Air-ground cooperative multi-vehicle platoon control method and device, equipment, medium and product

Abstract

This application discloses a method, device, equipment, medium, and product for air-ground cooperative multi-vehicle platoon control, relating to the fields of sensing and vehicle networking technologies. The method includes receiving visible light signals from a drone using a photodiode receiver on any of the following vehicles (n) in the platoon, excluding the lead vehicle. The visible light signal is generated by the lead vehicle transmitting its speed information to the drone via radio waves. Based on the visible light signal, the vehicle information of the following vehicle n, and the vehicle information of the following vehicle n-1, the method controls the following vehicles n and n-1 to travel collaboratively. During collaborative travel, the method determines the acceleration of the following vehicle n at the next moment based on the vehicle information of the following vehicle n and the distance between the following vehicle n and the following vehicle n-1. The method controls the movement of all vehicles in the platoon according to the acceleration of each following vehicle n. This application enables large-scale, wide-range communication between vehicles.

Description

Technical Field

[0001] This application relates to the fields of sensing and vehicle networking technologies, and in particular to a method, device, equipment, medium and product for air-ground cooperative multi-vehicle platooning control. Background Technology

[0002] With the maturity of perception and vehicle-to-everything (V2X) technologies, connected autonomous vehicles can achieve platooning and cooperative driving by relying on perception and communication technologies, thereby improving traffic efficiency. Currently, vehicle perception methods can be divided into onboard perception and roadside perception.

[0003] Vehicle-mounted perception refers to the process by which vehicles perceive traffic information around them using onboard sensors such as LiDAR and vision cameras. However, it suffers from the drawback of short line-of-sight distance.

[0004] Roadside perception refers to detecting traffic conditions on the road using sensors such as roadside lidar and traffic cameras, and transmitting the detected information to the vehicle via V2X technology. This method can solve the problem of short line of sight for vehicle-side perception, but it relies on a large amount of roadside infrastructure and consumes a lot of communication resources, so the cost of use is relatively high. Vehicle-to-vehicle communication also suffers from the problem of limited spectrum resources, which limits large-scale vehicle communication. Summary of the Invention

[0005] The purpose of this application is to provide a method, device, equipment, medium, and product for air-ground cooperative multi-vehicle platoon control, which solves the problem of difficulties in large-scale vehicle communication.

[0006] To achieve the above objectives, this application provides the following solution.

[0007] Firstly, this application provides an air-ground cooperative multi-vehicle platooning control method, including:

[0008] The visible light signal from the UAV is received by a photodiode receiver on any vehicle n behind the lead vehicle in the convoy; the visible light signal is formed by the lead vehicle transmitting its speed information to the UAV using radio waves; n is an integer greater than 0.

[0009] Based on the visible light signal, the vehicle information of vehicle n behind and vehicle n-1 behind, control vehicle n behind and vehicle n-1 behind to drive together; the vehicle information includes position and speed.

[0010] During cooperative driving, the acceleration of the vehicle n at the next moment is determined based on the vehicle information of the vehicle n behind and the distance between the vehicle n behind and the vehicle n-1 behind.

[0011] The movement of all vehicles in the convoy is controlled according to the acceleration of each vehicle n behind it.

[0012] In one embodiment, a drone is used to decode the vehicle speed information and convert it into an electrical signal.

[0013] The electrical signal is encoded, modulated, preprocessed, and converted from digital to analog to determine the visible light signal.

[0014] In one embodiment, the following vehicle n outputs a current signal based on the visible light signal. The control panel of the following vehicle n includes a cross-group amplifier, an analog-to-digital converter, an equalization module, and a demodulator connected in sequence.

[0015] Based on the transimpedance amplifier, the current signal is converted into a voltage signal.

[0016] The voltage signal is converted into a digital signal using the analog-to-digital converter.

[0017] Based on the equalization module, the equalized digital signal is determined according to the digital signal.

[0018] Based on the demodulator, the equalized digital signal is converted into the original binary information sequence.

