A service area hybrid energy vehicle platoon reconstruction method, device and equipment

Abstract

The embodiment of the application provides a service area mixed energy vehicle platoon reconstruction method, device and equipment, which can be applied to business scenes such as highway freight transportation, comprising: after at least one group of platoon vehicles enter a service area, the platoon vehicles are configured to a virtual platoon state, the virtual platoon state is used to maintain a communication link and prepare a response platoon reconstruction instruction; in response to the reconstruction instruction, a target rendezvous area in the service area is dynamically assigned for the platoon, and guide path information for each vehicle in the platoon to drive to the target rendezvous area is generated; based on the guide path information, each vehicle is guided to arrive at the target rendezvous area, and a target platoon is reconstructed according to a predetermined platoon sequence. Through maintaining the virtual platoon state and intelligent path planning, the embodiment of the application realizes quick, accurate and automatic recombination of the mixed energy vehicle platoon in the service area, and significantly improves logistics efficiency and driving safety.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method, apparatus and device for reconfiguring hybrid energy vehicle platoons in a service area. Background Technology

[0002] Autonomous truck platooning technology, through vehicle collaboration, can effectively reduce wind resistance, save energy, and improve road traffic efficiency, and has become an important development direction in the field of smart logistics. In long-haul transportation, platoons need to periodically enter service areas for energy replenishment and rest. However, after vehicles are parked separately in service areas, they mix with other vehicles in the platoon, leading to regrouping challenges when setting off again.

[0003] Currently, the lack of unified scheduling means that simultaneous departures by multiple platoons can easily cause congestion at service area exits, affecting public transportation safety and efficiency. Therefore, existing technologies lack a solution for rapid, accurate, and automated platoon reconfiguration within service areas, which has become one of the bottlenecks restricting the large-scale application of autonomous truck platooning technology. Summary of the Invention

[0004] This application provides a method for reconfiguring hybrid energy vehicle platoons in service areas. By maintaining the virtual platoon state and intelligent route planning, it enables rapid, accurate, and automated reconfiguration of hybrid energy vehicle platoons within service areas, significantly improving logistics efficiency and driving safety.

[0005] In a first aspect, embodiments of this application provide a method for reconfiguring hybrid energy vehicle platooning in a service area, including: After at least one group of vehicles in a platoon enters the service area, the vehicles in the platoon are configured into a virtual platoon state, which is used to maintain the communication link and prepare to respond to platoon reconfiguration commands. In response to the reconfiguration command, a target assembly area within the service area is dynamically assigned to the formation, and guidance path information for each vehicle in the formation to the target assembly area is generated; Based on the guidance path information, each vehicle is guided to the target assembly area, and the target formation is reconstructed according to the predetermined formation sequence.

[0006] The vehicle platooning reconstruction method provided in this application maintains the logical connection by keeping the virtual platooning state after the vehicles enter the service area, dynamically assigns assembly areas based on reconstruction instructions and generates personalized guidance paths, thereby realizing the rapid, accurate and automated reorganization of hybrid energy vehicle platoons within the service area, significantly improving logistics efficiency and driving safety.

[0007] In one possible implementation, the virtual platooning state is independent of the actual physical distribution of the platooned vehicles, and each vehicle periodically broadcasts information including a platoon identifier and its own status in the virtual platooning state.

[0008] This application embodiment establishes a virtual platoon state independent of physical location and configures vehicles to periodically broadcast platoon identifiers and status information, thereby achieving continuous maintenance of the logical connection of the platoon while it is parked in a dispersed manner in the service area. It can perceive the dynamics of each vehicle in real time and provide a stable data foundation for subsequent intelligent scheduling and collaborative control.

[0009] In one possible implementation, after the convoy of vehicles enters the service area, the logical state of the convoy of vehicles switches from convoy driving state to service area standby state.

[0010] This application embodiment switches the logical state of the platooned vehicles from "platooning" to "service area standby", which can ensure that the vehicles maintain group awareness and communication links while staying in the service area. This avoids the system overhead of re-establishing the connection after the platoon is disbanded, and provides state preparation for rapid response to reconfiguration commands, which significantly improves the response speed of platoon reconfiguration and the overall continuity of the system.

[0011] In one possible implementation, the selection of the target assembly area includes at least one of the following: convenience of distance to the highway exit, spatial capacity, real-time traffic flow status, and multi-formation coordinated scheduling information.

[0012] This application's embodiments intelligently allocate target assembly areas by comprehensively considering multiple factors such as the convenience of proximity to highway exits, spatial capacity, real-time traffic flow status, and multi-platform collaborative scheduling information, achieving efficient and optimized allocation of limited space resources within the service area. It effectively avoids exit congestion, ensures orderly parking of platooned vehicles, and avoids path conflicts through multi-platform collaborative scheduling, thereby upgrading the traditional fixed-area allocation model to a dynamic and adaptive resource allocation strategy, significantly improving service area traffic efficiency and the overall synergy of the platoon reorganization process.

