A control method and device of a vehicle platoon, an electronic device and a medium

Abstract

The application provides a vehicle formation control method and device, electronic equipment and medium. The vehicle formation includes a head vehicle and at least one following vehicle. The method is applied to the head vehicle. The method includes: obtaining real-time performance parameters of each following vehicle to calculate a following weight of the following vehicle according to the real-time performance parameters; receiving a target safety distance reported by each following vehicle, and generating a control instruction for coordinating formation driving according to the following weight and the target safety distance of the following vehicle, and sending the control instruction to the following vehicle; when a following vehicle in a formation reorganization scene is identified, generating a formation reorganization instruction according to a scene type corresponding to the formation reorganization scene and the following weight of the following vehicle in the formation reorganization scene, and sending the formation reorganization instruction to the corresponding following vehicle to adjust the formation shape. The application improves the overall coordination of the vehicle formation.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and more specifically, to a method, device, electronic device, and medium for controlling vehicle platooning. Background Technology

[0002] Formation driving, through unified scheduling and maintaining fixed distances and trajectories, achieves efficient, safe, and orderly passage. It is widely used in scenarios with extremely high requirements for coordination and safety, such as official activities, scenic area routes, long-distance freight, wedding convoys, and emergency rescue. However, existing automatic formation technologies have significant limitations: First, the commonly used model of "one-way transmission of commands from the lead vehicle combined with fixed following weights" is difficult to adapt to differences in braking, acceleration, and other performance characteristics within the formation, and is prone to distance fluctuations due to communication delays. Second, distance control largely relies on passive correction logic based on "real-time position difference feedback," which results in sluggish response and insufficient control precision when faced with sudden situations such as emergency braking by the vehicle ahead or sudden changes in road gradient, making it difficult to meet the stringent requirements for distance error in high-speed formations. Summary of the Invention

[0003] In view of the above, the purpose of this application is to provide a method, apparatus, electronic device and medium for controlling vehicle formation, which aims to overcome at least one of the above-mentioned defects.

[0004] In a first aspect, this application provides a vehicle platoon control method, the vehicle platoon including a lead vehicle and at least one following vehicle, the method being applied to the lead vehicle, the method comprising: for each following vehicle, acquiring real-time performance parameters of the following vehicle, and calculating a following weight of the following vehicle based on the real-time performance parameters; for each following vehicle, receiving a target safe distance reported by the following vehicle, and generating a control command for coordinating platoon driving based on the following weight of the following vehicle and the target safe distance, and sending the control command to the following vehicle; when a following vehicle in a platoon reorganization scenario is identified, generating a platoon reorganization command based on the scenario type corresponding to the platoon reorganization scenario and the following weight of the following vehicle in the platoon reorganization scenario, and sending the command to the corresponding following vehicle to adjust the platoon formation.

[0005] In one possible implementation, the scenario type includes a vehicle entry / exit scenario, wherein the formation reorganization instruction corresponding to the vehicle entry / exit scenario is generated in the following manner: in response to a new vehicle's request to join the formation, the following weight of the new vehicle is determined, and the insertion position of the new vehicle in the formation is determined according to the following weight, and a first reorganization instruction is generated to instruct the following vehicles before and after the insertion position to adjust their speeds to provide insertion space for the new vehicle; in response to a following vehicle's request to leave the formation, a second reorganization instruction is generated to instruct all following vehicles behind the vehicle requesting to leave to move forward in sequence to avoid formation breakage.

[0006] In one possible implementation, the scenario type further includes a road reduction scenario, wherein the formation reorganization instruction corresponding to the road reduction scenario is generated by: prioritizing the performance of multiple formations according to the following weight of each following vehicle, and generating a third reorganization instruction based on the ranking result to instruct following vehicles of different formations to merge into the target lane in an alternating manner.

[0007] In one possible implementation, the scenario type further includes an obstacle avoidance scenario, wherein the formation reorganization instruction corresponding to the obstacle avoidance scenario is generated by: generating a fourth reorganization instruction to divide the current formation into at least two sub-formations to bypass the obstacle from different sides; and generating a fifth reorganization instruction to instruct the sub-formations to re-merge into the original formation after detecting that all sub-formations have bypassed the obstacle.

