Vehicle formation system anti-jam method and system and medium

Abstract

The invention relates to an anti-jam method and system for a vehicle formation system and a medium, and the method comprises the steps: obtaining the lane-level positioning information of each formation vehicle in the vehicle formation system, judging a road section where the formation vehicles are located, and carrying out the anti-jam processing if the formation vehicles are not located in a predefined complex road section; in the anti-jamming processing process, obtaining positioning and state information of vehicles in the surrounding environment of the vehicles in each formation, and predicting jamming intentions of the vehicles in each environment; if the environment vehicle with the plugging intention exists, the plugging stage of the environment vehicle is judged; and executing corresponding anti-plugging response strategies according to different plugging stages, wherein the anti-plugging response strategies comprise a plugging initial-stage response strategy, a plugging middle-stage response strategy and a plugging completion response strategy. Compared with the prior art, the method has the advantages that differential coping strategies can be adopted according to different stages, namely the initial stage and the middle stage, of the plugged vehicles, and therefore the safety and efficiency of formation driving are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of vehicle platooning control technology, and in particular to methods, systems and media for preventing lane cutting in vehicle platooning systems. Background Technology

[0002] In platooning operations, platooned vehicles inevitably encounter threats from surrounding vehicles cutting in between the platooning vehicles. Failure to properly handle such incidents will reduce the operational efficiency of the platooning system and may even lead to dangerous situations, resulting in significant loss of life and economic losses.

[0003] For example, the invention disclosed in publication number CN115457763A discloses a rear-following intelligent connected vehicle fleet topology and its formation method. This intelligent connected vehicle fleet topology includes a lead vehicle and at least one follower vehicle. Both the lead and follower vehicles are equipped with onboard sensing equipment, onboard communication equipment, and onboard control equipment. The onboard sensing equipment is used to collect information about the vehicle itself and surrounding vehicles; the onboard communication equipment is used for information exchange between vehicles within the fleet, specifically transmitting vehicle information from the following vehicle to its adjacent preceding vehicle; the onboard control equipment is used to control the operating status of the vehicle's power system, braking system, and steering system. This method is well-suited for scenarios dominated by the following / tail vehicle, such as active deceleration, deceleration, lane changing, etc., effectively improving the mobility of the intelligent connected vehicle fleet.

[0004] This shows that existing formation control systems typically lack effective mechanisms to deal with cutting in, and are unable to proactively identify, predict, and respond to such behavior.

[0005] For example, the invention disclosed in CN116486606A discloses a central control system for an intelligent connected vehicle terminal, which relates to the field of vehicle control system technology. It solves the technical problem that, due to driver inexperience, a vehicle may be cut off again or continuously after being cut off. The system analyzes the paths and speeds of surrounding vehicles, generates control parameters based on the analysis results, and the main control unit decelerates and then accelerates the vehicle according to these parameters while ensuring a safe driving distance. It accelerates the vehicle in advance after a surrounding vehicle has cut in, effectively preventing other vehicles from cutting in again, improving the driver's experience, and avoiding repeated cutting off. Through analysis, the system obtains the vehicle's travel distance and pre-decelerates the vehicle based on this distance, preventing rear-end collisions in blind spots or curved areas due to untimely deceleration, thus ensuring driving safety to a certain extent.

[0006] Existing methods for preventing vehicles from cutting in line mostly employ single or passive strategies. When used in platooning systems, these methods can easily cause control chaos, disrupt the formation, and reduce the safety and operational efficiency of the platooning system. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of existing platooning control systems, which typically lack effective mechanisms to deal with cutting-in, are unable to actively identify, predict, and respond to cutting-in behavior, and whose conventional vehicle anti-cutting methods mostly employ single or passive strategies to deal with cutting-in. This invention provides a method, system, and medium for preventing cutting-in in a vehicle platooning system.

[0008] The objective of this invention can be achieved through the following technical solutions:

[0009] A method for preventing lane-cutting in a vehicle platooning system includes the following steps:

[0010] Obtain lane-level positioning information of each vehicle in the vehicle platooning system and determine the road segment where the vehicle is located. If it is not in a predefined complex road segment, then perform anti-cut-off processing.

