Intelligent networked automobile formation driving control method

Abstract

The invention belongs to the technical field of intelligent network connection automobile driving control, and discloses an intelligent network connection automobile formation driving control method, which comprises the following steps: acquiring position information, passing point information and terminal point information of each automobile; obtaining a vehicle formation according to the position information, the passing point information and the terminal point information of each vehicle; the vehicle formation is processed according to the vehicle formation logic, the vehicle logic, the position information, the passing point information and the terminal point information, and an updated driving route is obtained; obtaining a route completion action instruction according to the updated driving route and sending the route completion action instruction to each vehicle; and each vehicle receives and executes the route completion action instruction to complete vehicle formation driving. According to the invention, each intelligent network connection vehicle can orderly run on the road, so that the accident rate of the road is reduced, and the traffic efficiency of the road is improved.

Description

Technical Field

[0001] This application relates to the field of intelligent connected vehicle driving control technology, and in particular to a method for intelligent connected vehicle platooning driving control. Background Technology

[0002] The intelligent connected vehicle industry is an emerging industry that integrates multiple fields such as transportation, electronic information, and automobiles, including autonomous driving and vehicle-to-everything (V2X) communication. With the rapid development of autonomous driving, it will effectively reduce human intervention and error rates, thereby significantly reducing traffic accidents. Meanwhile, V2X will greatly reduce the difficulty of vehicle environmental perception, ensuring the accuracy of route prediction and decision-making. However, although V2X technology plays a crucial role in the intelligent connected vehicle industry, current intelligent connected vehicle solutions are still mainly limited to the vehicle-to-vehicle communication level. This results in shortcomings in unified communication, unified scheduling, and unified command and other intelligent interconnection aspects, making it difficult to meet the needs of overall coordination and optimization of urban transportation systems, thus affecting road traffic efficiency and safety. Summary of the Invention

[0003] This application provides a method for controlling the platooning of intelligent connected vehicles. By uniformly acquiring the location information, waypoint information, and destination information of each vehicle, and then processing them according to preset vehicle platooning logic and vehicle logic, the method enables intelligent connected vehicles to drive in an orderly manner on the road, thereby reducing the road accident rate and improving road traffic efficiency. It also ensures the performance release of each vehicle, further improving the user's travel comfort and saving the user's travel time.

[0004] This application provides a method for controlling platooning driving of intelligent connected vehicles, the method comprising: Obtain the location, waypoint, and destination information of each vehicle; assemble the vehicles into a convoy based on the location, waypoint, and destination information of each vehicle. The vehicle platooning is processed based on vehicle platooning logic, vehicle logic, location information, waypoint information, and destination information to obtain an updated driving route; The updated driving route is used to obtain the route completion action command and send it to each vehicle; Each vehicle receives and executes the route completion instructions, completing the vehicle platooning.

[0005] Furthermore, the vehicle platooning logic includes: Each vehicle in the convoy moves forward at the target speed of the convoy, following closely behind and maintaining the first distance; When a vehicle merge signal is received, a vehicle platoon end merge signal is sent to the corresponding vehicle and it is instructed to execute the command. When a vehicle exit signal is received, the speed data of the vehicles behind the vehicle formation is obtained, and the speed data is adjusted to increase to the following speed until the distance between the vehicles in front and behind the vehicle formation is the first distance. Among them, the following speed is higher than the target speed of the vehicle formation, and the first distance is the safe distance between vehicles in the vehicle formation.

[0006] Furthermore, the method also includes: Based on the maximum and minimum safe driving speeds of each road segment, vehicle formations are divided into first-speed vehicle formations, second-speed vehicle formations, and third-speed vehicle formations according to speed gradients. Among them, the target speed of the first speed vehicle formation is greater than the target speed of the second speed vehicle formation, and the target speed of the second speed vehicle formation is greater than the target speed of the third speed vehicle formation.

[0007] Furthermore, vehicle platooning logic also includes: In lanes traveling in the same direction, each vehicle convoy keeps to the right. When the rightmost lane of a road segment is not occupied, all vehicle platoons travel in the rightmost lane. If a signal is received that a vehicle is not in the rightmost lane, a right lane change signal is sent to the corresponding vehicle and it is executed until the corresponding vehicle enters the rightmost lane. When the second-speed vehicle convoy approaches the third-speed vehicle convoy and the distance between them reaches the second distance, a left lane change signal is sent to the second-speed vehicle convoy and it is ordered to execute the change until the last vehicle of the second-speed vehicle convoy overtakes the leading vehicle of the third-speed vehicle convoy. When the first speed vehicle formation approaches the second speed vehicle formation which is overtaking the third speed vehicle formation, and the distance between the first speed vehicle formation and the second speed vehicle formation is the second distance, a left lane change signal is sent to the first speed vehicle formation and it is ordered to execute the change. The second distance is the minimum safe distance between each vehicle formation; When multiple vehicle platoons are detected overtaking in the left straight lane and there are insufficient lanes, a driving signal for the leftmost lane is sent to the vehicle platoon on the first highway and it is instructed to execute the signal. A driving signal for the second left lane is sent to the vehicle platoon on the second highway and it is instructed to execute the signal. When there are insufficient lanes, a deceleration and following signal is sent to the first low-speed vehicle platoon and it is instructed to execute the signal. The first expressway is longer than the second expressway.

[0008] Furthermore, vehicle formations include commercial bus formations, passenger car formations, freight vehicle formations, and special vehicle formations; Commercial bus platoons are given the highest priority, passenger car platoons the second highest priority, and freight vehicle platoons the third highest priority. When a special vehicle platoon is detected, a signal to drive in the leftmost lane is sent to the special vehicle platoon and it is ordered to comply. A signal to prohibit driving in the leftmost lane is sent to the commercial bus platoon, passenger car platoon, and freight vehicle platoon and it is ordered to comply.