[0013] In one possible implementation, generating the guidance path information to the target assembly area includes: performing multi-objective optimization through a path planning algorithm based on the attribute status and real-time position of each vehicle in the formation, and generating different guidance paths suitable for each vehicle.

[0014] This application embodiment generates differentiated and personalized guidance paths for each vehicle in the platoon through multi-objective optimization path planning based on vehicle attribute status and real-time location. It fully considers key factors such as different vehicle types, wheelbases, energy states, and initial poses, ensuring that large vehicles avoid narrow passages while planning the shortest paths for vehicles with limited energy. This improves path applicability while achieving optimal global traffic efficiency, significantly enhancing the precision and overall execution efficiency of the platoon reorganization process.

[0015] In one possible implementation, the reconstructed target formation further includes pose and safety verification, and the formation reorganization is deemed successful only if the following conditions are met simultaneously: All vehicles' errors relative to their target poses are within preset thresholds, and all vehicles' control system feedback readiness signals and formation coordination control parameters are acknowledged and received by all vehicles and are within their respective safety tolerances.

[0016] This application's embodiments introduce a multi-level verification mechanism, including pose verification, system readiness verification, and control parameter safety verification, setting strict pass conditions for formation reorganization. By verifying the deviation between the actual vehicle pose and the target position, the control system status, and the safety of the cooperative parameters, a triple guarantee is formed at the physical layer, system layer, and control strategy layer. This ensures that the formation simultaneously meets the requirements of spatial alignment accuracy, system control reliability, and operational strategy safety before resuming cooperative driving, thereby significantly improving the operational safety and system stability after formation reorganization.

[0017] In one possible implementation, the error of all vehicles relative to their target pose is within a preset threshold, including: achieving this through human-computer interaction so that the actual pose of the vehicles is consistent with the preset target pose in the virtual formation template.

[0018] In one possible implementation, after the platoon vehicle reorganization verification is passed, the platoon vehicle control mode switches from the pose-holding state to the cooperative adaptive cruise state, and the platoon vehicle enters the highway under unified control by the lead vehicle.

[0019] In one possible implementation, if the pose and safety verification fails, the formation reorganization is deemed a failure, the system automatically controls the formation vehicles to downgrade to adaptive cruise mode, and sends a takeover prompt to the driver or the backend.

[0020] This application's embodiments construct a complete closed-loop platooning reorganization safety control system through human-computer interaction-guided precise posture calibration, mode switching for cooperative adaptive cruise control after successful verification, and automatic downgrading and takeover prompts for adaptive cruise control mode in case of verification failure. This achieves seamless transition from precise stopping to cooperative driving, improving traffic efficiency through automated control while ensuring driving safety through multiple safety verification and downgrading mechanisms, significantly enhancing the reliability, safety, and fault tolerance of the service area platooning reorganization process.

[0021] In one possible implementation, the method is applicable to hybrid energy truck platoons, including at least one of pure electric, hybrid, and hydrogen fuel cell vehicles.

[0022] In one possible implementation, the thermal management status of the vehicles is considered during platoon formation reconfiguration. This involves determining the lead vehicle or the rear follower based on the vehicles' thermal management status. This includes: in cold environments, instructing low-temperature-sensitive electric vehicles to move to the middle of the platoon, allowing less sensitive fuel or methanol vehicles to be positioned at the front and rear of the platoon to provide "wind resistance protection" and reduce battery heat dissipation and heating energy consumption for the electric vehicles. In high-temperature environments, instructing fuel cell vehicles to move to the front of the platoon in a better-ventilated position to optimize their heat dissipation efficiency. Before descending long slopes, instructing electric vehicles to pre-cool their batteries to prepare for the heat generated by high-power kinetic energy recovery.

[0023] In a second aspect, the present invention provides a service area hybrid energy vehicle platooning reconfiguration device, comprising: A configuration unit is configured to set the platooned vehicles to a virtual platoon state after at least one group of platooned vehicles enters the service area. The virtual platoon state is used to maintain the communication link and prepare to respond to platoon reconfiguration commands. The path generation unit is used to respond to the reconstruction command, dynamically assign a target assembly area within the service area to the formation, and generate guidance path information for each vehicle in the formation to drive to the target assembly area; The reconstruction unit is used to guide each vehicle to the target assembly area based on the guidance path information, and reconstruct the target formation according to a predetermined formation sequence.

[0024] In one possible implementation, the virtual platooning state is independent of the actual physical distribution of the platooned vehicles, and each vehicle periodically broadcasts information including a platoon identifier and its own status in the virtual platooning state.

[0025] In one possible implementation, after the convoy of vehicles enters the service area, the logical state of the convoy of vehicles switches from convoy driving state to service area standby state.

[0026] In one possible implementation, the selection of the target assembly area includes at least one of the following: convenience of distance to the highway exit, spatial capacity, real-time traffic flow status, and multi-formation coordinated scheduling information.

[0027] In one possible implementation, the path generation unit is used to: perform multi-objective optimization through a path planning algorithm based on the attribute status and real-time position of each vehicle in the formation, and generate different guidance paths suitable for each vehicle.