[0011] During the anti-cutting process, the location and status information of vehicles in the surrounding environment of each formation are obtained to predict the cutting-in intentions of vehicles in each environment.

[0012] If there is an environmental vehicle with the intention to cut in line, the cutting-in stage of the environmental vehicle is determined. In the process of determining the cutting-in stage, the cutting-in process is divided into the pre-cutting-in stage, the mid-cutting-in stage, and the cutting-in completion stage by predicting the entry time of the environmental vehicle.

[0013] The corresponding anti-jamming response strategy is executed according to different stages of the jamming process. The anti-jamming response strategy includes the initial jamming response strategy, the mid-jamming response strategy, and the jamming completion response strategy.

[0014] Furthermore, the initial response strategy for cutting in line includes:

[0015] The event that predicts the intention to cut in line, along with the location and status information of the vehicle cutting in line, will be sent to other vehicles in the vehicle platooning system.

[0016] Issue audible and visual warnings to alert vehicles to the risk of cutting in line.

[0017] Reducing the target speed of the vehicle platooning system shortens the physical distance between vehicles in front and behind the platoon.

[0018] Furthermore, the initial response strategy for cutting in also includes:

[0019] The system continuously determines whether the vehicle attempting to cut in has given up. If it does, the system re-predicts the vehicle's intention to cut in. If it does not give up, the system determines whether the vehicle has passed the entry point. If so, the system enters the mid-stage of cutting in and executes the mid-stage response strategy.

[0020] Furthermore, the mid-term response strategy for cutting in line includes:

[0021] The event that determines entry into the middle of the queue, as well as the location and status information of the queue-jumping vehicle, will be sent to other vehicles in the vehicle platooning system.

[0022] By treating vehicles that cut in as the target vehicles to follow in the platoon, and by increasing the platooning control timing parameters of the vehicle platooning system, the physical distance between vehicles in front and behind in the platoon is increased.

[0023] Furthermore, the mid-term response strategy for cutting in line also includes:

[0024] The system continuously assesses whether a vehicle has successfully cut in line. If not, it continues to execute a mid-term response strategy for cutting in line until the vehicle completes the cut or abandons the attempt.

[0025] Furthermore, the interruption response strategy includes:

[0026] Control all vehicles in the vehicle platooning system to operate according to the road speed limit;

[0027] Continuously monitor the status of vehicles in the environment.

[0028] Furthermore, the method also includes continuously evaluating whether the distance between vehicles in the vehicle platooning system exceeds a preset distance threshold; if so, the platooning is split into sub-platoons for operation.

[0029] Furthermore, the complex road sections include intersections, ramp entrances, road forks, high-curvature road sections, and unstructured road sections;

[0030] If the vehicles in the platooning system are in a complex road section, the platooning vehicles will continue to drive normally.

[0031] The method uses a deep learning model to predict the future trajectories of vehicles in various environments in order to predict the intention to cut in line;

[0032] The cutting-in moment is the moment when the front of the vehicle cutting in is about to cross the lane line;

[0033] The pre-cutting phase refers to the period from when the vehicle intending to cut in to when it actually enters the lane.

[0034] The mid-stage of cutting in refers to the period from the moment a vehicle cuts in until it has fully entered the lane where the platoon is located.

[0035] The "cutting-in completion phase" refers to the short window of time after the cutting-in vehicle has fully entered the lane occupied by the platooning vehicles.

[0036] The present invention also provides an anti-cutting system for implementing the vehicle platooning anti-cutting method described above, comprising:

[0037] The positioning module is used to obtain lane-level positioning information of each vehicle in the vehicle platooning system and determine the road segment where the vehicles are located.

[0038] The lane-cutting intention prediction module is used to obtain the location and status information of the vehicles in the surrounding environment of each formation based on sensors, and to predict the lane-cutting intention of each vehicle in the environment.

