cars that have entered the accompanying running mode have completed the entire journey, the accompanying running mode is controlled to be terminated, the entire system negotiation is completed, and the entire journey ends.

8. An automatic driving processing device based on a smart car, characterized in that: The device comprises: A pre-set module is used to prefabricate an intelligent driving module on a smart car and synchronously connect various positioning modules as well as speed sensors, proximity sensors, and camera devices in the car; The intelligent driving startup module is used to control the operation of the intelligent driving system when it detects that the intelligent car has completed path planning and started the intelligent driving mode, and monitor the environmental data around the intelligent car in real time to perform corresponding intelligent driving control; The communication handshake module is used to control the communication handshake with other smart cars with smart driving enabled within a predetermined distance during smart driving. When it is detected that the driving paths of smart cars within the predetermined distance overlap, it negotiates whether to adopt the smart driving joint mode. The intelligent driving joint mode control module is used to control the intelligent driving system of the intelligent driving system to enter the running mode when it detects that the current intelligent vehicle and surrounding intelligent driving systems have agreed to enter the intelligent driving joint mode. The module controls the front and rear vehicles to maintain the same speed and shares sensor data for the intelligent driving system of the intelligent driving system to make intelligent driving strategy decisions. The Joint Intelligent Driving Collaborative Control Module is used to control the smart cars in the accompanying running mode. The system integrates them into one, allowing the front and rear vehicles to share sensor data and jointly maintain a safe distance and move forward synchronously. If the leading vehicle detects an abnormality and needs to avoid it, the accompanying smart car will be controlled to complete the evasive action synchronously. If the rear vehicle detects an abnormal vehicle speeding, the accompanying smart car will be controlled to accelerate synchronously to avoid it. The intelligent driving team control module is used for intelligent cars entering the companion running mode. If other intelligent driving vehicles are detected traveling along the same route, the module controls the other intelligent driving vehicles to join the companion running mode after negotiation and agreement, thus forming an intelligent driving team. The module also controls data sharing with all other intelligent driving vehicles that have completed the intelligent driving handshake, and receives all safety warning data on the paths ahead, behind, and around each vehicle for intelligent driving control. The mid-trip exit control module is used to control the handshake and farewell of the remaining cars when it detects that the smart car has entered the accompanying running mode and exits the path planning mid-trip, and then terminates the security data sharing, so that the remaining smart cars can continue to move forward in the intelligent driving team; The arrival control module is used to control the smart car that has arrived at the destination to communicate and shake hands with other smart cars in the accompanying running mode when it detects that a car has arrived at the destination, thereby releasing the accompanying running mode of the car that has arrived at the destination; The trip end control module is used to control the dissolution of the accompanying running mode, complete the entire system negotiation, and end the entire trip when it detects that all smart cars entering the accompanying running mode have completed the entire trip.

9. A smart car, characterized in that: The device comprises a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by one or more processors, and the one or more programs include being used to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method according to any one of claims 1 to 7.

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