Formation anti-jam method and system based on intelligent network connection, vehicle and electronic equipment

Abstract

The invention provides a formation anti-jam method and system based on intelligent network connection, a vehicle and an electronic device, and the method comprises the steps: obtaining the driving state information of an automatic driving formation and a side lane parallel vehicle, judging whether the side vehicle has a jam state or not according to the driving state information, and when the side lane parallel vehicle has the jam state, stopping the jam. When the distance between the vehicle head and the traffic jam adding lane line is within a preset range, executing at least one of the following steps: sending warning information to parallel vehicles on a side lane; a protection device at the rear end of a front vehicle in the automatic driving formation is controlled to stretch out; and controlling a protection device at the front end of a rear vehicle in the automatic driving formation to extend. According to the method, the driving state information of the parallel vehicles on the side lane is monitored in real time, the plugging intention is accurately judged, measures can be taken in time at the initial stage of the plugging behavior, the stable driving state of the automatic driving formation vehicles is effectively maintained, and formation interruption or disordered driving order caused by the plugging behavior is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automatic driving, and in particular relates to a platoon anti-cutting-in method, system, vehicle and electronic device based on intelligent networking. BACKGROUND

[0002] With the development of intelligent networking technology, the platoon driving mode composed of multiple automatic driving vehicles on the highway is becoming more and more common. However, the traditional automatic driving vehicle platoon often encounters the forced cutting-in or cutting-in of other vehicles in the adjacent lane during driving. Such sudden behavior will interfere with the communication between the vehicles in the platoon, hinder the real-time information exchange and coordinated acceleration and deceleration operations realized by the V2V technology, and affect the overall coherence and stability of the platoon driving, thereby causing the originally orderly automatic driving platoon to have to interrupt driving or even be forced to disband. In addition, the cutting-in behavior often causes the platoon vehicles to be forced to brake or accelerate, increasing the overall fuel consumption. SUMMARY

[0003] To solve the problems in the prior art, the present application aims to provide a platoon anti-cutting-in method, system, vehicle and electronic device based on intelligent networking, which solves the cutting-in problem in automatic driving platoon driving, effectively maintains the stability of platoon driving, and reduces energy consumption.

[0004] To achieve the above-mentioned purpose, the technical solution of the present application is as follows: A platoon anti-cutting-in method based on intelligent networking technology, comprising: obtaining the driving state information of the automatic driving platoon and the parallel vehicles in the adjacent lane, judging whether the parallel vehicles in the adjacent lane have a cutting-in state according to the driving state information, and when the parallel vehicles in the adjacent lane have a cutting-in state and the distance between the front of the parallel vehicles in the adjacent lane and the cutting-in lane line is within a preset range, performing at least one of the following: sending warning information to the parallel vehicles in the adjacent lane, the warning information including one or more of sound alarm, light warning, and text prompt; controlling the protection device at the rear end of the front vehicle in the automatic driving platoon to extend; controlling the protection device at the front end of the rear vehicle in the automatic driving platoon to extend; wherein the front vehicle and the rear vehicle respectively refer to the vehicles in front of and behind the parallel vehicles in the adjacent lane in the automatic driving platoon.

[0005] Further, when the movement direction of the parallel vehicles in the adjacent lane points to the two vehicles in the automatic driving platoon, and the distance between the front of the parallel vehicles in the adjacent lane and the cutting-in lane line is less than or equal to 10 cm, it is judged that the parallel vehicles in the adjacent lane are in a cutting-in state.

[0006] Furthermore, when a vehicle in the adjacent lane has not crossed the lane line and the distance between its front and the lane line is d, 5cm≤d≤10cm, one or more of the following can be sent to the vehicle in the adjacent lane via vehicle-to-cloud communication: an audible alarm, a light warning, or a text prompt.

[0007] Furthermore, when a vehicle in the adjacent lane has not crossed the lane-cutting line and the distance between its front and the lane-cutting line is d, 0cm≤d<5cm, the system controls the protective device at the rear of the vehicle in front of the autonomous driving platoon to extend, and simultaneously sends one or more of the following to the vehicle in the adjacent lane via vehicle-to-cloud communication: an audible alarm, a light warning, or a text prompt.