[0039] The decision module is used to comprehensively judge the stage of the vehicle's cutting-in based on the prediction results provided by the cutting-in intention prediction module, combined with the positioning and status information of other vehicles in the formation, execute the corresponding anti-cutting-in response strategy, and transmit the decision results to the communication module, the sound and light warning module and the control module.

[0040] The communication module is used to transmit the prediction results and decision results of the lane-jumping intentions between vehicles in each formation;

[0041] The sound and light warning module is used to alert drivers of vehicles cutting in line to the risk of being cut in using sound and light signals;

[0042] The control module is used to receive the decision results from the decision module and execute the corresponding vehicle control actions.

[0043] The present invention also provides a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor using the method described above.

[0044] Compared with existing technologies, this invention, by introducing lane-cutting intention prediction, multi-stage decision-making response, and multi-module collaborative operation, achieves effective identification and response to vehicle lane-cutting behavior in traffic environments, and has the following advantages:

[0045] (1) Improve safety: By actively warning and dynamically adjusting the platoon spacing and speed, the physical distance between vehicles in front and behind the platoon is shortened in the early stage of cutting in, increasing the difficulty for drivers of vehicles cutting in; in the middle stage of cutting in, the physical distance between vehicles in front and behind the platoon is increased, providing sufficient space for vehicles cutting in to achieve safe merging and avoid accidents; effectively reducing the risk of traffic accidents caused by cutting in, and protecting the life and property safety of vehicles in the platoon and surrounding traffic participants;

[0046] Considering the unpredictability of cutting in line on complex road sections, this invention adopts a passive strategy on complex road sections, avoiding the risks that may be caused by excessive intervention, and demonstrating the intelligence and safety of the design.

[0047] (2) Improve efficiency: Most existing solutions use a single or passive strategy to deal with cutting in. This invention optimizes the formation control strategy and designs different active response strategies for the initial, middle and final stages of cutting in, making the response more accurate and effective, reducing sudden braking, unnecessary lane changes or formation disintegration caused by cutting in, thereby ensuring the efficient and stable operation of the formation system.

[0048] By combining deep learning models to predict intentions to cut in line, rather than judging solely based on physical distance or speed difference, the system's ability to predict potential risks and its timeliness of response are greatly improved.

[0049] (3) Enhance robustness: It can adopt differentiated and refined response strategies at different stages of the cutting-in behavior (initial, middle and final stages) to improve the system's adaptability to complex traffic environments and variable driving behaviors;

[0050] The various modules (positioning, prediction, decision-making, communication, early warning, and control) work closely together. In particular, the communication module enables information sharing and collaborative decision-making among the vehicles in the formation, allowing the entire formation to intelligently respond to the threat of cutting in as a whole.

[0051] (4) Reduce economic losses: Significantly reduce the probability of traffic accidents, thereby reducing economic losses caused by vehicle maintenance, medical care and traffic congestion.

[0052] (5) Enhance user experience: The platooning process is smoother and safer, improving ride comfort and enhancing users' trust in the autonomous driving and platooning control system. Attached Figure Description

[0053] Figure 1 This is a flowchart illustrating a method for preventing lane-jumping in a vehicle platooning system provided in an embodiment of the present invention;

[0054] Figure 2 This is a schematic diagram illustrating the stage division of a blocking process provided in an embodiment of the present invention;

[0055] Figure 3 This is a detailed flowchart of a vehicle platooning anti-cut-off method provided in an embodiment of the present invention;

[0056] Figure 4 This is a schematic diagram of a vehicle platooning system anti-cut-off system provided in an embodiment of the present invention. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0059] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0060] Example 1

[0061] like Figure 1 As shown, this embodiment provides a method for preventing lane-jumping in a vehicle platooning system, including the following steps:

[0062] S1: Obtain lane-level positioning information of each vehicle in the vehicle platooning system and determine the road segment where the vehicle is located. If it is not in a predefined complex road segment, then perform anti-cut-off processing.