[0028] In one possible implementation, the reconstructed target formation further includes a pose and safety verification unit, which determines that the formation reorganization is successful only if the following conditions are met simultaneously: All vehicles' errors relative to their target poses are within preset thresholds, and all vehicles' control system feedback readiness signals and formation coordination control parameters are acknowledged and received by all vehicles and are within their respective safety tolerances.

[0029] In one possible implementation, the error of all vehicles relative to their target pose is within a preset threshold, including: achieving this through human-computer interaction so that the actual pose of the vehicles is consistent with the preset target pose in the virtual formation template.

[0030] In one possible implementation, after the platoon vehicle reorganization verification is passed, the platoon vehicle control mode switches from the pose-holding state to the cooperative adaptive cruise state, and the platoon vehicle enters the highway under unified control by the lead vehicle.

[0031] In one possible implementation, if the pose and safety verification fails, the formation reorganization is deemed a failure, the system automatically controls the formation vehicles to downgrade to adaptive cruise mode, and sends a takeover prompt to the driver or the backend.

[0032] In one possible implementation, the device is suitable for hybrid energy truck platoons, including at least one of pure electric, hybrid, and hydrogen fuel cell vehicles.

[0033] The apparatus is used to implement the method corresponding to any embodiment of the first aspect of the present application.

[0034] Thirdly, embodiments of this application also provide an electronic device, which includes: At least one processor; and memory that is communicatively connected to at least one processor; The memory stores instructions that can be executed by at least one processor to cause the electronic device to perform a method corresponding to any embodiment of the first aspect of the present application.

[0035] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement any of the methods described in the first aspect of embodiments of this application.

[0036] Fifthly, this disclosure also provides a computer program product comprising computer-executable instructions, which, when executed by a processor, are used to implement the methods of any embodiment corresponding to the first aspect of this disclosure.

[0037] In summary, this application's embodiments achieve logical connection maintenance of the platoon during service area dispersion by establishing a virtual platoon state independent of physical location and maintaining periodic status broadcasts; achieve efficient and precise guidance of platooned vehicles through dynamic allocation of assembly areas based on multi-dimensional factors and personalized path planning optimized by multiple objectives; and construct a complete safety closed loop from precise docking to collaborative driving through pose safety verification and mode switching mechanisms. This significantly improves reconfiguration efficiency, driving safety, and system reliability, effectively solving the challenge of collaborative reconfiguration of hybrid energy vehicle platoons in service area scenarios. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0039] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0040] Figure 1 A schematic diagram of a service area hybrid energy vehicle platooning reconfiguration structure provided in this application embodiment; Figure 2 A schematic flowchart of a service area hybrid energy vehicle platooning reconfiguration method provided in this application embodiment; Figure 3 A schematic diagram of a service area hybrid energy vehicle platooning reconfiguration device provided in this application embodiment; Figure 4 This is a schematic diagram of an electronic device for reconfiguring hybrid energy vehicle platooning in a service area, provided as an embodiment of this application. Detailed Implementation

[0041] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0042] The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0044] In the logistics and transportation industry, platooned vehicles primarily undertake cargo transportation tasks and are the most widely used. During long-distance transportation, platoons need to stop at multiple service areas for rest. Although the vehicles are physically dispersed at this time, the platooning coordination should not be completely disengaged. To enable vehicles to quickly and orderly resume platooning when re-entering the highway from the service area, the platooning needs to be efficiently and reliably reconfigured to further improve driving safety and operational efficiency.

[0045] Figure 1 This is a schematic diagram of the service area hybrid energy vehicle platooning reconfiguration structure provided in this embodiment. This embodiment uses two platoons, each consisting of three trucks, as an example. Platoons 1 and 2 are the platoons that traveled before entering the service area; after entering the service area, the platoons are in a loose state. When it is necessary to re-enter the highway, the platooned vehicles need to be reconfigured according to the method of this invention. The reconfigured platoons are platoons 3 and 4. In the platooning architecture design, all three trucks are configured to have navigation authority, supporting dynamic switching of the navigation role based on control commands during driving.

[0046] exist Figure 1In this context, vehicles can communicate directly with each other via V2V. Communication methods include, but are not limited to, Long Range Radio (LoRa) modules, Narrow Band Internet of Things (NB-IoT) modules, Enhanced Machine-Type Communication (eMTC) modules, mobile communication, LTE-V (LTE-Vehicle-to-Everything), Dedicated Short-Range Communication (DSRC), mobile communication, Cellular Vehicle-to-Everything (C-V2X), and Vehicle-to-Everything (V2X) wireless communication technologies. Understandably, in certain special scenarios, such as in remote areas without base station signals, installing communication modules on transport vehicles creates a local area network (LAN) between convoy vehicles. This LAN allows the lead vehicle and following vehicles to communicate, ensuring safe driving.