[0019] In one embodiment, using a n (t+1)=F(v0(t),v n (t),s n Let v0(t) be the velocity of the lead vehicle at time t, and vn(t) be the velocity of the vehicle behind it at time t. n (t) represents the speed of vehicle n behind at time t, s n (t) represents the distance between vehicle n behind and vehicle n-1 behind; a n (t+1) represents the acceleration of the vehicle behind at the next moment n; F(v0(t), v n (t),s n (t) is the formula for calculating the acceleration of the vehicle behind at the next moment n, F(·)=α(V(s) n (t))-v n (t))+β(v0(t)-v n (t)), α is the weighting coefficient of the expected vehicle speed, β is the weighting coefficient of the speed difference; V(s) n (t) represents the vehicle n behind at s. n (t) The expected vehicle speed under the spacing condition. s min The minimum distance between vehicles when traveling in a platoon; s max This refers to the maximum spacing between vehicles when traveling in a platoon; v max Let n be the maximum speed of the vehicle behind.

[0020] In one implementation, it is determined whether the following vehicle n satisfies... Among them, v n (t) represents the speed of vehicle n behind at time t; v min v is the minimum speed of vehicle n behind it. max Let a be the maximum speed of vehicle n behind it; n (t) represents the acceleration of the vehicle n behind at time t; a min Let a be the minimum acceleration of vehicle n traveling behind; max s is the maximum acceleration of vehicle n traveling behind; n (t) represents the distance between vehicle n behind and vehicle n-1 behind; s min The minimum distance between vehicles when traveling in a platoon; s max This represents the maximum spacing between vehicles when traveling in a platoon.

[0021] If so, the acceleration of the vehicle n at the next moment is determined based on the vehicle information of the vehicle n behind and the distance between the vehicle n behind and the vehicle n-1 behind.

[0022] If not, adjust the current speed of the vehicle behind n until the vehicle behind n meets the requirements.

[0023] Secondly, this application provides an air-ground cooperative multi-vehicle platooning control device, comprising:

[0024] The visible light signal receiving module is used to receive the visible light signal of the UAV using a photodiode receiver on any of the following vehicles n in the convoy, excluding the lead vehicle. The visible light signal is formed by the lead vehicle transmitting its speed information to the UAV using radio waves. n is an integer greater than 0.

[0025] The vehicle driving control module is used to control the rear vehicle n and the rear vehicle n-1 to drive together based on the visible light signal, the vehicle information of the rear vehicle n and the vehicle information of the rear vehicle n-1; the vehicle information includes position and speed.

[0026] An acceleration determination module is used to determine the acceleration of the following vehicle n at the next moment during cooperative driving, based on the vehicle information of the following vehicle n at the next moment and the distance between the following vehicle n and the following vehicle n-1; and to control the driving of all vehicles in the convoy according to the acceleration of each following vehicle n.

[0027] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the air-ground cooperative multi-vehicle platooning control method described in any one of the above.

[0028] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the air-ground cooperative multi-vehicle platooning control method described above.

[0029] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the air-ground cooperative multi-vehicle platooning control method described above.

[0030] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0031] This application provides a method, apparatus, equipment, medium, and product for air-ground cooperative multi-vehicle platoon control. It utilizes a photodiode receiver on any of the following vehicles (n) in the platoon (excluding the lead vehicle) to receive visible light signals from a drone. The drone can dynamically adjust its altitude and position, significantly expanding the coverage of optical communication. The visible light signal is generated by the lead vehicle transmitting its speed information to the drone via radio waves, eliminating reliance on roadside infrastructure and solving the problem of requiring extensive roadside infrastructure and consuming significant communication resources. Furthermore, based on the visible light signal, vehicle information of following vehicle n, and vehicle information of following vehicle n-1, the application controls the coordinated movement of following vehicle n and following vehicle n-1. During coordinated movement, the application determines the acceleration of following vehicle n at the next moment based on its vehicle information and the distance between following vehicle n and following vehicle n-1. All vehicles in the platoon are controlled according to the acceleration of each following vehicle n. Therefore, this application controls all vehicles in the platoon based on communication between adjacent vehicles, achieving large-scale vehicle communication. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the 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.