[0008] Furthermore, when a vehicle in the adjacent lane crosses the lane-cutting line and the distance between the front of the vehicle and the lane-cutting line is d,d>0cm, the protective devices at the rear of the vehicle in front and the front of the vehicle in the autonomous driving formation are extended. At the same time, one or more of the following are sent to the vehicle in the adjacent lane via vehicle-to-cloud communication: sound alarm, light warning, and text prompt.

[0009] Furthermore, the protective device includes a drive motor and a telescopic guardrail. The drive motor is used to drive the telescopic guardrail to extend and retract. The telescopic guardrail is installed at the front and rear ends of the autonomous vehicle, respectively.

[0010] Furthermore, the driving status information of the parallel vehicles in the adjacent lane mainly includes the driving speed, direction, and angle of the parallel vehicles in the adjacent lane.

[0011] A platooning anti-jamming system based on intelligent connected vehicle technology includes: The information processing module, including a roadside camera, a roadside lidar and an edge computing unit, is used to acquire the driving status information of vehicles traveling in parallel lanes and to determine whether vehicles in the lane are cutting in. The cloud platform receives information on lane-cutting status and autonomous driving platooning status, and issues corresponding control commands based on the distance between the front of the parallel vehicle in the adjacent lane and the lane line of the lane-cutting vehicle. The protective device executes anti-cutting measures for platooned vehicles according to control commands.

[0012] A vehicle includes a vehicle body and an automatic driving controller, wherein a protective device is installed at the front end and / or rear end of the vehicle body, and the automatic driving controller is used to control the protective device to perform the following steps: when an anti-cut-off command is executed, the protective device extends out of the vehicle body.

[0013] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a platooning anti-jamming method based on intelligent connected vehicle technology.

[0014] A computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement a formation anti-jamming method based on intelligent connected vehicle technology.

[0015] Compared with existing technologies, the intelligent connected vehicle-based platooning anti-cut-off method, system, vehicle, and electronic equipment described in this invention have the following advantages: This invention is based on intelligent connected V2X technology and utilizes integrated vehicle-road-cloud coordination to monitor the driving status information of vehicles in adjacent lanes in real time, accurately judge their intention to cut in, and take timely measures in the early stages of such behavior. When a vehicle in an adjacent lane approaches a platoon of vehicles, the system can promptly send audible alarms and text prompts to the driver of the adjacent vehicle to adjust its driving trajectory. When a vehicle in an adjacent lane is too close or has crossed the lane line, the system controls the front and rear protective devices to extend, constructing a physical protective barrier to prevent the vehicle in the adjacent lane from further cutting into the platoon. Through accurate monitoring and timely intervention in cutting in, the system can effectively maintain the stable driving state of autonomous platoons, reduce platooning interruptions or traffic disorder caused by cutting in, improve road traffic efficiency, and reduce vehicle energy consumption. Attached Figure Description

[0016] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the positions of vehicles in autonomous driving platooning and parallel lanes provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the extension and retraction of the protective device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of cloud platform instruction control provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of cloud platform instruction control provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of cloud platform instruction three-way control provided in an embodiment of the present invention; Figure 6 The overall control flowchart provided for embodiments of the present invention.

[0017] Explanation of reference numerals in the attached figures: 1. Roadside camera; 2. Roadside LiDAR; 3. Edge computing unit; 4. Roadside RSU; 5. Cloud platform; 6. Pacified vehicles; 7. Pacified onboard unit (OBU); 8. Autonomous driving controller; 9. Drive motor; 10. Telescopic guardrail; 11. Parallel vehicles in adjacent lanes; 12. Side onboard unit (OBU); 13. Instrument display screen. Detailed Implementation

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] like Figures 1 to 6 As shown, a formation anti-jamming method based on intelligent connected vehicle technology includes: Obtain the driving status information of autonomous driving platoons and vehicles parallel in adjacent lanes, and determine whether a vehicle in the adjacent lane is cutting in. When a vehicle in the adjacent lane is cutting in, and the distance between the front of the vehicle in the adjacent lane and the lane line for cutting in is within a preset range, perform at least one of the following: Send a warning message to vehicles traveling in the adjacent lane, the warning message including one or more of the following: audible alarm, light warning, and text prompt; Control the extension of the protective device at the rear of the vehicle in front of the autonomous driving platoon; Control the extension of the protective device at the front of the following vehicle in an autonomous driving platoon; The "front vehicle" and "rear vehicle" refer to the vehicles in front of and behind the parallel vehicles in the adjacent lanes of the autonomous driving platoon, respectively.