[0047] In this embodiment of the disclosure, the vehicles in the vehicle platoon may be, but are not limited to: multiple wheeled mobile robots, wheeled mobile robots, mobile robots, passenger cars, commercial vehicles (e.g., trucks, buses, vans, etc.), special purpose vehicles (e.g., ambulances, fire trucks, engineering vehicles, rescue vehicles, etc.), agricultural and industrial vehicles (e.g., harvesters, forklifts, etc.), transportation and logistics vehicles (e.g., container trucks, refrigerated trucks, etc.), new energy vehicles (e.g., electric vehicles, hybrid vehicles), and special vehicles (e.g., garbage trucks, water trucks, etc.).

[0048] Figure 2 This is a schematic flowchart of a service area hybrid energy vehicle platooning reconfiguration method provided in an embodiment of this application. It includes steps S201, S202, and S203. Each step is described in detail below.

[0049] Step S201: After at least one group of platooned vehicles enters the service area, the platooned vehicles are configured into a virtual platoon state, which is used to maintain the communication link and prepare to respond to the platoon reconfiguration command.

[0050] In this embodiment, at least one platoon of vehicles, i.e., multiple platoons, enters the service area simultaneously, such as platoon 1, platoon 2, and platoon 3. Platoon 1 includes a lead vehicle A1 and follower vehicles A2, A3, and A4, and is an independent platoon. Platoon 2 includes a lead vehicle B1 and follower vehicle B2, and is also an independent platoon. Platoon 3 includes a lead vehicle C1 and follower vehicles C2, C3, C4...C10, and is also an independent platoon. Therefore, this embodiment does not limit the type of platoon or the number of vehicles in a platoon. It can be understood that in this embodiment, platoon 3 can contain multiple platoons, i.e., C1, C2, C3, C4...C10, conceptually divided into a global navigator group C1, C2, C3; a first platoon group C4, C5, C6; and a second platoon group C7, C8, C9, C10. In this case, the global navigator group, the first platoon group, and the second platoon group form a single, unified group.

[0051] In this embodiment, the convoy of vehicles maintains a convoy configuration on highways or other roads before entering a service area. The convoy can employ a closely following cooperative adaptive cruise control mode, with vehicles sharing control commands and status data in real time via V2V communication. The lead vehicle, acting as the control core, makes unified decisions and guides the acceleration, deceleration, and lane-keeping behavior of the entire convoy. Following vehicles maintain a preset safe distance based on the status of the vehicle ahead and environmental perception data. When the navigation system predicts an imminent entry into a service area, the convoy initiates a transition process in advance: the lead vehicle sends a service area entry preparation command to all following vehicles, the convoy gradually adjusts to the outer lane, and begins to increase the distance between vehicles to adapt to subsequent dispersed driving. Simultaneously, the system preloads high-precision map data of the service area to prepare for subsequent virtual convoy state switching.

[0052] In one possible implementation, the virtual platooning state is independent of the actual physical distribution of the platooned vehicles, and each vehicle periodically broadcasts information including a platoon identifier and its own status in the virtual platooning state.

[0053] For example, suppose three platoons of vehicles (e.g., platoon 1, platoon 2, and platoon 3) simultaneously enter service area A. Although these vehicles are spatially dispersed and parked in different areas, the system achieves the following functions through virtual platoon status: Plague 1, platoon 2, and platoon 3 are still treated as independent platooning units at the system level. The lead vehicle and following vehicles in each platoon maintain communication connections through periodic broadcasts (such as heartbeat beacons), the broadcast content of which includes information such as the platoon's unique identifier, the real-time location of the vehicles, and their energy status. The cloud control platform or the lead vehicle dynamically maintains the logical existence of all platoons by receiving the status information broadcast by each platoon. For example, the lead vehicle of platoon 1 continuously collects the status of its member vehicles (e.g., vehicles A1, A2, A3, and A4); the lead vehicle of platoon 2 maintains a low-power communication link with its member vehicles (B1 and B2); and platoon 3 synchronizes data with the cloud control platform through roadside unit (RSU) relays. When the driver of the lead vehicle in any formation (e.g., queue 1) triggers the "departure and assembly" command, or when the cloud control platform issues a reconfiguration command according to the preset itinerary plan, the vehicles in the virtual formation state can respond immediately and start the subsequent assembly area assignment and route planning process.

[0054] This application embodiment establishes a virtual platoon state independent of physical location and configures vehicles to periodically broadcast platoon identifiers and status information, thereby achieving continuous maintenance of the logical connection of the platoon while it is parked in a dispersed manner in the service area. It can perceive the dynamics of each vehicle in real time and provide a stable data foundation for subsequent intelligent scheduling and collaborative control.

[0055] In one possible implementation, after the convoy of vehicles enters the service area, the logical state of the convoy of vehicles switches from convoy driving state to service area standby state.