[0033] Figure 1 This is a flowchart illustrating an air-ground cooperative multi-vehicle platooning control method according to an embodiment of this application.

[0034] Figure 2 This is a schematic diagram of a system flow provided for an embodiment of this application.

[0035] Figure 3 This is a schematic diagram of data transmission provided in an embodiment of this application.

[0036] Figure 4 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0038] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] like Figure 1 As shown in the figure, this application provides an air-ground cooperative multi-vehicle platooning control method, the details of which are as follows.

[0040] S1: Receive the visible light signal from the UAV using a photodiode receiver on any of the following vehicles n in the convoy, excluding the lead vehicle; the visible light signal is formed by the lead vehicle transmitting its speed information to the UAV via radio waves; n is an integer greater than 0.

[0041] S2: Based on the visible light signal, the vehicle information of the vehicle behind n and the vehicle information of the vehicle behind n-1, control the vehicle behind n and the vehicle behind n-1 to drive together; the vehicle information includes position and speed.

[0042] S3: During cooperative driving, the acceleration of the vehicle n at the next moment is determined based on the vehicle information of the vehicle n at the next moment and the distance between the vehicle n and the vehicle n-1.

[0043] S4: Control the movement of all vehicles in the convoy according to the acceleration of each vehicle n behind it.

[0044] With the development of communication technology, visible light communication technology has been increasingly applied to vehicle communication. Visible light communication is a wireless communication technology that uses the visible light band for data transmission. Because it does not require spectrum licensing, its available resources are abundant, and it features high bandwidth, energy efficiency, and environmental friendliness. Furthermore, this technology can achieve information exchange without affecting normal lighting operation, and it does not interfere with the transmission of radio frequency signals. Therefore, its application in air-to-ground communication has broad prospects.

[0045] Vehicle-mounted sensing technology refers to a technology that utilizes various sensors, cameras, radars, and other devices installed on vehicles to achieve real-time monitoring and perception of the vehicle's surrounding environment. It is one of the core technologies of modern intelligent transportation systems and autonomous vehicles, and is of great significance for improving vehicle safety, efficiency, and intelligence. Vehicle-mounted sensing technologies mainly include lidar, cameras, millimeter-wave radar, ultrasonic sensors, and inertial measurement units.

[0046] Air-ground collaborative technology, based on the coordination of drones and ground vehicles, is a multi-dimensional collaborative operation system that integrates drones and ground vehicles (such as autonomous vehicles). This technology combines the aerial perspective of drones with the ground perception of ground vehicles to achieve information complementarity and task coordination. The main characteristics of air-ground collaborative technology include information sharing, task allocation, and collaborative control.

[0047] Visible Light Communication (VLC) is a wireless communication technology that uses visible light as the data transmission medium. It employs modulation techniques to convert electrical signals containing data into corresponding optical signals, which are then transmitted by an optical transmitter. The receiver receives these signals, decodes them, and processes them to obtain the original data. This technology features high transmission rates, strong security, energy efficiency, and environmental friendliness, and has broad application prospects. In air-to-ground collaborative systems, existing communication methods primarily rely on radio waves, which suffer from limited spectrum resources. VLC, as a wireless communication technology without spectrum limitations, can serve as a supplementary solution for communication between unmanned aerial vehicles (UAVs) and ground vehicles.

[0048] The prior art related to this application has the following main disadvantages:

[0049] 1. Limited sensing range of vehicles. The limitations of sensor installation location and angle mean that vehicles cannot detect potential obstacles in blind spots, increasing the risk of traffic accidents. To address this issue, multi-sensor data fusion technology is used to expand the sensing range and improve accuracy; however, this approach increases user costs.

[0050] 2. Current radio wave communication technologies have limited spectrum resources. With the widespread use of wireless communication devices, radio spectrum resources are becoming increasingly scarce, leading to difficulties in spectrum allocation and impacting communication quality. Furthermore, radio wave communication is susceptible to electromagnetic interference, especially in urban environments where various wireless signals intertwine, easily causing interference and affecting the stability and reliability of communication.