[0009] Furthermore, vehicle platooning logic also includes: Based on the road's maximum capacity length and a preset usable length coefficient, the usable length of the road is obtained; based on the usable length of the road and the preset usable length coefficient of each vehicle formation, the usable formation length of each vehicle formation is obtained. Based on the road's load-bearing capacity and the preset usable weight coefficient, the usable weight of the road is obtained; based on the road's usable weight and the preset usable weight coefficient of each vehicle formation, the usable weight of each vehicle formation is obtained.

[0010] Furthermore, vehicle platooning logic also includes: Obtain the actual average speed of the vehicle platoon within the preset area and perform calculations; If the actual average speed is much lower than the target speed of the vehicle formation, the lower limit of the vehicle formation length in the preset area will be increased according to the preset time interval until the actual average speed of the vehicle formation in the preset area reaches the target speed of the vehicle formation. If the actual average speed is less than the target speed of the vehicle formation, and there is a preset proportion of vehicle formations whose current speed is less than the target speed of the vehicle formation, then the lower limit of the vehicle formation length in the preset area is reduced according to the preset time interval until the current speed of the preset proportion of vehicle formations in the preset area reaches the target speed of the vehicle formation.

[0011] Furthermore, vehicle platooning logic also includes: If the difference between the actual passage time and the ideal passage time of the vehicle platoon through the intersection is greater than the preset time difference threshold, the upper limit of the vehicle platoon length will be reduced according to the preset time interval. If the difference between the actual passage time and the ideal passage time of the vehicle platoon through the intersection is less than the preset time difference threshold, the upper limit of the vehicle platoon length will be increased according to the preset time interval.

[0012] Furthermore, vehicle platooning logic also includes: If there are two vehicle formations with the same target speed whose distance does not exceed the third distance, and the length of the formation obtained after merging the two vehicle formations with the same target speed does not exceed the upper limit of the formation length, then an acceleration signal is sent to the rear vehicle formation and it is ordered to execute, so that the rear vehicle formation merges into the front vehicle formation. The third distance is the distance at which vehicle platoons can be merged.

[0013] Furthermore, the vehicle logic includes: If the current vehicle has not entered the road, when a convoy of vehicles with a target speed not exceeding the current vehicle's target speed is detected passing by, a road entry signal and a follow-up speed merging signal are sent to the current vehicle. If the current vehicle is on the road and is moving forward at a waiting speed, a follow-up speed merging signal is sent to the current vehicle when a convoy of vehicles with a target speed not exceeding the target speed of the current vehicle overtakes it on the left. When two vehicles that do not meet the minimum vehicle formation length are detected, and the distance between the two vehicles is less than the third distance, a follow-up speed merge signal is sent to the following vehicles.

[0014] Furthermore, vehicle logic also includes: When a first-speed vehicle convoy is detected overtaking a second-speed vehicle convoy from the adjacent left lane, if the target speed of the first-speed vehicle convoy does not exceed the target speed of the first vehicle in the second-speed vehicle convoy, a left lane change merging signal is sent to the first vehicle. The target speed of the first vehicle is the minimum of the maximum safe driving speed allowed by the road, the maximum safe driving speed determined by the vehicle's performance, and the maximum driving speed expected by the driver.

[0015] Furthermore, vehicle logic also includes: If the current vehicle is detected to have reached the fourth distance and the current vehicle's vehicle formation is located in the rightmost lane of the main road, a right lane change signal is sent to the current vehicle. If it is detected that the first-speed vehicle platoon changes lanes to the left to overtake the second-speed vehicle platoon before the current vehicle reaches the fourth distance, a signal to keep the rightmost lane is sent to the current vehicle. The fourth distance is the distance between the current vehicle and the intersection when a right-turn lane appears, or the distance between the current vehicle and the intersection when a left-turn lane appears.

[0016] Furthermore, vehicle logic also includes: If the current vehicle is detected to have reached the fourth distance and the current vehicle's vehicle formation is located in the leftmost lane of the main road, or the current vehicle's vehicle formation is located in a lane other than the leftmost lane and the leftmost lane of the lane where the current vehicle's vehicle formation is located is not occupied, a left lane change signal is sent to the current vehicle. If the current vehicle is detected to have reached the fourth distance, and the current vehicle's platoon is located in a lane other than the leftmost lane of the main road, and the leftmost lane of the lane where the current vehicle's platoon is located is occupied by a higher-speed vehicle platoon, determine whether the higher-speed vehicle platoon is expected to overtake the current vehicle's platoon before the higher-speed vehicle platoon reaches the fourth distance. If so, wait for the higher-speed vehicle convoy to complete the overtaking maneuver, and then send a continuous left lane change signal to the current vehicle; If not, a deceleration and avoidance signal is sent to the higher-speed vehicle platoon. When the current vehicle reaches the fourth distance, a continuous left lane change signal is sent to the current vehicle.

[0017] In summary, compared with the prior art, the beneficial effects of the technical solution provided in this application include at least the following: This application provides an intelligent connected vehicle platooning control method. By uniformly acquiring the location information, waypoint information, and destination information of each vehicle, and then processing them according to preset vehicle platooning logic and vehicle logic, the method enables intelligent connected vehicles to drive in an orderly manner on the road, thereby reducing the road accident rate and improving road traffic efficiency. It also ensures the performance release of each vehicle, further improving the user's travel comfort and saving the user's travel time. Attached Figure Description

[0018] Figure 1 A flowchart of an intelligent connected vehicle platooning control method provided as an exemplary embodiment of this application. Detailed Implementation

[0019] The technical solutions in 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.