[0056] For example, suppose a convoy of hybrid-energy trucks consisting of a lead vehicle (A1) and three follower vehicles (A2, A3, A4) enters a service area. Before entering the service area, all vehicles are in "convoy driving mode." In this mode, the lead vehicle A1, acting as the decision-making center, issues cooperative adaptive cruise control commands to A2, A3, and A4 via V2V communication. The core task of each vehicle is to maintain close following, keeping a preset distance and speed to achieve energy saving and safe driving. When the system determines through high-precision positioning that the entire convoy has completely entered the service area, the lead vehicle A1 broadcasts a status switching command to all follower vehicles via vehicle-to-everything (V2X): "Switch to service area standby mode." Upon receiving the command, the convoy controller inside each vehicle updates its logical state from "convoy driving" to "service area standby." In the new "service area standby" state, the vehicle control system exits the cooperative adaptive cruise mode, and each vehicle can independently and separately find parking spaces or charging stations for rest and refueling. Despite their physical dispersion, the logical connections within the formation are deliberately maintained. The role of the lead vehicle A1 remains unchanged, continuing as the coordination center during formation reconfiguration. All vehicles (A1 through A4) periodically broadcast "heartbeat beacons" at a low frequency (e.g., every 2-5 seconds). The data packets contain a unique formation identifier (e.g., Platoon_ID: "Group_A"), vehicle ID, real-time high-precision location, and energy status (e.g., SOC value). Each vehicle continuously listens for "formation reconfiguration commands" from the lead vehicle A1 or the cloud platform, responding promptly to these commands.

[0057] This application embodiment switches the logical state of the platooned vehicles from "platooning" to "service area standby", which can ensure that the vehicles maintain group awareness and communication links while staying in the service area. This avoids the system overhead of re-establishing the connection after the platoon is disbanded, and provides state preparation for rapid response to reconfiguration commands, which significantly improves the response speed of platoon reconfiguration and the overall continuity of the system.

[0058] Step S202: In response to the reconfiguration command, dynamically assign a target assembly area within the service area to the convoy, and generate guidance path information for each vehicle in the convoy to drive to the target assembly area.

[0059] In one possible implementation, the selection of the target assembly area includes at least one of the following: convenience of distance to the highway exit, spatial capacity, real-time traffic flow status, and multi-formation coordinated scheduling information.

[0060] In one possible implementation, generating the guidance path information to the target assembly area includes: performing multi-objective optimization through a path planning algorithm based on the attribute status and real-time position of each vehicle in the formation, and generating different guidance paths suitable for each vehicle.

[0061] For example, the driver of the lead vehicle A1 in queue 1 clicks the "Departure and Assembly" button on the in-vehicle human-machine interface, or the autonomous driving system triggers the "Departure and Assembly" function. This operation generates a reconfiguration command and sends it to the cloud dispatch platform. Upon receiving the command, the platform immediately collects the complete current state of queue 1, including: real-time position coordinates A1 (coordinates X1, Y1), A2 (X2, Y2), A3 (X3, Y3), and A4 (X4, Y4), all of which may include heading angles. Vehicle attributes are also included, such as A1 (three-axle hybrid, SOC 80%), A2 (two-axle pure electric, SOC 45%), A3 (two-axle pure electric, SOC 60%), and A4 (six-axle hybrid, SOC 70%). All vehicles are confirmed to meet the startup requirements. The cloud platform then executes the optimal assembly area selection algorithm based on the following inputs: a high-precision map of the service area, real-time traffic conditions (obtained through roadside units), and departure requests from other queues (such as queue 2) during the same period. The algorithm calculates based on a scoring function (weights: exit convenience > space capacity > real-time traffic > multi-platform coordination). Ultimately, queue 1 was assigned assembly zone number 1 because it is closest to the highway exit, has enough space to accommodate four trucks, and the path to this zone is currently the most unobstructed. Simultaneously, the cloud records this assembly zone as "reserved by queue 1, valid for 10 minutes" to prevent conflicts with queue 2. The system generates a dedicated guidance route for each vehicle.

[0062] In this embodiment, when generating personalized strategies and paths, the system comprehensively considers factors such as: Vehicle A2 (low battery): The system uses the A* algorithm to plan the shortest path for it to reduce energy consumption caused by detours. Vehicle A4 (six-axle heavy vehicle): A path with a sufficiently large turning radius is planned for it to ensure safe passage. Vehicle A3 (parked in the innermost corner): A path is planned for it to merge into the main road in advance, avoiding forced lane changes at the exit. All paths are ultimately smoothed using spline curves and encapsulated into standard instructions. These personalized guidance path information are reliably and separately transmitted to the onboard terminals of vehicles A1, A2, A3, and A4 via V2X communication through a cloud platform.

[0063] Understandably, the embodiments of this application intelligently allocate target assembly areas by comprehensively considering multiple factors such as the convenience of proximity to highway exits, spatial capacity, real-time traffic flow status, and multi-platform collaborative scheduling information, thereby achieving efficient and optimized allocation of limited space resources within the service area. This effectively avoids exit congestion, ensures orderly parking of platooned vehicles, and avoids path conflicts through multi-platform collaborative scheduling, thus upgrading the traditional fixed-area allocation model to a dynamic and adaptive resource allocation strategy, significantly improving service area traffic efficiency and the overall synergy of the platoon reorganization process.

[0064] In addition, this application embodiment generates differentiated and personalized guidance paths for each vehicle in the platoon through multi-objective optimization path planning based on vehicle attribute status and real-time location. It fully considers key factors such as different vehicle models, wheelbases, energy status, and initial poses, ensuring that large vehicles avoid narrow passages while planning the shortest paths for vehicles with limited energy. This improves path applicability while achieving optimal global traffic efficiency, significantly enhancing the precision and overall execution efficiency of the platoon reorganization process.