[0063] S2: During the anti-cutting process, obtain the location and status information of vehicles in the surrounding environment of each formation, and predict the cutting intentions of each vehicle in the environment.

[0064] S3: If there is an environmental vehicle with the intention to cut in line, determine the cutting-in stage of the environmental vehicle. In the process of determining the cutting-in stage, the cutting-in process is divided into the pre-cutting-in stage, the mid-cutting-in stage, and the cutting-in completion stage by predicting the entry time of the environmental vehicle.

[0065] S4: Execute corresponding anti-jamming response strategies according to different stages of jamming. Anti-jamming response strategies include initial jamming response strategy, mid-jamming response strategy, and jamming completion response strategy.

[0066] Specifically, in step S1, if the vehicle is not in a complex road section (including but not limited to intersections, ramps, road junctions, road sections with large curvatures, unstructured road sections, etc.), the anti-cut-off function is activated.

[0067] Otherwise, the anti-cut-in function is not activated, and the platooned vehicles will adopt a passive strategy, that is, no special measures will be taken against vehicles that cut in, while the positioning module will continue to acquire vehicle information for judgment.

[0068] In step S2, if the anti-cutting function is activated, the cutting intent prediction module will acquire sensor information in real time (the sensors here include, but are not limited to, cameras, lidar, millimeter-wave radar, ultrasonic radar, or other devices that can acquire the location and status information of other traffic participants in the surrounding area), and use a deep learning model to predict the future trajectory and cutting intent of other traffic participants in the surrounding area.

[0069] If no vehicle intends to cut in, continue driving normally.

[0070] If a vehicle shows a potential intention to cut in line, its status is locked and tracked. The deep learning model here can be a trajectory prediction model combined with rule-based judgment software, or it can be an end-to-end deep learning model that directly outputs the judgment result.

[0071] In step S3, the cutting-in stage is defined as follows:

[0072] like Figure 2 The diagram illustrates the division of the platooning process when encountering a vehicle cutting in. The vehicle at the front of the platoon and the vehicle at the rear are considered two vehicles under platooning control; the vehicle attempting to cut in intends to enter between these two vehicles.

[0073] Cut-in moment: refers to the moment when the front of the vehicle cutting in is about to cross the lane line.

[0074] Pre-cutting phase: This refers to the period from when a vehicle intends to cut in until the moment it actually enters the lane.

[0075] Mid-stage of cutting in line: This refers to the period from when a vehicle cuts in until it has completely entered the lane occupied by the other vehicles in the platoon.

[0076] "Completion of cutting in line" refers to the short window of time after a vehicle has fully entered the lane occupied by the other vehicles in the formation.

[0077] Figure 2 The image shows a vehicle cutting in from the left lane of a platoon, but the invention is not limited to this scenario; this image is merely a conceptual illustration. Furthermore, the lanes are not limited to straight lanes; any non-complex road section is acceptable.

[0078] In step S4, if a suspicious vehicle is suspected of cutting in line, the cutting-in stage is determined based on the information predicting the cutting-in intention, and the corresponding anti-cutting response strategy is executed, such as... Figure 3 As shown below, the different strategies are described in detail:

[0079] 1. Initial response strategy for cutting in line

[0080] If the suspected vehicle cancels its intention to cut in line, then the predicted intention to cut in line remains unchanged in step S2.

[0081] If the vehicle's intention to cut in is persistent and occurs before the moment of entry, an initial cut-in response strategy is implemented, which consists of three core steps:

[0082] 1) Send the queue-jumping event and the location and status information of the queue-jumping vehicle to other vehicles in the platooning system.

[0083] 2) Trigger sound and light warnings to remind drivers of vehicles that are cutting in line of risk.

[0084] 3) Reduce the target speed of the formation control (with the formation control time distance parameter unchanged) to shorten the physical distance between vehicles in front and behind the formation, increasing the difficulty for drivers of vehicles cutting in.

