Multi-vehicle cooperative driving control method and device in non-service area and medium

Abstract

The invention relates to the technical field of automatic driving, in particular to a multi-vehicle cooperative driving control method and device in a non-service area and a medium, and the method is applied to an automatic driving vehicle and comprises the steps that when the vehicle enters the non-service area, first positioning information and first navigation information of a current first automatic driving vehicle are obtained through an inertial navigation system; receiving second positioning information and second navigation information of a surrounding second autonomous vehicle through a visible light communication receiver; based on the first positioning information, the second positioning information, the first navigation information and the second navigation information, state information of the automatic driving vehicles when the automatic driving vehicles arrive at the conflict point positions is predicted; based on the state information, judging whether the first autonomous vehicle conflicts with the second autonomous vehicle or not; if yes, first regulation and control instructions of the first automatic driving vehicle and the second automatic driving vehicle are generated; and based on the first regulation and control instruction, the first automatic driving vehicle and the second automatic driving vehicle are controlled to avoid conflicts, and a new solution is provided for development of intelligent transportation.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method, device and medium for controlling multi-vehicle cooperative driving in serviceless areas. Background Technology

[0002] Traditional vehicle navigation systems mostly use GPS or BeiDou satellite positioning, but the positioning function will fail when the vehicle enters a signal blind spot.

[0003] If a vehicle remains in a signal blind spot for an extended period, the positioning error will increase, making it unable to meet the needs of vehicle navigation and thus unable to perform automatic vehicle control. If multiple vehicles are simultaneously located in the same blind spot, it may cause a traffic accident.

[0004] Therefore, how to improve vehicle safety by navigating and controlling vehicles in areas without service is a pressing technical problem that needs to be solved. Summary of the Invention

[0005] In view of the above problems, the present invention provides a method, apparatus and medium for multi-vehicle cooperative driving control in a serviceless area to overcome the above problems or at least partially solve the above problems.

[0006] In a first aspect, the present invention provides a multi-vehicle cooperative driving control method in a service-free area, applied to an autonomous vehicle. The autonomous vehicle includes a visible light communication receiver, a visible light communication transmitter, an inertial navigation system, and a control module, comprising:

[0007] Upon entering a service-free area, the first positioning information and first navigation information of the first autonomous vehicle are obtained through the inertial navigation system.

[0008] The second location information and second navigation information of the surrounding second autonomous vehicles are received through a visible light communication receiver.

[0009] Based on the first positioning information, the first navigation information, the second positioning information, and the second navigation information, predict the first state information of the first autonomous vehicle when it arrives at the conflict point and the second state information of the second autonomous vehicle when it arrives at the conflict point, wherein the conflict point is a location where any two autonomous vehicles are likely to collide.

[0010] Based on the first state information and the second state information, determine whether the first autonomous vehicle and the second autonomous vehicle will have a conflict.

[0011] If so, generate a first control instruction for the first autonomous vehicle and the second autonomous vehicle, the first control instruction being used to prevent the first autonomous vehicle and the second autonomous vehicle from conflicting.

[0012] Based on the first control command, the first autonomous vehicle is controlled, and the first control command is sent to the second autonomous vehicle through a visible light communication transmitter, so that the second autonomous vehicle controls itself based on the first control command.

[0013] Preferably, visible light communication base stations are deployed at the boundaries of the service-free area and key nodes for short-range communication, and the system further includes:

[0014] In the area without service, the positioning information sent by the visible light communication base station is received by the visible light receiver, and the positioning and navigation of the inertial navigation system is corrected based on the positioning information.

[0015] Preferably, it further includes:

[0016] In the area without service, traffic signs and natural feature information in the surrounding environment are collected by the vehicle-mounted recorder.

[0017] Based on the traffic signs and natural feature information, the positioning and navigation of the inertial navigation system are corrected.

[0018] Preferably, based on the first positioning information, the first navigation information, the second positioning information, and the second navigation information, predicting the first state information of the first autonomous vehicle when it arrives at the conflict point and the second state information of the second autonomous vehicle when it arrives at the conflict point includes:

[0019] Based on the first positioning information and the first navigation information, predict the first entry time and the first departure time of the first autonomous vehicle when it arrives at the conflict point;

[0020] Based on the second positioning information and the second navigation information, the second entry time and the second departure time of the second autonomous vehicle at the conflict point are predicted.