[0051] To alleviate the resource shortage problem in vehicle communication while enabling platooning, this application proposes applying visible light communication technology to air-to-ground cooperation and using this technology for platooning cooperative control. The technical solutions of this method are as follows:

[0052] This application discloses a multi-vehicle formation control optimization method based on air-ground cooperation, which involves two parts: a visible light communication method for air-ground cooperation and a multi-vehicle formation control optimization method.

[0053] Visible light communication methods for air-to-ground collaboration: The lead vehicle in the convoy uses radio wave signals to transmit information to the drone, while visible light communication technology is used for communication between the drone and vehicles behind in the convoy. Onboard power delivery (PD) receivers are used to receive the visible light signals transmitted by the drone, and the vehicles adopt different control strategies depending on whether they receive the signal.

[0054] Multi-vehicle platooning control optimization method: After obtaining the information of the lead vehicle, the following vehicles in the platoon calculate the speed and position of the following vehicle n at the next moment according to the method, under the condition of satisfying safety constraints.

[0055] Furthermore, in an exemplary embodiment, S1 is preceded by:

[0056] S101: Using a drone, the vehicle speed information is decoded and converted into an electrical signal.

[0057] S102: Encode, modulate, preprocess, and convert the electrical signal to digital-to-analog conversion to determine the visible light signal.

[0058] like Figure 2 As shown, the lead vehicle in the convoy sends vehicle information to the drone. At time t, the lead vehicle sends its own vehicle speed information v0(t) to the drone via radio wave signal.

[0059] The drone transmits visible light signals to vehicles behind in the convoy. Upon receiving information from the lead vehicle, the drone decodes the information, converting it into an electrical signal. This signal then undergoes encoding, modulation, preprocessing, and digital-to-analog conversion to convert the electrical signal back into a light signal. Subsequently, an LED driver drives LEDs mounted on the drone to flash at a set frequency, thus transmitting the visible light signal. The LEDs can be mounted on the bottom of the drone, allowing the light source to project downwards so that the vehicles can receive the light signal.

[0060] The vehicle receives visible light signals. A photodiode (PD) receiver is mounted on the top of the vehicle to capture the visible light signals transmitted by the drone. If the PD receiver successfully captures the light signal, it converts the lead vehicle information from the light signal into an electrical signal through steps such as transimpedance amplification, analog-to-digital conversion, equalization, and demodulation. At this point, the vehicle can coordinate with other vehicles based on its own information, surrounding vehicle information, and lead vehicle information, i.e., proceed to step 4. If the PD receiver fails to capture the light signal, the vehicle cruises in Adaptive Cruise Control (ACC) mode.

[0061] Encoding refers to converting basic vehicle information into a binary sequence so that it can be converted into an optical signal for transmission.

[0062] Modulation refers to the process of modulating the intensity, frequency, or phase of the original signal to generate a modulated signal, thereby increasing the transmission rate of the system. Modulation techniques include On-Off Keying (OOK), Pulse Position Modulation (PPM), and Pulse Amplitude Modulation (PAM).

[0063] Preprocessing refers to enhancing the noise immunity of data during transmission and improving data reliability and transmission efficiency through techniques such as interference filtering, signal amplification, power control, and adaptive equalization.

[0064] Digital-to-analog conversion refers to converting digital signals into visible light signals using a digital-to-analog converter, which then drives the LED turn signals to flash at a predetermined frequency via an LED driver.

[0065] Furthermore, in an exemplary embodiment, S1 is followed by:

[0066] S103: Based on the visible light signal, instruct the rear vehicle n to output a current signal; the control panel of the rear vehicle n includes a cross-group amplifier, an analog-to-digital converter, an equalization module, and a demodulator connected in sequence.

[0067] S104: Based on the transimpedance amplifier, the current signal is converted into a voltage signal.