[0023] This invention utilizes intelligent monitoring, judgment, and control methods to take timely measures at the initial stage of cutting in. Based on the specific location and danger level of the parallel vehicle 11 in the adjacent lane, it sends audible alarms and text prompts to the parallel vehicle 11 in the adjacent lane via vehicle-to-cloud communication, reminding the driver to pay attention to the cutting in and prompting them to actively adjust their driving trajectory to avoid unnecessary cutting in. At the same time, it can control the extension of the protective devices at the front and rear of the vehicles in the autonomous driving platoon to build a physical protective barrier, preventing the parallel vehicle in the adjacent lane from further cutting into the platoon. This effectively prevents cutting in, maintains the stable driving state of the autonomous driving platoon vehicles 6, reduces platoon interruption or driving order disorder caused by cutting in, improves the coordination and smoothness of platoon driving, and enhances the overall performance and reliability of the autonomous driving platoon system.

[0024] In a preferred embodiment of the present invention, when the direction of movement of the parallel vehicle 11 in the adjacent lane is between the two vehicles in the autonomous driving platoon, and the distance between the front of the vehicle and the lane line is less than or equal to 10cm, it is determined that the parallel vehicle 11 in the adjacent lane is in a cutting-in state.

[0025] Specifically, by setting a specific and reasonable distance threshold, the system can more accurately determine whether a vehicle 11 in the adjacent lane is cutting in. Setting this 10cm distance threshold ensures driving safety while avoiding excessive intervention in normally driving vehicles. If the distance is set too small, the system may not be able to take timely action, increasing the risk of collision; if the distance is set too large, it may frequently misidentify normally driving vehicles as vehicles in the adjacent lane, thereby disrupting traffic order and reducing traffic efficiency. The 10cm distance achieves a reasonable balance between safety and efficiency, effectively preventing the safety hazards caused by cutting in without causing unnecessary interference to normal traffic.

[0026] In a preferred embodiment of the present invention, when the parallel vehicle 11 in the adjacent lane has not crossed the lane line and the distance d between the front of the vehicle and the lane line is 5cm≤d≤10cm, one or more of the following are sent to the parallel vehicle 11 in the adjacent lane via vehicle-to-cloud communication: sound alarm, light warning, and text prompt.

[0027] Specifically, when the front of vehicle 11 in the adjacent lane is 5cm to 10cm from the lane line for cutting in, although the vehicle clearly intends to cut in and is already quite close to the lane of vehicle 6 in the platoon, vehicle 11 has not yet crossed the lane line, and its main body remains within its original lane. In this situation, there is still a certain amount of space between the vehicle in the adjacent lane and vehicle 6 in the platoon. By sending timely warnings and text prompts, the driver of the vehicle in the adjacent lane can be prompted to actively adjust its driving trajectory to avoid getting closer, thereby effectively reducing the risk of collision.

[0028] In a preferred embodiment of the present invention, when a vehicle in the adjacent lane has not crossed the lane line and the distance between the front of the vehicle and the lane line is d, 0cm≤d<5cm, the protective device at the rear of the vehicle in the autonomous driving platoon is extended, and at the same time, one or more of the following are sent to the vehicle in the adjacent lane via vehicle-to-cloud communication: sound alarm, light warning, and text prompt.

[0029] Specifically, when the front of a vehicle in the adjacent lane is 0cm to 5cm from the lane line for cutting in, the vehicle is already very close to the lane line for cutting in the lane where vehicle 6 is located, and its front is about to cut into the lane between vehicles 6. At this time, the protective device extending from the rear of the vehicle can physically prevent the front of the vehicle in the adjacent lane from cutting further into the lane between vehicles 6. At the same time, sending an audible alarm, and / or a light warning, and / or a text prompt, as well as extending the protective device, can produce a stronger warning effect on the driver of the vehicle in the adjacent lane, and more effectively prompt the driver to take measures to adjust the driving trajectory.

[0030] In a preferred embodiment of the present invention, when a vehicle traveling in the adjacent lane crosses the lane line and the distance between the front of the vehicle and the lane line is d,d>0cm, the protective devices at the rear end of the vehicle in front and the front end of the vehicle in the autonomous driving formation are extended, and at the same time, an audible alarm, and / or a light warning, and / or a text prompt are sent to the vehicle traveling in the adjacent lane via vehicle-to-cloud communication.