[0021] Preferably, determining whether a conflict will occur between the first autonomous vehicle and the second autonomous vehicle based on the first state information and the second state information includes:

[0022] Based on the first entry time, the first exit time, the second entry time, and the second exit time, determine whether the times when the first autonomous vehicle and the second autonomous vehicle enter the conflict point overlap.

[0023] Preferably, generating a first control command for the first autonomous vehicle and the second autonomous vehicle includes:

[0024] Obtain the respective vehicle type, status, and energy consumption of the first and second autonomous vehicles;

[0025] Based on their respective vehicle models, states, and energy consumption, autonomous vehicles are prioritized for passage according to vehicle model priority, state priority, and energy consumption priority.

[0026] Based on the priority of the autonomous vehicles passing through, first control instructions are generated for the first and second autonomous vehicles.

[0027] Preferably, the conflict point is specifically:

[0028] Intersections, narrow passages, or points where collisions are predicted.

[0029] Secondly, the present invention also provides a multi-vehicle cooperative driving control device in a service-free area, applied in an autonomous vehicle, the autonomous vehicle including a visible light receiver, a visible light transmitter, and an inertial navigation system, comprising:

[0030] The acquisition module is used to acquire the first positioning information and first navigation information of the first autonomous vehicle through the inertial navigation system when entering a service-free area.

[0031] A receiving module is used to receive second positioning information and second navigation information of a second autonomous vehicle in the vicinity via a visible light receiver;

[0032] The prediction module is used to predict, based on the first positioning information, the first navigation information, the second positioning information, and the second navigation information, the first state information of the first autonomous vehicle when it arrives at the conflict point and the second state information of the second autonomous vehicle when it arrives at the conflict point, wherein the conflict point is a location where any two autonomous vehicles are likely to collide.

[0033] The judgment module is used to determine whether a conflict will occur between the first autonomous vehicle and the second autonomous vehicle based on the first state information and the second state information.

[0034] The generation module is used to generate a first control instruction for the first autonomous vehicle and the second autonomous vehicle if the condition is met. The first control instruction is used to prevent the first autonomous vehicle and the second autonomous vehicle from conflicting.

[0035] The first control module is used to control the first autonomous vehicle based on the first control command, and to send the first control command to the second autonomous vehicle through a visible light transmitter, so that the second autonomous vehicle controls the second autonomous vehicle based on the first control command.

[0036] Thirdly, the present invention also provides an autonomous vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method described in the first aspect.

[0037] Fourthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0038] One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

[0039] This invention provides a multi-vehicle cooperative driving control method in a service-free area, applied to an autonomous vehicle. The autonomous vehicle includes a visible light communication receiver, a visible light communication transmitter, and an inertial navigation system. The method includes: upon entering a service-free area, acquiring first positioning information and first navigation information of a first autonomous vehicle via the inertial navigation system; receiving second positioning information and second navigation information of surrounding second autonomous vehicles via the visible light communication receiver; and based on the first positioning information, first navigation information, second positioning information, and second navigation information, predicting first state information of the first autonomous vehicle and second state information of the second autonomous vehicle upon reaching a conflict point, where the conflict point is a location where any two autonomous vehicles are likely to collide. Based on the first and second state information, it is determined whether a conflict will occur between the first and second autonomous vehicles. If so, a first control command is generated for the first and second autonomous vehicles to avoid conflict. Based on the first control command, the first autonomous vehicle is controlled, and the first control command is sent to the second autonomous vehicle through a visible light communication transmitter, so that the second autonomous vehicle can control itself based on the adjustment command. By providing real-time location in the no-service area with the help of a navigation system that does not require network signals, and by achieving short-range signal transmission through visible light communication equipment, the system coordinates the signals between multiple vehicles, providing a new solution for the development of intelligent transportation. Attached Figure Description

[0040] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0041] Figure 1 This diagram illustrates the steps of the cooperative driving control method in a service-free area according to an embodiment of the present invention.

[0042] Figure 2 This diagram illustrates the convergence of multiple vehicles within a long tunnel in an embodiment of the present invention.

[0043] Figure 3 A schematic diagram illustrating the passing of vehicles in a narrow passage of an underground parking garage is shown in an embodiment of the present invention;

[0044] Figure 4 This diagram illustrates the structure of the cooperative driving control device in a service-free area according to an embodiment of the present invention.