[0020] Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] Please see Figure 1 This application provides a method for controlling the platooning of intelligent connected vehicles, which specifically includes the following steps: Step S1: Obtain the location information, waypoint information, and destination information of each vehicle; and form a vehicle platoon based on the location information, waypoint information, and destination information of each vehicle.

[0022] By acquiring real-time location, waypoint, and destination information for each vehicle, an accurate data foundation is provided for forming a vehicle convoy. This ensures that the convoy formation fully considers the current status and travel objectives of each vehicle, improves the overall coordination of the convoy, and lays a solid data foundation for subsequent route planning.

[0023] Step S2: Process the vehicle platooning based on vehicle platooning logic, vehicle logic, location information, waypoint information, and destination information to obtain an updated driving route.

[0024] The application's ability to dynamically update driving routes allows each vehicle platoon to flexibly respond to changes in road conditions and rationally plan driving routes, thereby optimizing the travel efficiency of each vehicle platoon, enhancing responsiveness, and ensuring that the driving routes simultaneously meet the overall goals of the vehicle platoon and the needs of individual vehicles.

[0025] Step S3: Obtain the route completion action command based on the updated driving route and send it to each vehicle.

[0026] Among these features, the timely issuance of route completion instructions based on the updated driving route and their transmission to each vehicle ensures the timely delivery of these instructions, promotes coordinated driving among vehicle platoons, avoids vehicle accidents caused by delays or deviations in the execution of route completion instructions, and increases the safety of each vehicle type.

[0027] In step S4, each vehicle receives and executes the route completion action instructions to complete the vehicle platooning.

[0028] The ability of vehicles to form a platoon enables the application to achieve overall closed-loop control. Each vehicle executes its actions according to the route in a unified manner, improving overall driving efficiency, saving vehicle energy, and enhancing the user's travel experience.

[0029] The intelligent connected vehicle platooning control method provided in the above embodiments obtains the location information, waypoint information, and destination information of each vehicle in a unified manner, and then processes them according to the preset vehicle platooning logic and vehicle logic. This enables each intelligent connected vehicle to drive in an orderly manner on the road, thereby reducing the road accident rate and improving road traffic efficiency. It also ensures the performance release of each vehicle, further improving the user's travel comfort and saving the user's travel time.

[0030] In some embodiments, vehicle platooning logic includes: Each vehicle in the convoy moves forward at the target speed of the convoy, following closely behind and maintaining the first distance; When a vehicle merge signal is received, a vehicle platoon end merge signal is sent to the corresponding vehicle and it is instructed to execute the command. When a vehicle exit signal is received, the speed data of the vehicles behind the vehicle formation is obtained, and the speed data is adjusted to increase to the following speed until the distance between the vehicles in front and behind the vehicle formation is the first distance. Among them, the following speed is higher than the target speed of the vehicle formation, and the first distance is the safe distance between vehicles in the vehicle formation.

[0031] In some embodiments, the method further includes: Based on the maximum and minimum safe driving speeds of each road segment, vehicle formations are divided into first-speed vehicle formations, second-speed vehicle formations, and third-speed vehicle formations according to speed gradients. Among them, the target speed of the first speed vehicle formation is greater than the target speed of the second speed vehicle formation, and the target speed of the second speed vehicle formation is greater than the target speed of the third speed vehicle formation.

[0032] In this system, vehicles in a convoy advance at a target speed, following one another and maintaining a first distance. When a vehicle merges in, it merges from the end of the convoy; when a vehicle leaves, the vehicles behind the convoy accelerate to their following speed and catch up with the vehicle in front of the convoy until they close to the first distance.

[0033] The following speed can be slightly higher than the target speed of the vehicle platoon, and the first distance is the safe distance between vehicles in the platoon.

[0034] In some embodiments, the following speed is 110% of the target speed of the vehicle platoon, and the first distance is set to 1 meter. If a vehicle platoon has 10 vehicles and the target speed is 100 km / h, and the 5th vehicle merges out, then the 6th to 10th vehicles accelerate to 110 km / h and catch up with the 1st to 4th vehicles until the first distance reaches 1 meter.

[0035] Furthermore, based on the maximum and minimum safe driving speeds of each road segment, the vehicle formation is divided into several vehicle formations according to a gradient. These may include multiple vehicle formations such as the first-speed vehicle formation, the second-speed vehicle formation, and the third-speed vehicle formation, with the target speed of each vehicle formation decreasing in a gradient.

[0036] If a new vehicle platoon is formed, the target speed of the new vehicle platoon is the target speed that is closest to but does not exceed the target speed of the vehicle with the lowest target speed in the platoon.

[0037] If a road segment has only a single lane, then only vehicles traveling at the first speed can form a platoon, and vehicles can merge into the platoon from the front of the platoon.

[0038] In some embodiments, if the maximum safe driving speed on a highway is 250 km / h and the minimum safe driving speed is 100 km / h, and the speed gradient of a vehicle platoon is 20% of the maximum safe driving speed allowed by the road, then the target speed of the first speed vehicle platoon is 250 km / h, the second speed vehicle platoon is 250 * (1 - 20%) = 200 km / h, the third speed vehicle platoon is 150 km / h, and the fourth speed vehicle platoon is 100 km / h. If a new vehicle platoon is formed, and the target speed of the vehicle with the lowest target speed in the platoon is 160 km / h, then this vehicle platoon becomes the third speed vehicle platoon.