[0068] S105: Based on the analog-to-digital converter, the voltage signal is converted into a digital signal.

[0069] S106: Based on the equalization module, determine the equalized digital signal according to the digital signal.

[0070] S107: Based on the demodulator, the equalized digital signal is converted into the original binary information sequence.

[0071] The vehicle receives visible light signals. A photodiode (PD) receiver is mounted on the top of the vehicle to capture the visible light signals transmitted by the drone. If the PD receiver successfully captures the light signal, it undergoes transimpedance amplification, analog-to-digital conversion, equalization, and demodulation to convert the lead vehicle's information from the light signal into an electrical signal. At this point, the vehicle can coordinate with other vehicles based on its own information, surrounding vehicle information, and lead vehicle information, i.e., enter multi-vehicle platooning control. If the PD receiver fails to capture the light signal, the vehicle cruises in ACC (Adaptive Cruise Control) mode.

[0072] Transimpedance amplification refers to the process of converting the weak current signal output by the PD receiver into a corresponding voltage signal through a transimpedance amplifier, thereby improving the signal-to-noise ratio and sensitivity of the entire communication system.

[0073] Analog-to-digital conversion (ADC) refers to converting the voltage signal input to a transimpedance amplifier into a digital signal using an analog-to-digital converter (ADC) for digital signal processing and subsequent digital signal transmission.

[0074] Equalization refers to the process by which an equalization module compensates for frequency response distortion in a transmission channel. Because visible light communication is affected by the transmission channel, optical signals experience multipath propagation, scattering, and attenuation, leading to frequency response distortion. Therefore, an equalization module is needed to compensate for dispersion, distortion, and other deformations in the transmission channel in real time, thereby improving the reliability of data transmission.

[0075] Demodulation refers to the process of converting an input digital signal into a raw binary information sequence using a demodulator and specific decoding techniques.

[0076] Furthermore, in an exemplary embodiment, S2 can be replaced by the following steps.

[0077] S201: Using a n (t+1)=F(v0(t),v n (t),s n Let v0(t) be the velocity of the lead vehicle at time t, and vn(t) be the velocity of the vehicle behind it at time t. n (t) represents the speed of vehicle n behind at time t, s n (t) represents the distance between vehicle n behind and vehicle n-1 behind; a n (t+1) represents the acceleration of the vehicle behind at the next moment n; F(v0(t), v n (t),s n (t) is the formula for calculating the acceleration of the vehicle behind at the next moment n, F(·)=α(V(s)n (t))-v n (t))+β(v0(t)-v n (t)), α is the weighting coefficient of the expected vehicle speed, β is the weighting coefficient of the speed difference; V(s) n (t) represents the vehicle n behind at s. n (t) The expected vehicle speed under the spacing condition. s min The minimum distance between vehicles when traveling in a platoon; s max This refers to the maximum spacing between vehicles when traveling in a platoon; v max Let n be the maximum speed of the vehicle behind.

[0078] After acquiring the data from the lead vehicle, the vehicle combines the data from its own vehicle and surrounding vehicles to calculate the vehicle's speed and position at the next moment, as well as other vehicle status information. The vehicle acquires data from various sensors via the CAN bus. The required data includes information such as current position, vehicle speed, and acceleration. α represents the desired vehicle speed weighting coefficient, which can be set to 0.9, and β represents the speed difference weighting coefficient, which can be set to 0.6.

[0079] Furthermore, in an exemplary embodiment, step S2 further includes:

[0080] S202: Based on the vehicle-mounted radar on the rear vehicle n, determine the distance between the rear vehicle n and the rear vehicle n-1.

[0081] The distance to the vehicle in front is obtained through onboard radar. The vehicle's forward-facing radar measures the distance to the vehicle ahead, while the lidar, installed on the front bumper, measures the distance between the front bumper and the rear of the vehicle in front.