[0045] Figure 5 A schematic diagram of the structure of an autonomous vehicle in an embodiment of the present invention is shown. Detailed Implementation

[0046] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the invention and to fully convey the scope of the invention to those skilled in the art.

[0047] Example 1:

[0048] Embodiments of the present invention provide a method for multi-vehicle cooperative driving control in service-free areas, such as... Figure 1 As shown, this is applied in autonomous vehicles, which include a visible light communication receiver, a visible light communication transmitter, and an inertial navigation system, including:

[0049] S101, when entering a service-free area, the first positioning information and second navigation information of the first autonomous vehicle are obtained through the inertial navigation system;

[0050] S102 receives second positioning information and second navigation information from surrounding second autonomous vehicles via a visible light communication receiver;

[0051] S103, based on the first positioning information, the first navigation information, the second positioning information and the second navigation information, predict the first state information of the first autonomous vehicle when it arrives at the conflict point and the second state information of the second autonomous vehicle when it arrives at the conflict point. The conflict point is a location where any two autonomous vehicles are likely to collide.

[0052] S104, based on the first state information and the second state information, determine whether there will be a conflict between the first autonomous vehicle and the second autonomous vehicle;

[0053] S105, if so, generate a first control instruction for the first autonomous vehicle and the second autonomous vehicle, the first control instruction being used to make the first autonomous vehicle and the second autonomous vehicle avoid conflict.

[0054] S106, based on the first control command, control the first autonomous vehicle and send the first control command to the second autonomous vehicle through a visible light communication transmitter, so that the second autonomous vehicle controls the second autonomous vehicle based on the first control command.

[0055] The "no-service area" here specifically refers to areas without network signals, such as remote mountainous areas, disaster areas, tunnels, and garages. Vehicles autonomously record their operating trajectories and transmit them via visible light communication transmitters.

[0056] The autonomous vehicle is equipped with visible light communication transmitters and receivers, known as VLC modules, at the front and rear. It also integrates an inertial navigation system and a control module, enabling positioning and navigation in areas without service.

[0057] Specifically, S101, when entering a service-free area, obtains the first positioning information and first navigation information of the current first autonomous vehicle through the inertial navigation system.

[0058] This inertial navigation system achieves positioning solely through internal inertial sensors, such as gyroscopes and accelerometers, without relying on external signals. The gyroscope measures the angular motion of the carrier, establishes a navigation coordinate system, and outputs attitude angles. The accelerometer detects linear acceleration, and velocity and displacement are calculated through time integration. Finally, based on Newton's laws of motion, acceleration and angular velocity are calculated in the inertial reference frame, and real-time position, velocity, and attitude data are output after coordinate transformation.

[0059] The first positioning information can be directly obtained based on the inertial navigation system, while the first navigation information can be planned based on the destination information and the first positioning information.

[0060] Similarly, in this unserved area, other autonomous vehicles can also obtain the corresponding location and navigation information in this way.

[0061] For vehicles around the first autonomous vehicle, they can exchange information to obtain the location and navigation information of other vehicles in the vicinity.

[0062] Visible light communication base stations are deployed at key nodes within and at the boundaries of the serviceless area for short-range communication. The method also includes:

[0063] In areas without service, the positioning information sent by the visible light communication base station is received by the visible light receiver, and the positioning and navigation of the inertial navigation system is corrected based on the positioning information.

[0064] Because inertial navigation systems suffer from increasing errors over time when operating in areas without service, a solution is to store positioning information in visible light communication base stations and transmit it to passing vehicles. These vehicles then receive the information via visible light communication receivers, allowing the inertial navigation system to correct its positioning and navigation accuracy based on the received information.

[0065] In addition, there are other ways to correct it:

[0066] In areas without service, traffic signs and natural feature information in the surrounding environment are collected by the vehicle recorder; based on the traffic signs and natural feature information, the positioning and navigation of the inertial navigation system are corrected.

[0067] This method uses standard positioning information from surrounding fixed locations to correct the positioning and navigation of the inertial navigation system, thereby improving the positioning accuracy of the inertial navigation.

[0068] Both of the above correction methods are performed through third-party positioning.

[0069] Corrections can also be made through the positioning of vehicles in motion. For example, in group positioning consensus, each vehicle broadcasts its local inertial navigation system error estimate to neighboring vehicles via a visible light communication transmitter, and a global error correction is generated by weighted averaging, thereby making corrections.