[0031] Specifically, when the front of a vehicle in the adjacent lane has crossed the lane line and the distance d between the front of the vehicle and the lane line is greater than 0 cm, the vehicle in the adjacent lane has partially cut into the platoon of vehicles 6. It is necessary to extend the protective devices at the rear of the vehicle in front and the front of the vehicle behind to build a double physical protective barrier to prevent the vehicle in the adjacent lane from further entering the platoon of vehicles 6, thereby minimizing the risk of collision and avoiding platoon interruption or traffic disorder caused by cutting in.

[0032] In a preferred embodiment of the present invention, the protective device includes a drive motor 9 and a telescopic guardrail 10. The telescopic guardrail 10 includes a front telescopic guardrail and a rear telescopic guardrail. The front telescopic guardrail and the rear telescopic guardrail are respectively installed at the front and rear of the autonomous vehicle. The drive motor 9 is used to drive the front telescopic guardrail and the rear telescopic guardrail to extend and retract.

[0033] Specifically, the surfaces of the front and rear retractable guardrails can be marked with prominent warning colors to quickly attract the driver's attention and provide a clear visual warning. The guardrails can be made of flexible materials or have impact pads installed to absorb and disperse energy during a vehicle collision, reducing damage. The length and installation location of the guardrails are determined based on the actual situation to avoid damaging vehicles traveling in parallel lanes.

[0034] Both the front and rear telescopic guardrails consist of multiple telescopic sections, each connected by a sliding rail and a locking mechanism. When the guardrail needs to extend, the drive motor 9 drives the telescopic sections to extend sequentially, forming a physical protective barrier; when protection is not needed, the guardrail can be quickly retracted.

[0035] In a preferred embodiment of the present invention, the driving status information of the parallel vehicle 11 in the adjacent lane mainly includes the driving speed, direction and angle of the parallel vehicle 11 in the adjacent lane.

[0036] Specifically, by comprehensively analyzing and fusing the speed, direction, and angle information of the parallel vehicle 11 in the adjacent lane, the system can assess the likelihood and danger of cutting in line in real time based on this information and make corresponding decisions.

[0037] A platooning anti-jamming system based on intelligent connected vehicle technology includes: The information processing module includes a roadside camera 1, a roadside lidar 2, and an edge computing unit 3, which are used to acquire the driving status information of parallel vehicles 11 in the adjacent lane and determine whether the vehicles in the lane are cutting in. Cloud Platform 5 receives information on lane-cutting status and autonomous driving platooning status, and issues corresponding control commands based on the distance between the front of the parallel vehicle in the adjacent lane and the lane-cutting line. The protective device executes the anti-straight-in method for platooned vehicles according to control commands.

[0038] Specifically, the roadside camera 1 is arranged above the roadside pole, uses a high-definition sensor with a dynamic range of 120dB, and is used for daytime road conditions to collect information such as the driving speed, direction, and angle of the parallel vehicles 11 in the lane next to the roadside autonomous driving platoon in real time, and transmits it to the edge computing unit 3.

[0039] The roadside lidar 2 is arranged above the roadside poles and adopts a mechanical rotating lidar. It is used for nighttime road conditions and collects information such as the driving speed, direction, and angle of the parallel vehicles 11 in the adjacent lanes of the autonomous driving platoon in real time, and transmits it to the edge computing unit 3.

[0040] The edge computing unit 3 receives 2D image information from the roadside camera 1 and 3D point cloud information from the roadside lidar 2, performs data perception fusion of the 2D and 3D models of the images, and comprehensively judges the driving speed, direction, angle, and other information of the parallel vehicle 11 in the adjacent lane of the autonomous vehicle. When the direction of movement of the parallel vehicle 11 in the adjacent lane is towards the space between the two vehicles in the autonomous vehicle platoon, and the distance between its front end and the lane line is less than or equal to 10cm, it is judged that a vehicle in the adjacent lane is about to cut in between the two vehicles in the autonomous vehicle platoon; otherwise, it is judged that no vehicle is cutting in, and the judgment information is input to the cloud platform 5 for instruction decision-making.