[0082] S203: Determine whether the rear vehicle n satisfies the condition. Among them, v n (t) represents the speed of vehicle n behind at time t; v min v is the minimum speed of vehicle n behind it. max Let a be the maximum speed of vehicle n behind it; n (t) represents the acceleration of the vehicle n behind at time t; a min Let a be the minimum acceleration of vehicle n traveling behind; max s is the maximum acceleration of vehicle n traveling behind; n (t) represents the distance between vehicle n behind and vehicle n-1 behind; s min The minimum distance between vehicles when traveling in a platoon; s max This represents the maximum distance between vehicles when traveling in a platoon.

[0083] S204: If so, determine the acceleration of the vehicle n at the next moment based on the vehicle information of the vehicle n behind and the distance between the vehicle n behind and the vehicle n-1 behind.

[0084] S205: If not, adjust the current speed of the following vehicle n until the following vehicle n meets the requirements.

[0085] As can be seen, the multi-vehicle formation control optimization method based on air-ground cooperation provided in this application includes air-ground cooperation technology based on UAVs and ground vehicles and multi-vehicle formation control algorithm.

[0086] 1. Air-Ground Collaborative Technology Based on UAVs and Ground Vehicles: This application combines vehicle-mounted sensing technology with air-ground collaborative communication, achieving comprehensive perception of the vehicle's surrounding environment through vehicle-mounted sensors and UAV cameras, radar, and other equipment. This integration enhances the vehicle's ability to understand its surroundings and provides crucial data support for formation control.

[0087] 2. Multi-vehicle platooning control algorithm: This application proposes an optimized multi-vehicle platooning control algorithm. The algorithm takes into account the relative distance, speed, acceleration and speed information of the lead vehicle in the platoon. By adjusting the power and braking systems of the vehicles in real time, it realizes the cooperative driving between vehicles.

[0088] like Figure 2 As shown, the process of the multi-vehicle formation control optimization method based on air-ground cooperation includes two parts: a visible light communication method for air-ground cooperation and a multi-vehicle formation control optimization method, as well as corresponding sub-steps and algorithms, which constitute a complete multi-vehicle formation control optimization method based on air-ground cooperation.

[0089] like Figure 3 As shown, the data transmission process of this application includes: first, the lead vehicle in the convoy sends its own vehicle status information to the drone. After receiving the information, the drone converts it into a light signal and emits a visible light signal to the vehicles behind it through its onboard LED lights. After capturing the visible light signal, the vehicles in the convoy decode the information and fuse it with the distance information perceived by the vehicle in front, ultimately obtaining the data of the lead vehicle in the convoy, the distance information to the vehicle in front, and the vehicle's own information.

[0090] The beneficial effects of the technical solution in this application are:

[0091] 1. Alleviating the problem of communication resource shortage. By adopting visible light communication technology, this application effectively utilizes the abundant resources of the visible light spectrum, thereby reducing dependence on traditional radio spectrum resources. This effectively expands communication resources and improves the overall capacity of the communication system. Furthermore, it reduces radio spectrum congestion, lowers communication interference, and improves the stability and reliability of data transmission.

[0092] 2. Enhanced vehicle perception capabilities. By utilizing drones as communication relays, this application significantly improves the vehicle's perception range and line-of-sight, thereby enhancing the vehicle's perception of the current convoy environment.

[0093] 3. Optimize multi-vehicle platooning coordination. Under the condition of meeting vehicle safety constraints, the system comprehensively considers the status information of the lead vehicle, the preceding vehicle, and the vehicles in the platoon to calculate the vehicle's status in the next moment. This reduces unnecessary acceleration and deceleration, which can reduce the occurrence of traffic accidents and improve driving safety.

[0094] In one exemplary embodiment, an air-ground cooperative multi-vehicle platooning control device is provided, including the following modules.

[0095] The visible light signal receiving module is used to receive the visible light signal of the UAV using a photodiode receiver on any of the following vehicles n in the convoy, excluding the lead vehicle. The visible light signal is formed by the lead vehicle transmitting its speed information to the UAV using radio waves. n is an integer greater than 0.

[0096] The vehicle driving control module is used to control the rear vehicle n and the rear vehicle n-1 to drive together based on the visible light signal, the vehicle information of the rear vehicle n and the vehicle information of the rear vehicle n-1; the vehicle information includes position and speed.