[0008] In one possible implementation, the method further includes: during the formation reorganization process, receiving position and speed information reported by all following vehicles; calculating the collision risk between any two following vehicles based on the position and speed information using a collision risk assessment model; and when a collision risk is detected to exceed a preset threshold, generating a risk avoidance command and sending it to the corresponding following vehicle so that the corresponding following vehicle performs a deceleration operation or a direction adjustment operation.

[0009] In one possible implementation, each following vehicle is equipped with a multi-source sensor, wherein each following vehicle determines the target safe distance by: calculating the target safe distance using a distance prediction model based on the perception data collected by the multi-source sensor to indicate its own vehicle's motion state and the prediction result of the motion state of the vehicle in front.

[0010] Secondly, this application provides a vehicle platooning control device, the vehicle platooning including a lead vehicle and at least one following vehicle, the device comprising: a weight calculation module, used to acquire real-time performance parameters of each following vehicle, and calculate the following weight of the following vehicle based on the real-time performance parameters; an instruction sending module, used to receive a target safe distance reported by each following vehicle, and generate a control instruction for coordinating platooning based on the following weight and the target safe distance, and send the control instruction to the following vehicle; and a platooning reorganization module, used to generate a platooning reorganization instruction and send it to the corresponding following vehicle when a following vehicle in a platooning reorganization scenario is detected, based on the scenario type corresponding to the platooning reorganization scenario and the following weight of the following vehicle in the platooning reorganization scenario, so as to adjust the platooning formation.

[0011] In one possible implementation, the scenario type includes a vehicle entry and exit scenario, wherein the platoon reorganization module is further configured to, in response to a new vehicle's request to join the platoon, determine the following weight of the new vehicle, determine the insertion position of the new vehicle in the platoon based on the following weight, and generate a first reorganization instruction to instruct the following vehicles before and after the insertion position to adjust their speeds, so as to provide insertion space for the new vehicle; and in response to a following vehicle's request to leave the platoon, generate a second reorganization instruction to instruct all following vehicles behind the vehicle requesting to leave to move forward in sequence to avoid platoon breakage.

[0012] Thirdly, this application also provides an electronic device, including: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and when the machine-readable instructions are executed by the processor, the steps of the method described above are performed.

[0013] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the method described above.

[0014] This application provides a vehicle platooning control method, apparatus, electronic device, and medium. The vehicle platoon includes a lead vehicle and at least one following vehicle. The method is applied to the lead vehicle and includes: for each following vehicle, acquiring real-time performance parameters of the following vehicle to calculate a following weight based on the real-time performance parameters; for each following vehicle, receiving a target safe distance reported by the following vehicle, and generating a control command for coordinating platooning based on the following weight and the target safe distance, and sending the control command to the following vehicle; when a following vehicle is identified as being in a platooning reorganization scenario, generating a platooning reorganization command based on the scenario type corresponding to the platooning reorganization scenario and the following weight of the following vehicle in the platooning reorganization scenario, and sending it to the corresponding following vehicle to adjust the platooning formation. This application improves the overall coordination of vehicle platooning.

[0015] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating a vehicle platooning control method provided in this application embodiment;

[0018] Figure 2 This is a schematic diagram of the structure of the vehicle platooning communication node provided in the embodiments of this application;

[0019] Figure 3 This is a schematic diagram of the structure of the vehicle formation control device provided in the embodiments of this application;

[0020] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0022] First, the applicable scenarios for this application will be introduced. This application can be applied to the field of intelligent driving technology.

[0023] Research has found that convoy driving is an organizational method that achieves efficient, safe, and orderly passage through unified scheduling, maintaining fixed vehicle distances and driving trajectories. It is commonly used in various scenarios where there are clear requirements for "coordination," "a sense of ceremony," and "safety." For example, this technology is widely used in important official activities of local governments (such as major conferences and inspection tours), "scenic spot convoys" of tourism companies, long-distance freight (such as transport from ports to warehouses and inter-provincial trunk lines), "wedding car convoys" in weddings, and rescue convoys (such as fire trucks, ambulances, engineering rescue vehicles, and material transport vehicles) organized according to "functional priority" after disasters such as earthquakes, floods, and fires.