[0085] Throughout the process, the system continuously assesses whether vehicles attempting to cut in have given up. If they do, the system reassesses their intention to cut in. If they continue to cut in, the system determines whether they have passed the cut-in point and are now in the middle of the cutting-in phase.

[0086] 2. Initial response strategy for cutting in line

[0087] If the situation progresses to the mid-stage of the cut-off phase (at which point the cut-off has already occurred), then the mid-stage cut-off response strategy is implemented, which consists of two core steps:

[0088] 1) Send the queue-jumping event and the location and status information of the queue-jumping vehicle to other vehicles in the platooning system.

[0089] 2) Adjust the following target to the vehicle cutting in, and increase the platoon control time distance parameter to increase the physical distance between vehicles in front and behind the platoon, providing sufficient space for the vehicle cutting in to enter safely.

[0090] Continuously assess whether the cut-off has been completed. If not, continue to execute the mid-term cut-off response strategy until completion or the cut-off is abandoned.

[0091] 3. Cut-in completion response strategy

[0092] If the cut-off is successful, the cut-off completion response strategy is executed, which consists of two core steps:

[0093] Control all vehicles in the convoy to operate at the road speed limit.

[0094] Continuously monitor the status of vehicles cutting in line.

[0095] 4. Formation spacing assessment and functional waiting

[0096] Continuously assess whether the distance between vehicles in the platoon exceeds the set threshold.

[0097] If so, the group will be split into subgroups and continue running, while the anti-interference function will wait.

[0098] If not, the anti-jamming function will wait.

[0099] Return to step S1.

[0100] Example 2

[0101] like Figure 4 As shown, this embodiment provides an anti-cutting system for implementing the anti-cutting method for a vehicle platooning system as described in Embodiment 1, comprising:

[0102] The positioning module is used to obtain lane-level positioning information of each vehicle in the vehicle platooning system, and combine it with map data to determine the road segment where the vehicles in the platoon are located (e.g., whether they are in complex road segments such as intersections, ramps, road forks, high curvature road segments, and unstructured road segments).

[0103] The lane-cutting intent prediction module is used to acquire the location and status information of vehicles in the surrounding environment of each platoon of vehicles based on sensors (including but not limited to cameras, lidar, millimeter-wave radar, ultrasonic radar, or other devices that can obtain the location and status information of surrounding traffic participants). It then uses a deep learning model (which can be a combination of trajectory prediction models and rule-based judgment software, or an end-to-end deep learning model) to predict the future trajectories and lane-cutting intentions of other surrounding traffic participants. If a potential lane-cutting intent is identified, the status of that vehicle is locked and continuously tracked.

[0104] The decision module is used to comprehensively judge the stage of the vehicle's cutting-in based on the prediction results provided by the cutting-in intention prediction module, combined with the positioning and status information of other vehicles in the formation, execute the corresponding anti-cutting-in response strategy, and transmit the decision results to the communication module, the sound and light warning module and the control module.

[0105] The communication module, which includes the physical layer, link layer and protocol layer of vehicle-to-vehicle communication, is used to transmit the prediction results and decision results of the intention to cut in line in a timely and accurate manner among the vehicles in each formation.

[0106] The sound and light warning module is used to remind drivers of vehicles cutting in line of the risk of cutting in, using sound and light signals, including but not limited to hazard lights and other sound and light devices (such as warning sounds, voice prompts, etc.).

[0107] The control module receives the decision results from the decision module and executes corresponding vehicle control actions, such as adjusting the speed of the vehicles in the formation and the time distance parameters with the vehicle in front, in order to resolve or mitigate the potential risks caused by cutting in and ensure the operating efficiency of the formation system.

[0108] The positioning module, the lane-jumping intention prediction module, the decision-making module, the communication module, and the control module can be separate modules or integrated modules.

[0109] In this embodiment, the process for dealing with the initial stage of cutting in line includes:

[0110] When vehicles are traveling in platoons on a straight section of a highway, the lane-cutting intent prediction module detects an ambient vehicle attempting to cut into the platoon from the right lane. Before the cutting vehicle has fully entered the platoon and before it actually cuts in, the decision module determines it to be in the early stages of lane-cutting. At this point, the decision module will issue the following instructions:

[0111] 1) The communication module broadcasts the cutting-in event, the position and speed information of the cutting-in vehicle to the vehicles in front and behind in the formation.