[0070] Positioning and navigation can also be reset according to certain rules. For example, the inertial navigation system can be matched with the road topology of a pre-loaded map, and a position reset can be triggered when the accumulated error exceeds the lane width.

[0071] S102 receives second positioning information and second navigation information from the surrounding second autonomous vehicles via a visible light communication receiver.

[0072] The visible light communication receiver can receive second positioning information and second navigation information transmitted by the visible light communication transmitter of the second autonomous vehicle. The first autonomous vehicle and the second autonomous vehicle are close to each other.

[0073] Next, S103 is executed, based on the first positioning information, the first navigation information, the second positioning information, and the second navigation information, to predict the first state information of the first autonomous vehicle when it arrives at the conflict point and the second state information of the second autonomous vehicle when it arrives at the conflict point. The conflict point is a location where any two autonomous vehicles are likely to collide.

[0074] Specifically, based on the first positioning information and the first navigation information, the first entry time and the first departure time of the first autonomous vehicle at the conflict point are predicted.

[0075] Based on the second positioning information and the second navigation information, the second entry time and the second departure time of the second autonomous vehicle at the conflict point are predicted.

[0076] The conflict points here are locations where any two autonomous vehicles are likely to collide, specifically intersections, narrow roads, or points where collisions are predicted.

[0077] For example, multiple vehicles converge in a long tunnel, such as... Figure 2 As shown, vehicle A is predicted to enter the intersection at 12:00:30 and leave at 12:00:40.

[0078] Vehicle B is predicted to arrive at the intersection at 12:00:35 for its second entry and 12:00:45 for its second departure.

[0079] Specific prediction methods can be used to predict the location and navigation information of the current autonomous vehicle. For example, a prediction model can be trained and used to predict the time window information of the vehicle when it arrives at the conflict point.

[0080] Of course, predictions can also be made based on vehicle status information, such as the distance between the current location and the conflict point, the current vehicle speed, etc., to predict the time window information, which is not limited here.

[0081] Next, S104 is executed, based on the first state information and the second state information, to determine whether a conflict will occur between the first autonomous vehicle and the second autonomous vehicle. Specifically:

[0082] Based on the first entry time, the first exit time, the second entry time, and the second exit time, determine whether the times when the first autonomous vehicle and the second autonomous vehicle enter the conflict point overlap.

[0083] Based on the above judgment of vehicle A and vehicle B, it can be seen that the time when vehicle A and vehicle B enter the conflict point overlaps, and the time overlap window is 5 seconds, which is a partial overlap. Therefore, it is determined that vehicle A and vehicle B will collide when they reach the conflict point.

[0084] For example, when passing each other in a narrow passageway of an underground parking garage, such as Figure 3 As shown, vehicles C and D enter the two-way single-lane area at the same time, and their directions are opposite. The time windows of the collision points of vehicles C and D are predicted to completely overlap.

[0085] Two vehicles enter the same tunnel from different directions within the same time period. For example, vehicle E enters the tunnel at a speed of 70 km / h, while vehicle F enters at a speed of 60 km / h. It is predicted that vehicle F will enter the tunnel first, followed closely by vehicle E. According to this speed pattern, vehicle E will collide with vehicle F in the tunnel, that is, the time they spend at the same location in the tunnel overlaps.

[0086] Next, execute S105. If yes, generate first control instructions for the first and second autonomous vehicles, specifically including:

[0087] Obtain the respective vehicle type, status, and energy consumption of the first and second autonomous vehicles;

[0088] Based on their respective vehicle models, states, and energy consumption, autonomous vehicles are prioritized for passage according to vehicle model priority, state priority, and energy consumption priority.

[0089] Based on the priority of the autonomous vehicles passing through, first control instructions are generated for the first and second autonomous vehicles.

[0090] like Figure 2 In the scenario of multiple vehicles converging in a long tunnel, by comparing vehicle types (e.g., vehicle A is a truck, vehicle B is a bus), and prioritizing them according to vehicle type (ambulance / fire truck > truck > bus > small car), it can be determined that vehicle A has priority. At this point, vehicle A can be controlled to continue its original navigation plan, while vehicle B is controlled to slow down, thus delaying the arrival time window at the conflict point to 12:00:40–12:00:50.