[0024] However, the widely used platooning methods still have several significant problems: First, traditional automatic platooning mostly adopts a "one-way transmission of commands from the lead vehicle + fixed following weights" mode (i.e., following vehicles only receive the position / speed signals of the lead vehicle, and the following weights are uniformly set). This method is not only prone to fluctuations in vehicle distance due to communication delays, but also cannot effectively adapt to the performance differences of vehicles within the platoon (e.g., the difference in acceleration or braking capabilities between trucks and cars); Second, existing platooning distance control mostly relies on a "real-time position difference feedback" mechanism (such as detecting the distance to the vehicle in front through millimeter-wave radar and adjusting the speed only when the deviation exceeds a threshold), which is essentially a... The "passive correction" logic is prone to problems such as excessively close or far distances between vehicles when faced with sudden situations such as emergency braking of the vehicle in front or changes in road slope, making it difficult to meet the control accuracy requirements of high-speed platooning (especially considering that the national standard requires a distance error of ≤0.5m for high-speed platooning). Thirdly, most traditional automatic platooning technologies are only applicable to the single scenario of "high-speed constant speed driving". When encountering complex scenarios such as "vehicles entering and leaving the platoon, road narrowing (such as two lanes becoming one lane), or sudden obstacles", the entire platoon often has to be disbanded and reassembled. This process is cumbersome and time-consuming (the average reassembly time exceeds 30 seconds), which seriously affects the overall traffic efficiency.

[0025] Based on this, embodiments of this application provide a vehicle platooning control method, apparatus, electronic device, and medium, aiming to overcome at least one of the above-mentioned defects.

[0026] Please see Figure 1 , Figure 1 A flowchart illustrating a vehicle platooning control method provided in an embodiment of this application.

[0027] Specifically, the vehicle platooning control method provided in this application embodiment is based on a distributed communication node design, such as... Figure 2 As shown in the diagram, this design divides the vehicles in the platoon into a lead vehicle (as a decision-making node), following vehicles (as relay and decision-making support nodes), and a tail vehicle (as a safety monitoring node). Each vehicle node has V2X bidirectional communication capabilities. The lead vehicle is responsible for sending global path and speed commands to all vehicles; following vehicles, in addition to executing commands, provide real-time feedback on their own vehicle status (such as braking performance and load) to the lead vehicle and relay commands from the lead vehicle to the vehicles behind; the tail vehicle is responsible for monitoring the overall platoon spacing and sending safety warnings to the lead vehicle. Each vehicle communicates bidirectionally with the Roadside Unit (RSU) to obtain road event information, thus forming a collaborative decision-making control network.

[0028] like Figure 1 As shown in the embodiments of this application, the vehicle platooning control method includes:

[0029] S101. For each following vehicle, obtain the real-time performance parameters of that following vehicle, and calculate the following weight of that following vehicle based on the real-time performance parameters.

[0030] Here, the controlling entity in this embodiment of the application is the head vehicle.

[0031] Specifically, the following weight is implemented through a vehicle performance weight calculation model: that is, real-time vehicle data (such as maximum braking deceleration, engine power, and vehicle weight) is collected through the on-board diagnostic (OBD) interface and combined with a preset performance weight algorithm to calculate the weight. For example, the weight is calculated as follows: weight = (vehicle braking deceleration / average braking deceleration of the formation) × 0.6 + (vehicle power / average power of the formation) × 0.4, and a dynamic following weight is assigned to each vehicle (typically between 0.8 and 1.2).

[0032] As an example, this application can also use a dynamic command adjustment mechanism to enable the lead vehicle to optimize commands in real time based on the following weights of each vehicle. For instance, when a truck with weak braking performance (weight 0.8) is mixed into the platoon, the lead vehicle will instruct the vehicles in front of the truck to increase their safe following distance (e.g., 20% more than the normal following distance) while reducing the overall acceleration rate of the platoon (e.g., from 0.8 m / s² to 0.5 m / s²), thereby achieving performance-adaptive platoon control and effectively avoiding the risk of rear-end collisions caused by differences in vehicle performance.

[0033] S102. For each following vehicle, receive the target safe distance reported by the following vehicle, and generate control instructions for coordinating platooning based on the following vehicle's following weight and the target safe distance, and send the control instructions to the following vehicle.