[0112] 2) The sound and light warning module triggers the hazard lights of the vehicles in the formation to illuminate and emits a specific warning sound to remind the drivers of vehicles cutting in.

[0113] 3) The control module receives instructions and instructs the platooned vehicles to reduce the target speed at a small acceleration (e.g., from 100km / h to 95km / h), while keeping the platooning distance parameters unchanged. This shortens the distance between vehicles in front and behind the platoon in a short time, making it more difficult for vehicles to cut in and prompting them to give up cutting in.

[0114] The process of dealing with lane-jumping in the middle stage includes:

[0115] If the initial strategy for preventing lane-jumping fails, and the environmental vehicle has partially or completely entered the platoon, the decision module determines it to be in the middle stage of lane-jumping. At this point, the decision module will immediately issue the following instruction:

[0116] 1) The communication module broadcasts the mid-interval interruption event, the position and speed information of the intervening vehicles to the vehicles in front and behind in the formation again.

[0117] 2) The control module receives the instruction and quickly adjusts the following target of the following vehicle in the formation to the newly cut-in vehicle, and increases the formation control time distance parameter (for example, from 1.0s to 1.5s), so that the physical distance between the vehicles in front and behind in the formation increases rapidly, providing sufficient safety space for the cut-in vehicle and ensuring that it can smoothly and safely merge into the formation traffic flow.

[0118] The processing steps after cutting in line include:

[0119] Once the vehicles that cut in line have fully entered the platoon and are moving steadily, the decision module determines that the cutting in is complete. At this point, the decision module will issue the following instruction:

[0120] 1) The control module controls all vehicles in the formation to gradually accelerate until they return to the road speed limit (e.g., 100km / h) and adjusts back to the preset formation time distance parameters.

[0121] 2) The decision module continuously monitors the status of vehicles cutting in line to ensure its stability and assesses the spacing between vehicles in the platoon. If the spacing exceeds the threshold, it considers splitting the platoon into sub-platoons to continue running and resets the anti-cutting function to the waiting state.

[0122] Example 3

[0123] This embodiment provides a computer-readable storage medium storing a computer program, which is executed by a processor as described in Embodiment 1, a method for preventing lane-jumping in a vehicle platooning system.

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

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

[0126] Application prospects:

[0127] This invention can be widely applied in fields such as intelligent driving, autonomous driving, and vehicle-road cooperation, and is particularly suitable for scenarios with multi-vehicle platooning requirements, such as highways and urban expressways, including intelligent freight platooning and autonomous taxi fleets. This invention can significantly improve the safety, traffic efficiency, and stability of platooning in these scenarios, providing key technological support for the development of future intelligent transportation systems, and has broad market application prospects and significant socio-economic value.

[0128] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A method for preventing lane-jumping in a vehicle platooning system, characterized in that, Includes the following steps: Obtain lane-level positioning information of each vehicle in the vehicle platooning system and determine the road segment where the vehicle is located. If it is not in a predefined complex road segment, then perform anti-cut-off processing. During the anti-cutting process, the location and status information of vehicles in the surrounding environment of each formation are obtained to predict the cutting-in intentions of vehicles in each environment. If there is an environmental vehicle with the intention to cut in line, the cutting-in stage of the environmental vehicle is determined. In the process of determining the cutting-in stage, the cutting-in process is divided into the pre-cutting-in stage, the mid-cutting-in stage, and the cutting-in completion stage by predicting the entry time of the environmental vehicle. The corresponding anti-jamming response strategy is executed according to different stages of the jamming process. The anti-jamming response strategy includes the initial jamming response strategy, the mid-jamming response strategy, and the jamming completion response strategy.