[0041] The cloud platform 5 receives information on whether autonomous vehicles are platooning and whether there are vehicles trying to cut in from the roadside lanes, and makes instruction judgments accordingly. When it is received that the autonomous vehicle is driving in a platoon and it is determined that the parallel vehicle 11 in the adjacent lane is about to cut into the platoon, and the distance between the front of the vehicle and the lane line is 5cm≤d≤10cm, the first instruction is issued to send an audio alarm and text prompt to the parallel vehicle in the adjacent lane through vehicle-to-cloud communication. When it is received that the autonomous vehicle is driving in a platoon and it is determined that the parallel vehicle 11 in the adjacent lane is about to cut into the platoon, and the distance between the front of the vehicle and the lane line is 0cm≤d<5cm, the second instruction is issued. The rear end of the vehicle in front of the parallel vehicle in the adjacent lane in the autonomous vehicle platoon extends a guardrail to prevent the parallel vehicle 11 in the adjacent lane from cutting in. At the same time, an audio alarm and text prompt are sent to the parallel vehicle in the adjacent lane through vehicle-to-cloud communication. When it is received that the autonomous vehicle is driving in a platoon and it is determined that the parallel vehicle 11 in the adjacent lane is about to cut into the platoon, and the distance d between the front of the vehicle and the lane line is greater than 0cm, the third instruction is issued. The rear end of the front vehicle and the front end of the rear vehicle in the platoon extend guardrails to prevent the parallel vehicle 11 in the adjacent lane from cutting in. At the same time, an audio alarm and text prompt are sent to the parallel vehicle in the adjacent lane through vehicle-to-cloud communication. No instructions will be issued if no information is received that autonomous vehicles are platooning.

[0042] In a preferred embodiment of the present invention, the anti-jamming system further includes a roadside RSU4, a platoon-mounted OBU7, a side-mounted OBU12, and an autopilot controller 8.

[0043] The roadside RSU4 is positioned above the roadside poles and receives information from the autonomous driving platooning vehicles 6 regarding whether they are in platooning mode, which is then transmitted to the cloud platform 5 for instruction judgment by the cloud platform 5. Simultaneously, it receives control instructions from the cloud platform 5 and transmits them to the platooning vehicle-mounted OBU7 and the adjacent vehicle-mounted OBU12.

[0044] The onboard OBU7 of the platoon is located at the bottom of the autonomous driving platoon vehicle 6. It receives the command information from the cloud platform 5 transmitted by the roadside RSU4 and transmits it to the autonomous driving controller 8. At the same time, it transmits the information from the autonomous driving controller 8 on whether the vehicle is in platoon driving state to the RSU for the command judgment of the cloud platform 5.

[0045] The adjacent vehicle-mounted OBU 12 is located at the bottom of the adjacent vehicle and receives command information from the cloud platform 5 transmitted by the roadside RSU 4 to the adjacent vehicle's instrument display screen 13. The adjacent vehicle's instrument display screen 13 receives the command information transmitted by the adjacent vehicle-mounted OBU 12 and displays text and provides sound alarms. In this embodiment, all 11 vehicles in the adjacent lane have vehicle networking capabilities and are equipped with an instrument display screen 13, which has a built-in speaker.

[0046] The autonomous driving controller 8 is arranged at the bottom of the autonomous driving vehicles in platooning. It receives control commands from the cloud platform 5 and starts the drive motor 9 according to the control commands, which drives the front telescopic guardrail 10 and the rear telescopic guardrail 10 to extend and prevent parallel vehicles in the adjacent lane from cutting in.

[0047] The front telescopic guardrail 10 is located at the rear of the autonomous driving platoon vehicle 6. Under the action of the drive motor 9, it can extend or retract to the rear end to prevent parallel vehicles in the adjacent lane from cutting in.

[0048] The rear telescopic guardrail 10 is positioned in front of the platooned autonomous vehicles. Under the action of the drive motor 9, it can extend forward or retract at the front end to prevent parallel vehicles in the adjacent lane from cutting in.

[0049] A vehicle includes a vehicle body and an automatic driving controller 8. A protective device is installed at the front end and / or rear end of the vehicle body. The automatic driving controller 8 is used to control the protective device to perform the following steps: when an anti-cut-off command is executed, the protective device extends out of the vehicle body.

[0050] Specifically, the front and rear ends of the vehicle body are respectively equipped with front telescopic guardrails and rear telescopic guardrails. The vehicle receives control commands from the cloud platform 5 and starts the drive motor 9 according to the control commands, so as to extend the front telescopic guardrails and rear telescopic guardrails to prevent parallel vehicles in the adjacent lane from cutting in.