[0091] like Figure 3 The scenario depicting vehicles meeting in a narrow passage in an underground parking garage can be analyzed by comparing vehicle types. For example, if vehicles C and D are both small cars, and considering their energy consumption, vehicle C is an electric vehicle with 20% battery remaining, while vehicle D is a gasoline-powered vehicle. Based on energy consumption priority, electric vehicles have greater energy consumption than gasoline-powered vehicles. Therefore, vehicle C is given priority to pass. Vehicle C can be controlled to pass first, while vehicle D is controlled to stop and wait for instructions until vehicle C passes through the narrow passage. Alternatively, a new compensation path can be planned for vehicle D, such as detouring through an area with vacant vehicles, to reduce the overall delay.

[0092] In cases where a collision is likely to occur within the tunnel at the same time, the vehicle status is compared. If vehicle F enters the tunnel first, then vehicle F has a higher priority. The speed of vehicle E needs to be reduced or the speed of vehicle F needs to be increased to ensure that vehicle F passes through the tunnel first.

[0093] Therefore, this first regulatory instruction can be used to regulate the situation separately for both sides in the conflict.

[0094] Of course, in practical applications, we will encounter more complex multi-vehicle coordination situations, such as three-vehicle or four-vehicle situations, which can be broken down into two-vehicle situations for analysis. This is not a limitation here.

[0095] In one alternative implementation, the method further includes:

[0096] The system receives road condition information or distress call information from a third autonomous vehicle that is passing it via a visible light communication receiver; based on the road condition information or distress call information, it generates corresponding second control commands to control the third autonomous vehicle.

[0097] In areas without service and signal, vehicles cannot obtain information about the road ahead. However, if a vehicle traveling in the opposite direction collects road condition information via its dashcam and transmits it to oncoming vehicles, the receiving vehicle can prepare accordingly, such as adjusting speed or changing lanes, to prevent accidents. Simultaneously, if an oncoming vehicle requests assistance, the dashcam can help it receive help as quickly as possible, ensuring smooth traffic flow.

[0098] One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

[0099] This invention provides a multi-vehicle cooperative driving control method in a service-free area, applied to an autonomous vehicle. The autonomous vehicle includes a visible light communication receiver, a visible light communication transmitter, and an inertial navigation system. The method includes: upon entering a service-free area, acquiring first positioning information and first navigation information of a first autonomous vehicle via the inertial navigation system; receiving second positioning information and second navigation information of surrounding second autonomous vehicles via the visible light communication receiver; and based on the first positioning information, first navigation information, second positioning information, and second navigation information, predicting first state information of the first autonomous vehicle and second state information of the second autonomous vehicle upon reaching a conflict point, where the conflict point is a location where any two autonomous vehicles are likely to collide. Based on the first and second state information, it is determined whether a conflict will occur between the first and second autonomous vehicles. If so, a first control command is generated for the first and second autonomous vehicles to avoid conflict. Based on the first control command, the first autonomous vehicle is controlled, and the first control command is sent to the second autonomous vehicle through a visible light communication transmitter, so that the second autonomous vehicle can control itself based on the adjustment command. By providing real-time location in the no-service area with the help of a navigation system that does not require network signals, and by achieving short-range signal transmission through visible light communication equipment, the system coordinates the signals between multiple vehicles, providing a new solution for the development of intelligent transportation.

[0100] Example 2

[0101] Based on the same inventive concept, this invention also provides a multi-vehicle cooperative driving control device in a service-free area, applied to an autonomous vehicle. The autonomous vehicle includes a visible light receiver, a visible light transmitter, and an inertial navigation system, such as... Figure 4 As shown, including:

[0102] The acquisition module 401 is used to acquire the first positioning information and first navigation information of the first autonomous vehicle through the inertial navigation system when entering a service-free area.

[0103] The receiving module 402 is used to receive second positioning information and second navigation information of the surrounding second autonomous driving vehicle through a visible light receiver;

[0104] Prediction module 403 is used to predict, based on the first positioning information, the first navigation information, the second positioning information, and the second navigation information, the first state information of the first autonomous vehicle when it arrives at the conflict point and the second state information of the second autonomous vehicle when it arrives at the conflict point, wherein the conflict point is a location where any two autonomous vehicles are likely to collide.

[0105] The judgment module 404 is used to determine whether the first autonomous vehicle and the second autonomous vehicle will conflict based on the first state information and the second state information.

[0106] The generation module 405 is used to generate a first control instruction for the first autonomous vehicle and the second autonomous vehicle if the condition is met. The first control instruction is used to make the first autonomous vehicle and the second autonomous vehicle avoid conflict.