[0097] An acceleration determination module is used to determine the acceleration of the following vehicle n at the next moment during cooperative driving, based on the vehicle information of the following vehicle n at the next moment and the distance between the following vehicle n and the following vehicle n-1; and to control the driving of all vehicles in the convoy according to the acceleration of each following vehicle n.

[0098] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 4As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database is used for air-to-ground cooperative multi-vehicle platooning control. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements air-to-ground cooperative multi-vehicle platooning control.

[0099] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0100] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0101] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0102] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0103] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0104] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0105] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0106] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0107] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An air-ground cooperative multi-vehicle platoon control method, characterized in that, The air-ground cooperative multi-vehicle platooning control method includes: The visible light signal from the drone is received by a photodiode receiver on any vehicle n behind the lead vehicle in the convoy; the visible light signal is formed by the lead vehicle transmitting its speed information to the drone using radio waves; n is an integer greater than 0. Based on the visible light signal, the vehicle information of vehicle n behind and vehicle n-1 behind, control vehicle n behind and vehicle n-1 behind to drive together; the vehicle information includes position and speed. During cooperative driving, based on the vehicle information of the following vehicle n at the next moment and the distance between the following vehicle n and the following vehicle n-1, the acceleration of the following vehicle n at the next moment is determined, specifically including: utilizing... Determine the acceleration of the vehicle n behind at the next moment; where, Let be the speed of the lead car at time t. Let n be the speed of the vehicle behind at time t. Let n be the distance between vehicle n behind and vehicle n-1 behind; Let n be the acceleration of the vehicle behind at the next moment; Here is the formula for calculating the acceleration of the vehicle behind at the next moment n. , The weighting coefficient for the desired vehicle speed. The speed difference weighting coefficient; For the vehicle n behind Desired vehicle speed under spacing conditions ; The minimum distance between vehicles when traveling in a platoon; This is the maximum spacing between vehicles when traveling in a platoon. Let n be the maximum speed of the vehicle behind. During cooperative driving, the acceleration of the vehicle n at the next moment is determined based on the vehicle information of the vehicle n at the next moment and the distance between the vehicle n and the vehicle n-1. Prior to this, the distance between the vehicle n and the vehicle n-1 is determined based on the vehicle radar on the vehicle n. During cooperative driving, based on the vehicle information of the following vehicle n at the next moment and the distance between the following vehicle n and the following vehicle n-1, the acceleration of the following vehicle n at the next moment is determined. Prior to this, it also includes determining whether the following vehicle n satisfies... ;in, Let n be the speed of the vehicle behind at time t; Let n be the minimum speed of the vehicle behind. Let n be the maximum speed of the vehicle behind. Let n be the acceleration of the vehicle behind at time t; Let n be the minimum acceleration of the vehicle behind it when it is moving. Let n be the maximum acceleration of the vehicle behind it when it is moving. Let n be the distance between vehicle n behind and vehicle n-1 behind; The minimum spacing between vehicles when traveling in a platoon; The maximum distance between vehicles in a convoy; if so, determine the acceleration of the following vehicle n at the next moment based on the vehicle information of the following vehicle n at the next moment and the distance between the following vehicle n and the following vehicle n-1; if not, adjust the current speed of the following vehicle n until the following vehicle n meets the requirement. ; The movement of all vehicles in the convoy is controlled according to the acceleration of each vehicle n behind it.

2. The air-ground cooperative multi-vehicle platoon control method according to claim 1, characterized in that, The visible light signal from the drone is received using a photodiode receiver on any vehicle n following the lead vehicle in the convoy, prior to which the following steps are taken: Using a drone, the vehicle speed information is decoded and converted into an electrical signal; The electrical signal is encoded, modulated, preprocessed, and converted from digital to analog to determine the visible light signal.