[0051] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a platooning anti-jamming method based on intelligent connected vehicle technology.

[0052] A computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement a formation anti-jamming method based on intelligent connected vehicle technology.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A formation anti-jamming method based on intelligent connected vehicle technology, characterized in that, include: Obtain the driving status information of autonomous driving platoons and vehicles parallel in adjacent lanes, and determine whether a vehicle in the adjacent lane is cutting in. When a vehicle in the adjacent lane is cutting in, and the distance between the front of the vehicle in the adjacent lane and the lane line for cutting in is within a preset range, perform at least one of the following: Send a warning message to vehicles traveling in the adjacent lane, the warning message including one or more of the following: audible alarm, light warning, and text prompt; Control the extension of the protective device at the rear of the vehicle in the autonomous driving platoon; Control the extension of the protective device at the front of the following vehicle in an autonomous driving platoon; The "front vehicle" and "rear vehicle" refer to the vehicles in front of and behind the parallel vehicles in the adjacent lanes of the autonomous driving platoon, respectively.

2. The formation anti-jamming method based on intelligent connected vehicle technology according to claim 1, characterized in that: When the direction of movement of a vehicle in the adjacent lane is towards the space between two vehicles in the autonomous driving platoon, and the distance between the front of the vehicle and the lane line is less than or equal to 10cm, it is determined that the vehicle in the adjacent lane is cutting in.

3. The formation anti-jamming method based on intelligent connected vehicle technology according to claim 1, characterized in that: When a vehicle in the adjacent lane has not crossed the lane line and the distance between its front and the lane line is d, 5cm≤d≤10cm, one or more of the following can be sent to the vehicle in the adjacent lane via vehicle-to-cloud communication: an audible alarm, a light warning, or a text prompt.

4. The formation anti-jamming method based on intelligent connected vehicle technology according to claim 1, characterized in that: When a vehicle in the adjacent lane has not crossed the lane line and the distance between its front and the lane line is d, 0cm≤d<5cm, the system controls the protective device at the rear of the vehicle in front of the autonomous driving platoon to extend. At the same time, the system sends one or more of the following to the vehicle in the adjacent lane via vehicle-to-cloud communication: an audible alarm, a light warning, or a text prompt.

5. The formation anti-jamming method based on intelligent connected vehicle technology according to claim 1, characterized in that: When a vehicle in the adjacent lane crosses the lane-cutting line and the distance between the front of the vehicle and the lane-cutting line is d,d>0cm, the protective devices at the rear of the vehicle in front and the front of the vehicle in the autonomous driving formation are extended. At the same time, one or more of the following are sent to the vehicle in the adjacent lane via vehicle-to-cloud communication: sound alarm, light warning, and text prompt.

6. The formation anti-jamming method based on intelligent connected vehicle technology according to claim 1, characterized in that: The protective device includes a drive motor and a telescopic guardrail. The drive motor is used to drive the telescopic guardrail to extend and retract. The telescopic guardrail is installed at the front and rear of the autonomous vehicle, respectively.

7. The formation anti-jamming method based on intelligent connected vehicle technology according to claim 1, characterized in that: The driving status information of the parallel vehicles in the adjacent lane mainly includes the driving speed, direction and angle of the parallel vehicles in the adjacent lane.

8. A formation anti-jamming system based on intelligent connected vehicle technology, used to implement the formation anti-jamming method based on intelligent connected vehicle technology as described in any one of claims 1-7, characterized in that, include: The information processing module, including a roadside camera, a roadside lidar and an edge computing unit, is used to acquire the driving status information of vehicles traveling in parallel lanes and to determine whether vehicles in the lane are cutting in. The cloud platform receives information on lane-cutting status and autonomous driving platooning status, and issues corresponding control commands based on the distance between the front of the parallel vehicle in the adjacent lane and the lane line of the lane-cutting vehicle. The protective device executes anti-cutting measures for platooned vehicles according to control commands.

9. A vehicle, characterized in that: The vehicle includes a vehicle body and an automatic driving controller. A protective device is installed at the front end and / or rear end of the vehicle body. The automatic driving controller is used to control the protective device to perform the following steps: when an anti-cut-off command is executed, the protective device extends out of the vehicle body.

10. An electronic device, characterized in that: The method for preventing queue-jumping based on intelligent connected vehicle technology, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program, is described in any one of claims 1-7.

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