[0039] In some embodiments, the vehicle platooning logic further includes: In lanes traveling in the same direction, each vehicle convoy keeps to the right. When the rightmost lane of a road segment is not occupied, all vehicle platoons travel in the rightmost lane. If a signal is received that a vehicle is not in the rightmost lane, a right lane change signal is sent to the corresponding vehicle and it is executed until the corresponding vehicle enters the rightmost lane. When the second-speed vehicle convoy approaches the third-speed vehicle convoy and the distance between them reaches the second distance, a left lane change signal is sent to the second-speed vehicle convoy and it is ordered to execute the change until the last vehicle of the second-speed vehicle convoy overtakes the leading vehicle of the third-speed vehicle convoy. When the first speed vehicle formation approaches the second speed vehicle formation which is overtaking the third speed vehicle formation, and the distance between the first speed vehicle formation and the second speed vehicle formation is the second distance, a left lane change signal is sent to the first speed vehicle formation and it is ordered to execute the change. The second distance is the minimum safe distance between each vehicle formation; When multiple vehicle platoons are detected overtaking in the left straight lane and there are insufficient lanes, a driving signal for the leftmost lane is sent to the vehicle platoon on the first highway and it is instructed to execute the signal. A driving signal for the second left lane is sent to the vehicle platoon on the second highway and it is instructed to execute the signal. When there are insufficient lanes, a deceleration and following signal is sent to the first low-speed vehicle platoon and it is instructed to execute the signal. The first expressway is longer than the second expressway.

[0040] In some embodiments, the second distance may be determined by the maximum safe speed of the road segment, such as 50m for a highway with a maximum safe speed of 250km / h and 10m for a city road with a maximum safe speed of 100km / h.

[0041] If a road segment has three speed-gradient vehicle platoons but only two lanes, and the three speed-gradient vehicle platoons meet, if the first speed-gradient vehicle platoon approaches the second speed-gradient vehicle platoon, and the second speed-gradient vehicle platoon cannot overtake the third speed-gradient vehicle platoon and return to the right lane, then the second speed-gradient vehicle platoon should give up overtaking the third speed-gradient vehicle platoon, slow down and follow the third speed-gradient vehicle platoon. Once the first speed-gradient vehicle platoon enters the left lane and completes overtaking the second speed-gradient vehicle platoon, the second speed-gradient vehicle platoon can then enter the left lane to begin overtaking the third speed-gradient vehicle platoon.

[0042] In some embodiments, vehicle formations include commercial bus formations, passenger car formations, freight vehicle formations, and special vehicle formations; Commercial bus platoons are given the highest priority, passenger car platoons the second highest priority, and freight vehicle platoons the third highest priority. When a special vehicle platoon is detected, a signal to drive in the leftmost lane is sent to the special vehicle platoon and it is ordered to comply. A signal to prohibit driving in the leftmost lane is sent to the commercial bus platoon, passenger car platoon, and freight vehicle platoon and it is ordered to comply.

[0043] In some embodiments, the vehicle platooning logic further includes: Based on the road's maximum capacity length and a preset usable length coefficient, the usable length of the road is obtained; based on the usable length of the road and the preset usable length coefficient of each vehicle formation, the usable formation length of each vehicle formation is obtained. Based on the road's load-bearing capacity and the preset usable weight coefficient, the usable weight of the road is obtained; based on the road's usable weight and the preset usable weight coefficient of each vehicle formation, the usable weight of each vehicle formation is obtained.

[0044] In some embodiments, commercial bus formations are given first priority, passenger car formations are given second priority, and freight vehicle formations are given third priority; when a vehicle formation type does not fully utilize its available formation length and weight, the unused available formation length and weight are allocated to other vehicle formation types in descending order of priority.

[0045] When a special vehicle convoy is present, it will directly occupy the leftmost lane of the road segment, and all other vehicles will be prohibited from entering the lane it will occupy before it passes. When a special vehicle convoy enters a road segment, the convoy type will occupy the lane in order of its length and weight priority from low to high.

[0046] Specifically, the road's accommodating length is determined by the length of the road segment and the number of lanes. Based on the road's accommodating length and the set usable length coefficient, the usable length of the road is obtained. Based on the road's usable length and the set usable length coefficient for each vehicle formation, the usable formation length of each vehicle formation is obtained.

[0047] Meanwhile, the road's load-bearing capacity is determined by the road section's design standards. Based on the road's load-bearing capacity and the set usable weight coefficient, the road's usable weight is obtained; based on the road's usable weight and the set usable weight coefficient for each vehicle formation, the usable weight for each vehicle formation is obtained.

[0048] In some embodiments, if the road is 1000 meters long and has 4 lanes, then the road can accommodate a length of 1000*4=4000 meters. The usable length coefficient of the road can be set to 70%, then the usable length of the road is 4000*70%=2800 meters. The usable length coefficient of passenger car platoons can be set to 60%, commercial bus platoons to 20%, and freight vehicle platoons to 20%, then the usable length of passenger car platoons is 2800*60%=1680 meters, commercial vehicle platoons is 560 meters, and commercial freight vehicle platoons is 560 meters.

[0049] Specifically, for shorter road segments, such as urban roads, the usable length coefficient should be set at a smaller value to maintain high flexibility; for longer road segments, such as provincial and national highways and expressways, a larger value should be set to maintain high capacity. Furthermore, the usable length coefficient for each vehicle platoon should also be set according to the actual situation. If freight vehicles are prohibited from passing, the usable length coefficient for commercial freight vehicles should be set to 0%; if traffic control measures prohibit vehicle passage, all should be set to 0%.