[0065] Step S203: Guide each vehicle to the target assembly area based on the guidance path information, and reconstruct the target formation according to the predetermined formation sequence.

[0066] In one possible implementation, the reconstructed target formation further includes pose and safety verification, and the formation reorganization is deemed successful only if the following conditions are met simultaneously: All vehicles' errors relative to their target poses are within preset thresholds, and all vehicles' control system feedback readiness signals and formation coordination control parameters are acknowledged and received by all vehicles and are within their respective safety tolerances.

[0067] For example, if the error of all vehicles relative to their target pose is within a preset threshold, then the actual pose of each vehicle (obtained through high-precision GNSS+IMU fusion positioning) is compared with the target pose assigned to it in the virtual formation template to check whether all vehicles have accurately stopped in the preset positions. For instance, the onboard AR-HMI of vehicle A2 displays a prompt "Please turn slightly right to adjust direction" until its actual heading is perfectly aligned with the virtual parking frame. Only when all four vehicles pass this verification will the system proceed to the next layer.

[0068] The control systems of all vehicles send a readiness signal, i.e., the lead vehicle A1 sends a "ready to take over control" handshake request to each follower vehicle (A2, A3, A4). Each follower vehicle needs to check the status of its actuators (throttle, brakes, steering) and main control system, and after confirming that everything is correct, it replies to the lead vehicle with a "control system ready" response signal. Once the lead vehicle has collected the readiness signals from all follower vehicles, this layer of verification is successful.

[0069] The platooning coordination control parameters are acknowledged and received by all vehicles and are within their respective safety tolerances. Specifically, the lead vehicle A1 broadcasts the set of coordination control parameters for this platooning operation, such as: following distance set to 1.0 second, maximum acceleration to 2.5 m / s², and emergency braking deceleration to -4.0 m / s². Each following vehicle (especially the heavily loaded A4) needs to verify that this parameter set is within its own safety tolerance. For example, vehicle A4 will calculate whether this braking deceleration exceeds its current safe limit for its load. After confirming safety, all vehicles reply, "Parameter set received and safe."

[0070] In this embodiment, the system only determines "formation reorganization verification passed" when all three layers of verification pass. At this time, the HMI of the lead vehicle A1 will display "formation ready" and broadcast the formation synchronization command. If any layer of verification fails (e.g., vehicle A3's position and posture are out of tolerance or A4 rejects aggressive braking parameters), the system will determine that reorganization has failed and automatically trigger a degradation strategy.

[0071] As can be seen, this application's embodiments introduce a multi-level verification mechanism, including pose verification, system readiness verification, and control parameter safety verification, to set strict pass conditions for formation reorganization. By verifying the deviation between the actual vehicle pose and the target position, the control system status, and the safety of the cooperative parameters, a triple guarantee is formed at the physical layer, system layer, and control strategy layer. This ensures that the formation simultaneously meets the requirements of spatial alignment accuracy, system control reliability, and operational strategy safety before resuming cooperative driving, thereby significantly improving the operational safety and system stability after formation reorganization.

[0072] In one possible implementation, the error of all vehicles relative to their target pose is within a preset threshold, including: achieving this through human-computer interaction so that the actual pose of the vehicles is consistent with the preset target pose in the virtual formation template.

[0073] In one possible implementation, after the platoon vehicle reorganization verification is passed, the platoon vehicle control mode switches from the pose-holding state to the cooperative adaptive cruise state, and the platoon vehicle enters the highway under unified control by the lead vehicle.

[0074] In one possible implementation, if the pose and safety verification fails, the formation reorganization is deemed a failure, the system automatically controls the formation vehicles to downgrade to adaptive cruise mode, and sends a takeover prompt to the driver or the backend.

[0075] For example, during the formation reorganization verification phase, the system executes a complete control closed loop including calibration, recovery, and degradation processing. During this phase, the system achieves precise pose calibration through human-machine interaction guidance. Once the vehicles arrive at the assembly area, the onboard AR-HMI displays a virtual formation template, providing real-time guidance such as "Please move forward 2 meters" or "Turn the steering wheel slightly to the right" to assist the driver or autonomous driving system in adjusting the vehicle's actual pose to a position less than a preset threshold relative to the target pose. Once the pose verification, control system readiness verification, and collaborative parameter safety verification all pass, the system immediately switches the formation vehicle control mode from pose holding to collaborative adaptive cruise control, with the lead vehicle uniformly controlling the entire formation to enter the highway. If any verification fails, the system automatically degrades to adaptive cruise mode, simultaneously sending a manual takeover prompt to the driver and pushing alarm information to the backend.