[0107] The first control module 406 is used to control the first autonomous vehicle based on the first control command, and to send the first control command to the second autonomous vehicle through a visible light transmitter, so that the second autonomous vehicle controls the second autonomous vehicle based on the first control command.

[0108] In one optional implementation, visible light communication base stations are deployed at the boundaries of the serviceless area and key nodes for short-range communication, and the system further includes: a first correction module for:

[0109] In the area without service, the positioning information sent by the visible light communication base station is received by the visible light receiver, and the positioning and navigation of the inertial navigation system is corrected based on the positioning information.

[0110] In one alternative implementation, it further includes: a second correction module, used for:

[0111] In the area without service, traffic signs and natural feature information in the surrounding environment are collected by the vehicle-mounted recorder.

[0112] Based on the traffic signs and natural feature information, the positioning and navigation of the inertial navigation system are corrected.

[0113] In one alternative implementation, the prediction module 403 is configured to:

[0114] Based on the first positioning information and the first navigation information, predict the first entry time and the first departure time of the first autonomous vehicle when it arrives at the conflict point;

[0115] Based on the second positioning information and the second navigation information, the second entry time and the second departure time of the second autonomous vehicle at the conflict point are predicted.

[0116] In one alternative implementation, the generation module 405 is configured to:

[0117] Obtain the respective vehicle type, status, and energy consumption of the first and second autonomous vehicles;

[0118] Based on their respective vehicle models, states, and energy consumption, autonomous vehicles are prioritized for passage according to vehicle model priority, state priority, and energy consumption priority.

[0119] Based on the priority of the autonomous vehicles passing through, first control instructions are generated for the first and second autonomous vehicles.

[0120] In one optional implementation, the conflict point is specifically:

[0121] Intersections, narrow passages, or points where collisions are predicted.

[0122] In one optional implementation, it further includes: a second control module, used for:

[0123] The system receives road condition information or distress signals from a third autonomous vehicle that is passing it via a visible light communication receiver.

[0124] Based on the road condition information or the request for help, a corresponding second control command is generated to control the third autonomous vehicle.

[0125] Example 3:

[0126] Based on the same inventive concept, embodiments of the present invention provide an autonomous driving vehicle, such as... Figure 5 As shown, it includes a memory 504, a processor 502, and a computer program stored in the memory 504 and executable on the processor 502. When the processor 502 executes the program, it implements the steps of the above-described multi-vehicle cooperative driving control method in a serviceless area.

[0127] Among them, Figure 5 In this document, a bus architecture (represented by bus 500) is used. Bus 500 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 502 and memory represented by memory 504. Bus 500 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 506 provides an interface between bus 500 and receiver 501 and transmitter 503. Receiver 501 and transmitter 503 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 502 is responsible for managing bus 500 and general processing, while memory 504 can be used to store data used by processor 502 during operation.

[0128] Example 4:

[0129] Based on the same inventive concept, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described multi-vehicle cooperative driving control method in a serviceless area.

[0130] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, this invention is not directed to any particular programming language. It should be understood that the contents of the invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the invention.

[0131] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0132] Similarly, it should be understood that, in order to simplify the invention and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, this disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are explicitly recited in each embodiment. Rather, as reflected in each embodiment, inventive aspects lie in fewer than all features of the single foregoing disclosed embodiment. Therefore, the claims, following the detailed description, are hereby expressly incorporated into this detailed description, wherein each claim itself is a separate embodiment of the invention.

[0133] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0134] Furthermore, those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the specific implementation, any of the claimed embodiments can be used in any combination.

[0135] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components in the multi-vehicle cooperative driving control device in a service-free area or an autonomous vehicle according to embodiments of the present invention. The present invention can also be implemented as a device or apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such programs implementing the present invention can be stored on a computer-readable medium or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0136] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