[0050] Meanwhile, if the road design standard can bear a load of 5,000 tons, the usable weight coefficient of the road section can be set at 60%, then the usable weight is 5,000 * 60% = 3,000 tons. The usable weight coefficient of passenger car platoons can be set at 40%, commercial bus platoons at 30%, and commercial truck platoons at 30%, then the usable weight of passenger car platoons is 3,000 * 40% = 1,200 tons, commercial vehicle platoons at 900 tons, and commercial truck platoons at 900 tons.

[0051] For roads, the usable weight coefficient should be adjusted according to factors such as service life, actual road conditions, and weather. For bridges, the balance between the left and right sides also needs to be considered.

[0052] Furthermore, when the usable length and weight of a certain type of vehicle platoon on the road ahead are saturated, that platoon will disband and wait for sufficient available length and weight. Waiting vehicles may only occupy the rightmost lane, regardless of vehicle type, and later arriving vehicles will follow earlier arriving vehicles.

[0053] When the first n vehicles of a certain category meet the minimum vehicle length requirement for the area and do not exceed the usable length and weight of that category of vehicles on the road segment, these n vehicles form a new vehicle platoon and enter the road segment to be entered.

[0054] In some embodiments, if the minimum platoon length for a certain area is 30 meters, and the usable platoon length or weight for a certain road segment is saturated, then the freight vehicles wait in the rightmost lane before entering that road segment. If the first four waiting freight vehicles are 32 meters long and have a total weight of 150 tons, then when the usable length and weight for that road segment are met, these four freight vehicles form a new platoon and enter that road segment.

[0055] In some embodiments, the vehicle platooning logic further includes: Obtain the actual average speed of the vehicle platoon within the preset area and perform calculations; If the actual average speed is much lower than the target speed of the vehicle formation, the lower limit of the vehicle formation length in the preset area will be increased according to the preset time interval until the actual average speed of the vehicle formation in the preset area reaches the target speed of the vehicle formation. If the actual average speed is less than the target speed of the vehicle formation, and there is a preset proportion of vehicle formations whose current speed is less than the target speed of the vehicle formation, then the lower limit of the vehicle formation length in the preset area is reduced according to the preset time interval until the current speed of the preset proportion of vehicle formations in the preset area reaches the target speed of the vehicle formation.

[0056] In some embodiments, when the actual average speed of more than 40% of the vehicle formations in a certain area does not reach 80% of the target speed, the lower limit of the vehicle formation length increases by 5 meters every minute; while if the actual average speed of all vehicle formations in the area reaches 80% of the target speed, but the target speed of more than 5% of the vehicle formations does not reach the target speed of the vehicle, the lower limit of the vehicle formation length decreases by 5 meters every minute.

[0057] Specifically, increasing the modularity of vehicle platooning will improve road capacity and utilization efficiency, and increase the actual average speed of vehicle platooning. However, reducing vehicle flexibility will reduce the actual average speed of vehicles to some extent, and vice versa.

[0058] In some embodiments, the vehicle platooning logic further includes: If the difference between the actual passage time and the ideal passage time of the vehicle platoon through the intersection is greater than the preset time difference threshold, the upper limit of the vehicle platoon length will be reduced according to the preset time interval. If the difference between the actual passage time and the ideal passage time of the vehicle platoon through the intersection is less than the preset time difference threshold, the upper limit of the vehicle platoon length will be increased according to the preset time interval.

[0059] Furthermore, the upper limit of vehicle platoon length is determined based on the difference between the actual and ideal passage time of the vehicle platoon through the intersection. If the actual passage time of a vehicle platoon through an intersection in a certain area is longer than the ideal passage time, the upper limit of the length of all vehicle platoons in that area is reduced at regular intervals; conversely, the upper limit of the length is increased at regular intervals.

[0060] In some embodiments, if the actual passage time of a vehicle platoon through an intersection in a certain area is 5 seconds longer than the ideal passage time, then the maximum length is reduced by 5 meters every minute; otherwise, it is increased by 5 meters.

[0061] Specifically, traffic under the control of this application will no longer require traffic lights, and vehicles from different directions will interweave at intersections. If a vehicle platoon is too long, it will affect the passage time of vehicles from the other direction. However, there is no upper limit on the length of platoons on road sections without intersections, such as highways.

[0062] In some embodiments, the vehicle platooning logic further includes: If there are two vehicle formations with the same target speed whose distance does not exceed the third distance, and the length of the formation obtained after merging the two vehicle formations with the same target speed does not exceed the upper limit of the formation length, then an acceleration signal is sent to the rear vehicle formation and it is ordered to execute, so that the rear vehicle formation merges into the front vehicle formation. The third distance is the distance at which vehicle platoons can be merged.

[0063] In some embodiments, the third distance is determined based on the maximum safe vehicle speed of the road segment. For example, on a highway where the maximum safe vehicle speed is 250 km / h, the third distance can be set to 200 meters.

[0064] In some embodiments, vehicles are transferred in a platoon with the following vehicle logic to reach the destination from the origin along an optimal route.

[0065] In some embodiments, vehicle logic includes: Vehicles that do not meet the minimum platoon length requirement (including secondary vehicle platoons that do not meet the minimum platoon length requirement, the same below) should be platooned as soon as possible.

[0066] If the current vehicle has not entered the road, when a convoy of vehicles with a target speed not exceeding the current vehicle's target speed is detected passing by, a road entry signal and a follow-up speed merging signal are sent to the current vehicle. If the current vehicle is on the road and is moving forward at a waiting speed, a follow-up speed merging signal is sent to the current vehicle when a convoy of vehicles with a target speed not exceeding the target speed of the current vehicle overtakes it on the left. When two vehicles that do not meet the minimum vehicle formation length are detected, and the distance between the two vehicles is less than the third distance, a follow-up speed merge signal is sent to the following vehicles.