[0034] Specifically, the "target safe following distance" reported by each following vehicle is the result of its local calculation, which is obtained through the multi-sensor data fusion module and predictive vehicle distance calculation model designed in this application. Specifically, each vehicle is equipped with a lidar (for detecting the outline and precise distance of the vehicle in front), a camera (for recognizing the status of the turn signal / brake light of the vehicle in front), and an inertial measurement unit (IMU) (for sensing its own acceleration / gradient). It also uses V2X communication to obtain the movement intention of the vehicle in front in the next second. The Kalman filter algorithm is used to fuse these multi-source data to generate a "predictive model of the vehicle in front's motion state", thereby predicting the speed, acceleration and steering angle of the vehicle in front in the next 0.5-1 second, i.e., the prediction result of the vehicle in front's motion state.

[0035] Subsequently, based on this prediction result and combined with its own vehicle performance, a vehicle distance prediction model (whose safe vehicle distance formula = reaction distance (its own reaction time × current vehicle speed) + braking distance (current vehicle speed² / (2 × its own maximum braking deceleration)) + reserved safety distance (dynamically adjusted according to the braking performance of the vehicle in front)) is used to calculate the "target safe vehicle distance" in real time, rather than relying on traditional real-time distance deviation feedback.

[0036] When following vehicles, a layered control execution strategy is employed. Distance control is divided into "coarse adjustment" (controlling vehicle speed by adjusting engine throttle opening or brake master cylinder pressure) and "fine adjustment" (fine-tuning vehicle attitude and distance by adjusting the braking force distribution of the Electronic Stability Program (ESP). For example, when it is predicted that the vehicle ahead will decelerate, the vehicle speed is first reduced through coarse adjustment, and then the distance deviation is corrected through fine adjustment. This approach ensures that the distance error in high-speed platooning (100 km / h) remains stable within ±0.2 m, improving control accuracy by 60% compared to traditional methods.

[0037] S103. When a following vehicle in a platoon reorganization scenario is detected, a platoon reorganization command is generated and sent to the corresponding following vehicle based on the scenario type corresponding to the platoon reorganization scenario and the following weight of the following vehicle in the platoon reorganization scenario, so as to adjust the platoon formation.

[0038] Specifically, the multi-scene recognition module of this application is responsible for determining the current scene in real time. This module uses high-precision maps (to identify the number of road lanes and curvature), vehicle-mounted cameras (to identify traffic signs and obstacles), and V2X (to receive road event information sent by roadside units, RSUs) to classify the scene into normal driving scenes, vehicle entry and exit scenes, road reduction scenes, and obstacle avoidance scenes. For different reconfiguration scenes, the leading vehicle executes the corresponding scene-based reconfiguration strategy.

[0039] In a preferred example of this application, the scenario type includes vehicle entry and exit scenarios, and the formation reorganization instructions corresponding to the vehicle entry and exit scenarios are generated in the following manner:

[0040] In response to a new vehicle's request to join the platoon, the new vehicle's following weight is determined. Based on the following weight, the new vehicle's insertion position in the platoon is determined, and a first reorganization instruction is generated to instruct the following vehicles before and after the insertion position to adjust their speeds to provide space for the new vehicle to insert. In response to a following vehicle's request to leave the platoon, a second reorganization instruction is generated to instruct all following vehicles behind the vehicle requesting to leave to move forward in sequence to avoid platoon breakage.

[0041] Specifically, if a vehicle requests to join the platoon, the lead vehicle plans an "insertion position" within the platoon based on the new vehicle's following weight (for example, inserting a vehicle with good braking performance into the middle section), and instructs the vehicles before and after the insertion position to briefly adjust their speeds (±5km / h) to achieve "uninterrupted joining" and make the regrouping time less than 10 seconds; if a vehicle requests to leave, the lead vehicle instructs the vehicles behind that vehicle to move forward in sequence to fill the gap, while adjusting the overall vehicle spacing to avoid platoon breakage.

[0042] In a preferred example of this application, the scenario type also includes a road reduction scenario. The formation reorganization instruction corresponding to the road reduction scenario is generated in the following manner: the multi-line formation is prioritized according to the following weight of each following vehicle, and a third reorganization instruction is generated to instruct following vehicles of different line formations to merge into the target lane in an alternating manner.

[0043] Specifically, the head vehicle command automatically merges the original two columns (or multiple columns) into one column. When merging, a "performance priority sorting" is adopted (i.e., vehicles with good braking performance enter the front row of a single column first). At the same time, based on the sorting result, V2X coordinates multiple columns of vehicles to merge into the target lane in an alternating manner (for example, the first car in the left column merges first, and the first car in the right column merges 1 second later), thereby effectively avoiding congestion at the merging point.