[0076] As can be seen, the embodiments of this application construct a complete closed-loop platooning reorganization safety control system through human-computer interaction-guided precise posture calibration, mode switching to cooperative adaptive cruise control after successful verification, and automatic downgrading and takeover prompts for adaptive cruise control mode when verification fails. This achieves seamless transition from precise stopping to cooperative driving, improving traffic efficiency through automated control and ensuring driving safety through multiple safety verification and downgrading mechanisms, significantly enhancing the reliability, safety, and fault tolerance of the service area platooning reorganization process.

[0077] In one possible implementation, the method is applicable to hybrid energy truck platoons, including at least one of pure electric, hybrid, and hydrogen fuel cell vehicles.

[0078] Understandably, the aforementioned platooning reconfiguration method can be applied to the characteristic design of hybrid energy truck platoons and is applicable to heterogeneous fleets including pure electric, hybrid, and hydrogen fuel cell vehicles. Through a virtual platooning state maintenance mechanism, the system can accommodate differences in refueling time and power response characteristics among different energy vehicle types. During the path planning phase, the system dynamically optimizes routes based on real-time vehicle energy status (e.g., remaining battery power for pure electric vehicles and hydrogen storage for hydrogen fuel cell vehicles), prioritizing energy-constrained vehicles to choose the shortest path. In the collaborative control parameter verification phase, the system sets differentiated safety tolerances based on the powertrain characteristics of each vehicle (e.g., instantaneous torque response for electric vehicles and mode switching delay for hybrid vehicles), ensuring safe and efficient collaborative reconfiguration of vehicles of different energy types under a unified control strategy.

[0079] In one possible implementation, the thermal management status of the vehicles is considered during platoon formation reconfiguration. This involves determining the lead vehicle or the rear follower based on the vehicles' thermal management status. This includes: in cold environments, instructing low-temperature-sensitive electric vehicles to move to the middle of the platoon, allowing less sensitive fuel or methanol vehicles to be positioned at the front and rear of the platoon to provide "wind resistance protection" and reduce battery heat dissipation and heating energy consumption for the electric vehicles. In high-temperature environments, instructing fuel cell vehicles to move to the front of the platoon in a better-ventilated position to optimize their heat dissipation efficiency. Before descending long slopes, instructing electric vehicles to pre-cool their batteries to prepare for the heat generated by high-power kinetic energy recovery.

[0080] When the ambient temperature is below a first threshold, the reconfiguration command includes: instructing first-category vehicles sensitive to low temperatures to move to the middle of the queue, and instructing second-category vehicles insensitive to low temperatures to move to the front and rear of the queue. When the ambient temperature is above a second threshold, the reconfiguration command includes: instructing third-category vehicles with high heat dissipation requirements to move to a designated position in the queue with optimal ventilation. When a long downhill section is anticipated ahead, the reconfiguration command includes: instructing fourth-category vehicles with kinetic energy recovery capabilities to initiate pre-cooling operations on their power batteries. The first category of vehicles includes pure electric vehicles, the second category of vehicles includes internal combustion engine vehicles or methanol fuel vehicles, the third category of vehicles includes fuel cell vehicles, and the fourth category of vehicles includes pure electric vehicles.

[0081] In summary, this application's embodiments achieve logical connection maintenance of the platoon during service area dispersion by establishing a virtual platoon state independent of physical location and maintaining periodic status broadcasts; achieve efficient and precise guidance of platooned vehicles through dynamic allocation of assembly areas based on multi-dimensional factors and personalized path planning optimized by multiple objectives; and construct a complete safety closed loop from precise docking to collaborative driving through pose safety verification and mode switching mechanisms. This significantly improves reconfiguration efficiency, driving safety, and system reliability, effectively solving the challenge of collaborative reconfiguration of hybrid energy vehicle platoons in service area scenarios.

[0082] Figure 3 A schematic diagram of a collaborative control device for a mixed-load truck platoon provided in this application embodiment. It includes: Configuration unit 301 is configured to configure the platooned vehicles into a virtual platoon state after at least one group of platooned vehicles enters the service area. The virtual platoon state is used to maintain the communication link and prepare to respond to the platoon reconfiguration command. The path generation unit 302 is used to respond to the reconstruction command, dynamically assign a target assembly area within the service area to the convoy, and generate guidance path information for each vehicle in the convoy to the target assembly area; The reconstruction unit 303 is used to guide each vehicle to the target assembly area based on the guidance path information, and reconstruct the target formation according to the predetermined formation sequence.

[0083] In one possible implementation, the virtual platooning state is independent of the actual physical distribution of the platooned vehicles, and each vehicle periodically broadcasts information including a platoon identifier and its own status in the virtual platooning state.

[0084] In one possible implementation, after the convoy of vehicles enters the service area, the logical state of the convoy of vehicles switches from convoy driving state to service area standby state.

[0085] In one possible implementation, the selection of the target assembly area includes at least one of the following: convenience of distance to the highway exit, spatial capacity, real-time traffic flow status, and multi-formation coordinated scheduling information.

[0086] In one possible implementation, the path generation unit is used to: perform multi-objective optimization through a path planning algorithm based on the attribute status and real-time position of each vehicle in the formation, and generate different guidance paths suitable for each vehicle.