[0067] In some embodiments, the waiting speed can be 90% of the minimum safe speed of the road segment.

[0068] In some embodiments, the vehicle logic further includes: When a first-speed vehicle convoy is detected overtaking a second-speed vehicle convoy from the adjacent left lane, if the target speed of the first-speed vehicle convoy does not exceed the target speed of the first vehicle in the second-speed vehicle convoy, a left lane change merging signal is sent to the first vehicle. The target speed of the first vehicle is the minimum of the maximum safe driving speed allowed by the road, the maximum safe driving speed determined by the vehicle's performance, and the maximum driving speed expected by the driver.

[0069] In some embodiments, when a first-speed vehicle convoy is detected overtaking a third-speed vehicle convoy from an adjacent left lane, if the target speed of the first-speed vehicle convoy does not exceed the target speed of the first vehicle in the third-speed vehicle convoy, a left lane change merging signal is sent to the first vehicle.

[0070] In some embodiments, when a second-speed vehicle convoy is detected overtaking a third-speed vehicle convoy from an adjacent left lane, if the target speed of the second-speed vehicle convoy does not exceed the target speed of the first vehicle in the third-speed vehicle convoy, a left lane change merging signal is sent to the first vehicle.

[0071] The first vehicle can be any vehicle in a platoon of vehicles traveling at a lower speed.

[0072] In some embodiments, within a platoon traveling on the same route segment, vehicles move from a lower-speed platoon to a higher-speed platoon until they merge into a target platoon.

[0073] Specifically, when a higher-speed vehicle convoy overtakes a lower-speed vehicle convoy from an adjacent left lane, if the target speed of the higher-speed convoy does not exceed that of any vehicle in the lower-speed convoy, that lower-speed vehicle will change lanes to the left to merge into the higher-speed convoy, continuing until it merges into its target convoy. If a vehicle's target speed is lower than the target speed of the lowest-speed convoy on the road segment, that vehicle is prohibited from driving on that road. The convoy whose target speed is closest to, but does not exceed, that vehicle's target speed is designated as its target convoy.

[0074] In some embodiments, if the target speeds of the first, second, third, and fourth vehicle platoons on a certain road segment are 250, 200, 150, and 100 km / h, respectively, and the maximum safe driving speed of a certain vehicle is 300 km / h, and the driver's expected maximum driving speed is also 300 km / h, then the first vehicle platoon is the target vehicle platoon for that vehicle. If the maximum safe driving speed of a certain vehicle is 150 km / h, and the driver's expected maximum driving speed is 120 km / h, then the fourth vehicle platoon is the target vehicle platoon for that vehicle. If the maximum safe driving speed of a certain vehicle or the driver's expected maximum driving speed is less than 100 km / h, then that vehicle should not enter that road segment.

[0075] In some embodiments, the vehicle logic further includes: If the current vehicle is detected to have reached the fourth distance and the current vehicle's vehicle formation is located in the rightmost lane of the main road, a right lane change signal is sent to the current vehicle. If it is detected that the first-speed vehicle platoon changes lanes to the left to overtake the second-speed vehicle platoon before the current vehicle reaches the fourth distance, a signal to keep the rightmost lane is sent to the current vehicle. The fourth distance is the distance between the current vehicle and the intersection when a right-turn lane appears, or the distance between the current vehicle and the intersection when a left-turn lane appears.

[0076] In some embodiments, the vehicle logic further includes: If the current vehicle is detected to have reached the fourth distance and the current vehicle's vehicle formation is located in the leftmost lane of the main road, or the current vehicle's vehicle formation is located in a lane other than the leftmost lane and the leftmost lane of the lane where the current vehicle's vehicle formation is located is not occupied, a left lane change signal is sent to the current vehicle. If the current vehicle is detected to have reached the fourth distance, and the current vehicle's platoon is located in a lane other than the leftmost lane of the main road, and the leftmost lane of the lane where the current vehicle's platoon is located is occupied by a higher-speed vehicle platoon, determine whether the higher-speed vehicle platoon is expected to overtake the current vehicle's platoon before the higher-speed vehicle platoon reaches the fourth distance. If so, wait for the higher-speed vehicle convoy to complete the overtaking maneuver, and then send a continuous left lane change signal to the current vehicle; If not, a deceleration and avoidance signal is sent to the higher-speed vehicle platoon. When the current vehicle reaches the fourth distance, a continuous left lane change signal is sent to the current vehicle.

[0077] In some embodiments, when a vehicle's route does not match the current vehicle formation, it leaves the current vehicle formation and enters a matching lane or route.

[0078] When a vehicle in a platoon needs to enter the right-turn lane (including right-side forks, right-side ramps, etc., the same below), if the vehicle reaches the fourth distance and the platoon is located in the rightmost lane of the main road, the vehicle will change lanes to the right, leave the current platoon, and enter the right-turn lane. If, before the vehicle reaches the fourth distance, the platoon needs to change lanes to the left to overtake a slower platoon, the vehicle will remain in the rightmost lane, leave the platoon changing lanes to the left, and merge into the slower platoon ahead in that lane until it reaches the fourth distance, then leave the slower platoon and enter the right-turn lane.

[0079] The fourth distance is the distance from the intersection when a right / left turn lane appears.