[0044] In a preferred embodiment of this application, the scenario type also includes an obstacle avoidance scenario. The formation reorganization instruction corresponding to the obstacle avoidance scenario is generated in the following manner: a fourth reorganization instruction is generated to divide the current formation into at least two sub-formations to bypass the obstacle from different sides; after detecting that all sub-formations have bypassed the obstacle, a fifth reorganization instruction is generated to instruct the sub-formations to re-merge into the original formation.

[0045] Specifically, the lead vehicle generates a command to divide the current formation into at least two sub-formations (e.g., odd-numbered vehicles take the left lane and even-numbered vehicles take the right lane) to bypass the obstacle from different sides; after detecting that all sub-formations have bypassed the obstacle, the lead vehicle generates a command to merge the sub-formations back into the original formation. The entire process requires no manual intervention.

[0046] In a preferred embodiment of this application, the method further includes: during the formation reorganization process, receiving position and speed information reported by all following vehicles; calculating the collision risk between any two following vehicles based on the position and speed information using a collision risk assessment model; and when a collision risk exceeding a preset threshold is detected, generating a risk avoidance instruction and sending it to the corresponding following vehicle so that the corresponding following vehicle performs a deceleration operation or a direction adjustment operation.

[0047] Specifically, during the formation reorganization process, the lead vehicle receives real-time position and speed information from all following vehicles. Based on this information, a real-time safety assessment is conducted using a collision risk assessment model (which calculates the relative distance and relative speed between any two vehicles to determine the probability of a collision). If a collision risk is detected to exceed a preset threshold, a risk avoidance instruction is immediately generated and sent to the corresponding following vehicle, instructing it to decelerate or adjust its direction, thereby ensuring the safety of the reorganization process.

[0048] Based on the same inventive concept, this application also provides a vehicle formation control device corresponding to the vehicle formation control method. Since the principle of the device in this application is similar to the vehicle formation control method described above, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0049] Please see Figure 3 , Figure 3 This is a schematic diagram of the vehicle platooning control device provided in the embodiments of this application, as shown below. Figure 3 As shown, the vehicle formation control device 200 includes:

[0050] The weight calculation module 201 is used to obtain the real-time performance parameters of each following vehicle, and to calculate the following weight of the following vehicle based on the real-time performance parameters.

[0051] The instruction sending module 202 is used to receive the target safe distance reported by each following vehicle, generate control instructions for coordinating platooning based on the following weight of the following vehicle and the target safe distance, and send the control instructions to the following vehicle.

[0052] The formation reorganization module 203 is used to generate a formation reorganization instruction and send it to the corresponding following vehicle when a following vehicle in a formation reorganization scenario is detected, based on the scenario type corresponding to the formation reorganization scenario and the following weight of the following vehicle in the formation reorganization scenario, so as to adjust the formation formation.

[0053] In a preferred embodiment of this application, the scenario type includes a vehicle entry and exit scenario. The platoon reorganization module 203 is further configured to, in response to a new vehicle's request to join the platoon, determine the following weight of the new vehicle, determine the insertion position of the new vehicle in the platoon based on the following weight, and generate a first reorganization instruction to instruct the following vehicles before and after the insertion position to adjust their speeds, so as to provide insertion space for the new vehicle; and in response to a following vehicle's request to leave the platoon, generate a second reorganization instruction to instruct all following vehicles behind the vehicle requesting to leave to move forward in sequence to avoid platoon breakage.

[0054] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device 300 includes a processor 310, a memory 320, and a bus 330.

[0055] The memory 320 stores machine-readable instructions that can be executed by the processor 310. When the electronic device 300 is running, the processor 310 and the memory 320 communicate via the bus 330. When the machine-readable instructions are executed by the processor 310, the steps of the vehicle platooning control method in the above method embodiment can be executed. For specific implementation details, please refer to the method embodiment, which will not be repeated here.