2. The method for preventing lane-jumping in a vehicle platooning system according to claim 1, characterized in that, The initial response strategy for cutting in line includes: The event that predicts the intention to cut in line, along with the location and status information of the vehicle cutting in line, will be sent to other vehicles in the vehicle platooning system. Issue audible and visual warnings to alert vehicles to the risk of cutting in line. Reducing the target speed of the vehicle platooning system shortens the physical distance between vehicles in front and behind the platoon.

3. The method for preventing lane-jumping in a vehicle platooning system according to claim 2, characterized in that, The initial response strategy for cutting in also includes: The system continuously determines whether the vehicle attempting to cut in has given up. If it does, the system re-predicts the vehicle's intention to cut in. If it does not give up, the system determines whether the vehicle has passed the entry point. If so, the system enters the mid-stage of cutting in and executes the mid-stage response strategy.

4. The method for preventing lane-jumping in a vehicle platooning system according to claim 1, characterized in that, The mid-term response strategy for cutting in line includes: The event that determines entry into the middle of the queue, as well as the location and status information of the queue-jumping vehicle, will be sent to other vehicles in the vehicle platooning system. By treating vehicles that cut in as the target vehicles to follow in the platoon, and by increasing the platooning control timing parameters of the vehicle platooning system, the physical distance between vehicles in front and behind in the platoon is increased.

5. A method for preventing lane-jumping in a vehicle platooning system according to claim 4, characterized in that, The mid-term response strategy for cutting in also includes: The system continuously assesses whether a vehicle has successfully cut in line. If not, it continues to execute a mid-term response strategy for cutting in line until the vehicle completes the cut or abandons the attempt.

6. The method for preventing lane-jumping in a vehicle platooning system according to claim 1, characterized in that, The cut-in completion response strategy includes: Control all vehicles in the vehicle platooning system to operate according to the road speed limit; Continuously monitor the status of vehicles in the environment.

7. The method for preventing lane-jumping in a vehicle platooning system according to claim 1, characterized in that, The method also includes continuously evaluating whether the distance between vehicles in the vehicle platooning system exceeds a preset distance threshold. If so, the platooning is split into sub-platoons for operation.

8. The method for preventing lane-jumping in a vehicle platooning system according to claim 1, characterized in that, The complex road sections include intersections, ramp entrances, road forks, sections with high curvature, and unstructured road sections. If the vehicles in the platooning system are in a complex road section, the platooning vehicles will continue to drive normally. The method uses a deep learning model to predict the future trajectories of vehicles in various environments in order to predict the intention to cut in line; The cutting-in moment is the moment when the front of the vehicle cutting in is about to cross the lane line; The pre-cutting phase refers to the period from when the vehicle intending to cut in to when it actually enters the lane. The mid-stage of cutting in refers to the period from the moment a vehicle cuts in until it has fully entered the lane where the platoon is located. The "cutting-in completion phase" refers to the short window of time after the cutting-in vehicle has fully entered the lane occupied by the platooning vehicles.

9. An anti-cutting system for implementing the anti-cutting method for a vehicle platooning system as described in any one of claims 1-8, characterized in that, include: The positioning module is used to obtain lane-level positioning information of each vehicle in the vehicle platooning system and determine the road segment where the vehicles are located. The lane-cutting intention prediction module is used to obtain the location and status information of the vehicles in the surrounding environment of each formation based on sensors, and to predict the lane-cutting intention of each vehicle in the environment. The decision module is used to comprehensively judge the stage of the vehicle's cutting-in based on the prediction results provided by the cutting-in intention prediction module, combined with the positioning and status information of other vehicles in the formation, execute the corresponding anti-cutting-in response strategy, and transmit the decision results to the communication module, the sound and light warning module and the control module. The communication module is used to transmit the prediction results and decision results of the lane-jumping intentions between vehicles in each formation; The sound and light warning module is used to alert drivers of vehicles cutting in line to the risk of being cut in using sound and light signals; The control module is used to receive the decision results from the decision module and execute the corresponding vehicle control actions.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which is executed by a processor according to any one of claims 1 to 8.

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