[0080] When a vehicle in a platoon needs to enter the left-turn lane (including left-side forks, left-side ramps, etc., the same below), if the vehicle reaches the fourth distance and the platoon is located in the leftmost lane of the main road or a lane other than the leftmost lane but the leftmost lane is not occupied, the vehicle leaves the current platoon and changes lanes to the left continuously to enter the left-turn lane; if the vehicle reaches the fourth distance and the platoon is located in a lane other than the leftmost lane of the main road but the leftmost lane is occupied by a higher-speed vehicle platoon, it is determined whether the higher-speed vehicle platoon can overtake the platoon before approaching the intersection. If it can, the vehicle waits for the higher-speed vehicle platoon to overtake before changing lanes to the left continuously to enter the left-turn lane. If it cannot, the higher-speed vehicle platoon slows down to give way, and the vehicle changes lanes to the left continuously to enter the left-turn lane when it reaches the third preset distance.

[0081] Among them, after leaving the original vehicle formation, a new vehicle formation can be formed according to the vehicle logic of vehicles that do not meet the minimum length of the vehicle formation.

[0082] The aforementioned intelligent connected vehicle platooning control method can acquire vehicle location information, waypoint information, and destination information, globally update the optimal routes for all vehicles within the region, and uniformly send all action commands to all vehicles. This method eliminates the need for separate road perception and decision-making systems for vehicles, significantly reducing manufacturing costs. Simultaneously, the pre-set, orderly vehicle platooning method can greatly improve the maximum safe driving speed on roads, increase traffic efficiency, reduce the risk of traffic accidents, unleash vehicle performance, shorten travel time, and improve passenger comfort.

[0083] This application provides a computer device that may include a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it causes the processor to perform the steps of an intelligent connected vehicle platooning control method as described in any of the above embodiments.

[0084] The working process, working details, and technical effects of the computer equipment provided in this embodiment can be found in the embodiment of an intelligent connected vehicle platooning driving control method described above, and will not be repeated here.

[0085] This application provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the steps of an intelligent connected vehicle platooning control method as described in any of the above embodiments. The computer-readable storage medium refers to a data storage medium, which may include, but is not limited to, floppy disks, optical disks, hard disks, flash memory, USB flash drives, and / or memory sticks. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0086] The working process, working details, and technical effects of the computer-readable storage medium provided in this embodiment can be found in the embodiment of an intelligent connected vehicle platooning driving control method described above, and will not be repeated here.