[0056] This application also provides a computer-readable storage medium storing a computer program. When the computer program is run by a processor, it can execute the steps of the vehicle platooning control method as described in the above method embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0057] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0058] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0059] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0060] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0061] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0062] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling vehicle platooning, characterized in that, The vehicle platoon includes a lead vehicle and at least one following vehicle, and the method is applied to the lead vehicle, the method comprising: For each following vehicle, obtain its real-time performance parameters, and calculate its following weight based on the real-time performance parameters. For each following vehicle, the system receives the target safe following distance reported by the following vehicle, and generates control instructions for coordinating platooning based on the following vehicle's following weight and the target safe following distance, and sends the control instructions to the following vehicle. When a following vehicle in a platoon reorganization scenario is detected, a platoon reorganization command is generated and sent to the corresponding following vehicle based on the scenario type corresponding to the platoon reorganization scenario and the following weight of the following vehicle in the platoon reorganization scenario, so as to adjust the platoon formation.

2. The method according to claim 1, characterized in that, The scenario types include vehicle entry and exit scenarios. The formation reorganization instructions corresponding to the vehicle entry and exit scenarios are generated in the following manner: In response to a new vehicle's request to join the platoon, the following weight of the new vehicle is determined, and the insertion position of the new vehicle in the platoon is determined based on the following weight. A first reorganization instruction is generated to instruct the following vehicles before and after the insertion position to adjust their speeds, so as to provide insertion space for the new vehicle. In response to a follower vehicle's request to leave the formation, a second reorganization command is generated to instruct all follower vehicles behind the requesting vehicle to move forward in sequence to fill the gap in the formation, in order to avoid a break in the formation.

3. The method according to claim 2, characterized in that, The scenario types also include road reduction scenarios. The formation reorganization command corresponding to the road reduction scenario is generated in the following manner: The multi-line formations are prioritized based on the following weight of each following vehicle, and a third reorganization instruction is generated based on the ranking result to instruct following vehicles of different line formations to merge into the target lane in an alternating manner.

4. The method according to claim 3, characterized in that, The scenario types also include obstacle avoidance scenarios. The formation reorganization command corresponding to the obstacle avoidance scenario is generated in the following way: Generate a fourth reorganization command to divide the current formation into at least two sub-formations to bypass obstacles from different sides; After detecting that all sub-formations have bypassed the obstacle, a fifth regrouping instruction is generated to instruct the sub-formations to re-merge into the original formation.

5. The method according to claim 1, characterized in that, Also includes: During the formation reorganization process, it receives position and speed information reported by all following vehicles; Based on the location and speed information, the collision risk between any two following vehicles is calculated using a collision risk assessment model. When a collision risk is detected to exceed a preset threshold, a risk avoidance command is generated and sent to the corresponding following vehicle, so that the following vehicle can perform a deceleration operation or adjust its direction.

6. The method according to claim 1, characterized in that, Each following vehicle is equipped with multi-source sensors. The target safe following distance for each following vehicle is determined in the following manner: Based on the perception data collected by the multi-source sensors to indicate the vehicle's own motion status and the prediction results of the motion status of the vehicle in front, the target safe distance is calculated through the distance prediction model.

7. A vehicle platooning control device, characterized in that, The vehicle platoon includes a lead vehicle and at least one following vehicle, and the device includes: The weight calculation module is used to obtain the real-time performance parameters of each following vehicle, and to calculate the following weight of the following vehicle based on the real-time performance parameters. The instruction sending module is used to receive the target safe distance reported by each following vehicle, generate control instructions for coordinating platooning based on the following weight of the following vehicle and the target safe distance, and send the control instructions to the following vehicle. The formation reorganization module is used to generate a formation reorganization command and send it to the corresponding following vehicle when a following vehicle in a formation reorganization scenario is detected, based on the scenario type corresponding to the formation reorganization scenario and the following weight of the following vehicle in the formation reorganization scenario, so as to adjust the formation formation.

8. The apparatus according to claim 7, characterized in that, The scenario types include vehicle entry and exit scenarios. The formation reorganization module is further configured to, in response to a new vehicle's request to join the formation, determine the new vehicle's following weight, determine the new vehicle's insertion position in the formation based on the following weight, and generate a first reorganization instruction to instruct following vehicles before and after the insertion position to adjust their speeds, so as to provide insertion space for the new vehicle; and in response to a following vehicle's request to leave the formation, generate a second reorganization instruction to instruct all following vehicles behind the vehicle requesting to leave to move forward in sequence to avoid formation breakage.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is in operation, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method as described in any one of claims 1 to 6.

Images