3. The air-ground cooperative multi-vehicle platoon control method according to claim 2, characterized in that, The visible light signal from the drone is received using a photodiode receiver on any vehicle n following the lead vehicle in the convoy, excluding the lead vehicle. This process also includes: Based on the visible light signal, the rear vehicle n is instructed to output a current signal; the control panel of the rear vehicle n includes a transimpedance amplifier, an analog-to-digital converter, an equalization module, and a demodulator connected in sequence. Based on the transimpedance amplifier, the current signal is converted into a voltage signal; Based on the analog-to-digital converter, the voltage signal is converted into a digital signal; Based on the equalization module, the equalized digital signal is determined according to the digital signal; Based on the demodulator, the equalized digital signal is converted into the original binary information sequence.

4. An air-ground cooperative multi-vehicle platoon control device, characterized by, The air-ground cooperative multi-vehicle platooning control device includes: The visible light signal receiving module is used to receive the visible light signal of the UAV using a photodiode receiver on any of the following vehicles n in the convoy, excluding the lead vehicle; the visible light signal is formed by the lead vehicle transmitting its speed information to the UAV using radio waves; n is an integer greater than 0. The vehicle driving control module is used to control the rear vehicle n and the rear vehicle n-1 to drive together based on the visible light signal, the vehicle information of the rear vehicle n and the vehicle information of the rear vehicle n-1; the vehicle information includes position and speed. An acceleration determination module is used to determine the acceleration of the following vehicle n at the next moment during cooperative driving, based on the vehicle information of the following vehicle n at the next moment and the distance between the following vehicle n and the following vehicle n-1. Specifically, it includes: utilizing... Determine the acceleration of the vehicle n behind at the next moment; where, Let be the speed of the lead car at time t. Let n be the speed of the vehicle behind at time t. Let n be the distance between vehicle n behind and vehicle n-1 behind; Let n be the acceleration of the vehicle behind at the next moment; Here is the formula for calculating the acceleration of the vehicle behind at the next moment n. , The weighting coefficient for the desired vehicle speed. The speed difference weighting coefficient; For the vehicle n behind Desired vehicle speed under spacing conditions ; The minimum distance between vehicles when traveling in a platoon; This is the maximum spacing between vehicles when traveling in a platoon. The maximum speed of the following vehicle n is given. During cooperative driving, the acceleration of the following vehicle n at the next moment is determined based on the vehicle information of the following vehicle n at the next moment and the distance between the following vehicle n and the following vehicle n-1. Prior to this, the method also includes: determining the distance between the following vehicle n and the following vehicle n-1 based on the vehicle-mounted radar on the following vehicle n. During cooperative driving, the acceleration of the following vehicle n at the next moment is determined based on the vehicle information of the following vehicle n at the next moment and the distance between the following vehicle n and the following vehicle n-1. Prior to this, the method also includes: determining whether the following vehicle n meets the following conditions. ;in, Let n be the speed of the vehicle behind at time t; Let n be the minimum speed of the vehicle behind. Let n be the maximum speed of the vehicle behind. Let n be the acceleration of the vehicle behind at time t; Let n be the minimum acceleration of the vehicle behind it when it is moving. Let n be the maximum acceleration of the vehicle behind it when it is moving. Let n be the distance between vehicle n behind and vehicle n-1 behind; The minimum spacing between vehicles when traveling in a platoon; the maximum distance between the vehicle n and the vehicle n-1; if yes, determining the acceleration of the vehicle n at the next time according to the vehicle information of the vehicle n at the next time and the distance between the vehicle n and the vehicle n-1; if no, adjusting the current speed of the vehicle n until the vehicle n satisfies ; and controlling all the vehicles in the vehicle group to travel according to the acceleration of each vehicle n.

5. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the air-ground cooperative multi-vehicle platooning control method according to any one of claims 1-3.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, When the computer program is executed by the processor, it implements the air-ground cooperative multi-vehicle platooning control method as described in any one of claims 1-3.

7. A computer program product, comprising a computer program, characterized in that, The computer program is executed by the processor to implement the air-ground cooperative multi-vehicle platoon control method in any one of claims 1-3.

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