[0087] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0088] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1.A method for controlling platooning of intelligent connected vehicles, characterized in that, The method includes: Obtain the location information, waypoint information, and destination information of each vehicle; and form a vehicle platoon based on the location information, waypoint information, and destination information of each vehicle. The vehicle platooning is processed based on the vehicle platooning logic, vehicle logic, location information, waypoint information, and destination information to obtain an updated driving route; The route completion action command is obtained based on the updated driving route and sent to each vehicle; Each vehicle receives and executes the route completion command to complete the vehicle platooning. 2.The intelligent networked vehicle platooning control method of claim 1, wherein, The vehicle platooning logic includes: Each vehicle in the convoy moves forward at the target speed of the convoy, following closely behind and maintaining the first distance; When a vehicle merge signal is received, a vehicle platoon end merge signal is sent to the corresponding vehicle and it is instructed to execute the command. When a vehicle exit signal is received, the speed data of the vehicles behind the vehicle formation is obtained, and the speed data is adjusted to increase the following speed until the distance between the vehicle in front of the vehicle formation and the vehicle behind is the first distance. Wherein, the following speed is higher than the target speed of the vehicle platoon, and the first distance is the safe distance between vehicles in the vehicle platoon. 3.The intelligent networked vehicle platooning control method of claim 2, wherein, The method further includes: Based on the maximum and minimum safe driving speeds of each road segment, vehicle formations are divided into first-speed vehicle formations, second-speed vehicle formations, and third-speed vehicle formations according to speed gradients. Among them, the target speed of the first speed vehicle formation is greater than the target speed of the second speed vehicle formation, and the target speed of the second speed vehicle formation is greater than the target speed of the third speed vehicle formation. 4.The intelligent networked vehicle platooning control method of claim 3, wherein, The vehicle platooning logic also includes: In lanes traveling in the same direction, each vehicle convoy keeps to the right. When the rightmost lane of a road segment is not occupied, all vehicle platoons travel in the rightmost lane. If a signal indicating that a vehicle is not in the rightmost lane is received, a right lane change signal is sent to the corresponding vehicle and the vehicle executes the signal until the corresponding vehicle enters the rightmost lane. When the second speed vehicle formation approaches the third speed vehicle formation and the distance between them reaches the second distance, a left lane change signal is sent to the second speed vehicle formation and it is ordered to execute the change until the last vehicle of the second speed vehicle formation overtakes the leading vehicle of the third speed vehicle formation. When the first speed vehicle formation approaches the second speed vehicle formation which is overtaking the third speed vehicle formation, and the distance between the first speed vehicle formation and the second speed vehicle formation is the second distance, a left lane change signal is sent to the first speed vehicle formation and it is ordered to execute the lane change. Wherein, the second distance is the minimum safe distance between each vehicle formation; When multiple vehicle platoons are detected overtaking in the left straight lane and there are insufficient lanes, a driving signal for the leftmost lane is sent to the vehicle platoon on the first highway and it is instructed to execute the signal. A driving signal for the second left lane is sent to the vehicle platoon on the second highway and it is instructed to execute the signal. When there are insufficient lanes, a deceleration and following signal is sent to the first low-speed vehicle platoon and it is instructed to execute the signal. The first high speed is greater than the second high speed. 5.The intelligent networked vehicle platooning control method of claim 4, wherein, The vehicle formation includes a commercial passenger vehicle formation, a passenger vehicle formation, a cargo vehicle formation, and a special vehicle formation; The commercial passenger vehicle formation is a first priority, the passenger vehicle formation is a second priority, and the cargo vehicle formation is a third priority; When the special vehicle formation is detected, a leftmost lane driving signal is sent to the special vehicle formation and executed, and a leftmost lane driving prohibition signal is sent to the commercial passenger vehicle formation, the passenger vehicle formation, and the cargo vehicle formation and executed. 6.The intelligent networked vehicle platooning control method of claim 5, wherein, The vehicle formation logic further includes: A road available length is obtained based on a road available length and a preset available length coefficient, and an available formation length of each vehicle formation is obtained based on the road available length and a preset available length coefficient of each vehicle formation; A road available weight is obtained based on a road available weight and a preset available weight coefficient, and an available weight of each vehicle formation is obtained based on the road available weight and a preset available weight coefficient of each vehicle formation. 7.The intelligent networked vehicle platooning control method of claim 6, wherein, The vehicle formation logic further includes: An actual average speed of a vehicle formation in a preset area is obtained and calculated; If the actual average speed is much less than a target speed of the vehicle formation, a lower limit of a length of the vehicle formation in the preset area is increased according to a preset time interval until the actual average speed of the vehicle formation in the preset area reaches the target speed of the vehicle formation; If the actual average speed is less than the target speed of the vehicle formation, and a preset proportion of current speeds of vehicle formations are less than the target speed of the vehicle formation, a lower limit of a length of the vehicle formation in the preset area is decreased according to a preset time interval until the current speeds of the preset proportion of vehicle formations in the preset area reach the target speed of the vehicle formation. 8.The intelligent networked vehicle platooning control method of claim 7, wherein, The vehicle formation logic further includes: If a difference between an actual passing time and an ideal passing time of a vehicle formation passing through an intersection is greater than a preset time difference threshold, a length upper limit of the vehicle formation is decreased according to a preset time interval; If the difference between the actual passing time and the ideal passing time of the vehicle formation passing through the intersection is less than the preset time difference threshold, the length upper limit of the vehicle formation is increased according to the preset time interval. 9.The intelligent networked vehicle platooning control method of claim 8, wherein, The vehicle formation logic further includes: If a distance between two vehicle formations with the same target speed does not exceed a third distance, and a length of a combined vehicle formation obtained by merging the two vehicle formations with the same target speed does not exceed a formation length upper limit, a speed-up signal is sent to a rear vehicle formation and executed, so that the rear vehicle formation is merged into a front vehicle formation; The third distance is a vehicle formation mergable distance. 10.The intelligent networked vehicle platooning control method of claim 1, wherein, The vehicle logic includes: If a current vehicle is not on a road, when a vehicle formation with a target speed not exceeding a target speed of the current vehicle is detected, an on-road signal and a follow-up speed merging signal are sent to the current vehicle; If the current vehicle is on the road and keeps advancing at a waiting speed, when a vehicle formation with a target speed not exceeding a target speed of the current vehicle overtakes on a left side of the current vehicle, a follow-up speed merging signal is sent to the current vehicle; When it is detected that there are two vehicles which do not meet the lower limit of the length of the vehicle platoon and the distance between the two vehicles is less than the third distance, a follow-up speed merging signal is sent to the rear vehicle. 11.The intelligent networked vehicle platooning control method of claim 10, wherein, The vehicle logic further comprises: When it is detected that a first speed vehicle platoon overtakes a second speed vehicle platoon from the adjacent left lane, if the target speed of the first speed vehicle platoon does not exceed the target speed of a first vehicle in the second speed vehicle platoon, a left lane change merging signal is sent to the first vehicle; The target speed of the first vehicle is the minimum value of the maximum safe driving speed allowed by the road, the maximum safe driving speed determined by the vehicle performance and the maximum driving speed expected by the driver. 12.The intelligent networked vehicle platooning control method of claim 11, wherein, The vehicle logic further comprises: If it is detected that the current vehicle reaches the fourth distance and the vehicle platoon of the current vehicle is located in the rightmost lane of the main road, a right lane change signal is sent to the current vehicle; If it is detected that the first speed vehicle platoon exists left lane change to overtake the second speed vehicle platoon before the current vehicle reaches the fourth distance, a keep rightmost lane signal is sent to the current vehicle; The fourth distance is the distance from the current vehicle to the intersection when the right turn lane appears, or the distance from the current vehicle to the intersection when the left turn lane appears. 13.The intelligent networked vehicle platooning control method of claim 12, wherein, The vehicle logic further comprises: If it is detected that the current vehicle reaches the fourth distance and the vehicle platoon of the current vehicle is located in the leftmost lane of the main road, or the vehicle platoon of the current vehicle is located in a non-leftmost lane and the leftmost lane of the lane where the vehicle platoon of the current vehicle is located is not occupied, a left lane change signal is sent to the current vehicle; If it is detected that the current vehicle reaches the fourth distance and the vehicle platoon of the current vehicle is located in a non-leftmost lane of the main road, and the leftmost lane of the lane where the vehicle platoon of the current vehicle is located is occupied by a higher speed vehicle platoon, it is determined whether the higher speed vehicle platoon is expected to complete the overtaking of the vehicle platoon of the current vehicle before the higher speed vehicle platoon reaches the fourth distance; If yes, after the higher speed vehicle platoon completes the overtaking, a left continuous lane change signal is sent to the current vehicle; If no, a deceleration avoidance signal is sent to the higher speed vehicle platoon, and when the current vehicle reaches the fourth distance, a left continuous lane change signal is sent to the current vehicle.

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