Claims

1. A method for multi-vehicle cooperative driving control in a service-free area, applied to an autonomous vehicle, the autonomous vehicle comprising a visible light communication receiver, a visible light communication transmitter, an inertial navigation system, and a control module, characterized in that, include: Upon entering a service-free area, the first positioning information and first navigation information of the first autonomous vehicle are obtained through the inertial navigation system. The second location information and second navigation information of the surrounding second autonomous vehicles are received through a visible light communication receiver. Based on the first positioning information, the first navigation information, the second positioning information, and the second navigation information, predict the first state information of the first autonomous vehicle when it arrives at the conflict point and the second state information of the second autonomous vehicle when it arrives at the conflict point, wherein the conflict point is a location where any two autonomous vehicles are likely to collide. Based on the first state information and the second state information, determine whether the first autonomous vehicle and the second autonomous vehicle will have a conflict. If so, generate a first control instruction for the first autonomous vehicle and the second autonomous vehicle, the first control instruction being used to prevent the first autonomous vehicle and the second autonomous vehicle from conflicting. Based on the first control command, the first autonomous vehicle is controlled, and the first control command is sent to the second autonomous vehicle through a visible light communication transmitter, so that the second autonomous vehicle controls itself based on the first control command.

2. The method as described in claim 1, characterized in that, Visible light communication base stations are deployed at the boundaries and key nodes of the service-free area for short-range communication, and the system also includes: In the area without service, the positioning information sent by the visible light communication base station is received by the visible light receiver, and the positioning and navigation of the inertial navigation system is corrected based on the positioning information.

3. The method as described in claim 1, characterized in that, Also includes: In the area without service, traffic signs and natural feature information in the surrounding environment are collected by the vehicle-mounted recorder. Based on the traffic signs and natural feature information, the positioning and navigation of the inertial navigation system are corrected.

4. The method as described in claim 1, characterized in that, Based on the first positioning information, the first navigation information, the second positioning information, and the second navigation information, predict the first state information of the first autonomous vehicle when it arrives at the conflict point and the second state information of the second autonomous vehicle when it arrives at the conflict point, including: Based on the first positioning information and the first navigation information, predict the first entry time and the first departure time of the first autonomous vehicle when it arrives at the conflict point; Based on the second positioning information and the second navigation information, the second entry time and the second departure time of the second autonomous vehicle at the conflict point are predicted.

5. The method as described in claim 4, characterized in that, Based on the first state information and the second state information, determine whether a conflict will occur between the first autonomous vehicle and the second autonomous vehicle, including: Based on the first entry time, the first exit time, the second entry time, and the second exit time, determine whether the times when the first autonomous vehicle and the second autonomous vehicle enter the conflict point overlap.

6. The method as described in claim 4, characterized in that, Generate first control instructions for the first and second autonomous vehicles, including: Obtain the respective vehicle type, status, and energy consumption of the first and second autonomous vehicles; Based on their respective vehicle models, states, and energy consumption, autonomous vehicles are prioritized for passage according to vehicle model priority, state priority, and energy consumption priority. Based on the priority of the autonomous vehicles passing through, first control instructions are generated for the first and second autonomous vehicles.

7. The method as described in claim 1, characterized in that, The specific locations of the conflict are: Intersections, narrow passages, or points where collisions are predicted.

8. The method as described in claim 1, characterized in that, Also includes: The system receives road condition information or distress signals from a third autonomous vehicle that is passing it via a visible light communication receiver. Based on the road condition information or the request for help, a corresponding second control command is generated to control the third autonomous vehicle.

9. A multi-vehicle cooperative driving control device for service-free areas, applied in an autonomous vehicle, the autonomous vehicle including a visible light receiver, a visible light transmitter, and an inertial navigation system, characterized in that, include: The acquisition module is used to acquire the first positioning information and first navigation information of the first autonomous vehicle through the inertial navigation system when entering a service-free area. A receiving module is used to receive second positioning information and second navigation information of a second autonomous vehicle in the vicinity via a visible light receiver; The prediction module is used to predict, based on the first positioning information, the first navigation information, the second positioning information, and the second navigation information, the first state information of the first autonomous vehicle when it arrives at the conflict point and the second state information of the second autonomous vehicle when it arrives at the conflict point, wherein the conflict point is a location where any two autonomous vehicles are likely to collide. The judgment module is used to determine whether a conflict will occur between the first autonomous vehicle and the second autonomous vehicle based on the first state information and the second state information. The generation module is used to generate a first control instruction for the first autonomous vehicle and the second autonomous vehicle if the condition is met. The first control instruction is used to prevent the first autonomous vehicle and the second autonomous vehicle from conflicting. The first control module is used to control the first autonomous vehicle based on the first control command, and to send the first control command to the second autonomous vehicle through a visible light transmitter, so that the second autonomous vehicle controls the second autonomous vehicle based on the first control command.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1 to 8.

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