[0087] In one possible implementation, the reconstructed target formation further includes a pose and safety verification unit 304, which is used to determine that the formation reorganization is successful only when the following conditions are met simultaneously: All vehicles' errors relative to their target poses are within preset thresholds, and all vehicles' control system feedback readiness signals and formation coordination control parameters are acknowledged and received by all vehicles and are within their respective safety tolerances.

[0088] In one possible implementation, the error of all vehicles relative to their target pose is within a preset threshold, including: achieving this through human-computer interaction so that the actual pose of the vehicles is consistent with the preset target pose in the virtual formation template.

[0089] In one possible implementation, after the platoon vehicle reorganization verification is passed, the platoon vehicle control mode switches from the pose-holding state to the cooperative adaptive cruise state, and the platoon vehicle enters the highway under unified control by the lead vehicle.

[0090] In one possible implementation, if the pose and safety verification fails, the formation reorganization is deemed a failure, the system automatically controls the formation vehicles to downgrade to adaptive cruise mode, and sends a takeover prompt to the driver or the backend.

[0091] In one possible implementation, the device is suitable for hybrid energy truck platoons, including at least one of pure electric, hybrid, and hydrogen fuel cell vehicles.

[0092] The apparatus is used to implement the method corresponding to any embodiment of the first aspect of the present application.

[0093] The relevant explanations can be understood by referring to the corresponding descriptions and effects in the method embodiments, and will not be repeated here.

[0094] Figure 4 This is a schematic diagram of a cooperative control electronic device for a mixed-load truck platoon, provided as an embodiment of this application. Figure 4 As shown, the electronic device 400 includes a memory 410 and a processor 420.

[0095] The memory 410 stores a computer program that can be executed by at least one processor 420. This computer program is executed by at least one processor 420 to cause the electronic device to implement the methods provided in any of the above embodiments.

[0096] The memory 410 and the processor 420 can be connected via a bus 430.

[0097] The relevant explanations can be understood by referring to the corresponding descriptions and effects in the method embodiments, and will not be repeated here.

[0098] One embodiment of this application provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to perform the following: Figure 2 The method provided in any corresponding embodiment.

[0099] The computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0100] One embodiment of this application provides a computer program product comprising computer execution instructions that, when executed by a processor, are used to implement the methods provided in any of the embodiments corresponding to 2.

[0101] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0102] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope of this application is indicated by the claims.

Claims

1. A method for reconfiguring hybrid energy vehicle platoons in a service area, characterized in that, include: After at least one group of vehicles in a platoon enters the service area, the vehicles in the platoon are configured into a virtual platoon state, which is used to maintain the communication link and prepare to respond to platoon reconfiguration commands. In response to the reconfiguration command, a target assembly area within the service area is dynamically assigned to the formation, and guidance path information for each vehicle in the formation to the target assembly area is generated; Based on the guidance path information, each vehicle is guided to the target assembly area, and the target formation is reconstructed according to the predetermined formation sequence.

2. The method according to claim 1, characterized in that, The virtual formation state is independent of the actual physical distribution of the vehicles in the formation. In the virtual formation state, each vehicle periodically broadcasts information including the formation identifier and its own status.

3. The method according to claim 1, characterized in that, After the convoy of vehicles enters the service area, the logical state of the convoy of vehicles switches from convoy driving state to service area standby state.

4. The method according to any one of claims 1-3, characterized in that, The selection of the target assembly area includes at least one of the following: Convenience of proximity to highway exits, spatial capacity, real-time traffic flow status, and multi-formation coordinated scheduling information.

5. The method according to any one of claims 1-4, characterized in that, The generation of guidance path information to the target assembly area includes: Based on the attribute status and real-time position of each vehicle in the formation, a multi-objective optimization is performed through a path planning algorithm to generate different guidance paths suitable for each vehicle.

6. The method according to any one of claims 1-5, characterized in that, The reconstructed target formation also includes pose and safety verification. The formation reorganization is considered successful only if the following conditions are met simultaneously: All vehicles' errors relative to their target poses are within preset thresholds, and all vehicles' control system feedback readiness signals and formation coordination control parameters are acknowledged and received by all vehicles and are within their respective safety tolerances.

7. The method according to claim 6, characterized in that, After the formation vehicle reorganization verification is passed, the formation vehicle control mode switches from the position holding state to the cooperative adaptive cruise state, and the navigator vehicle controls the vehicle to enter the highway. Alternatively, if the position and safety verification fails, the formation reorganization is judged as a failure, the system automatically controls the formation vehicles to downgrade to the adaptive cruise mode, and sends a takeover prompt to the driver or the backend.

8. A service area hybrid energy vehicle platooning reconfiguration device, characterized in that, include: A configuration unit is configured to set the platooned vehicles to a virtual platoon state after at least one group of platooned vehicles enters the service area. The virtual platoon state is used to maintain the communication link and prepare to respond to platoon reconfiguration commands. The path generation unit is used to respond to the reconstruction command, dynamically assign a target assembly area within the service area to the formation, and generate guidance path information for each vehicle in the formation to drive to the target assembly area; The reconstruction unit is used to guide each vehicle to the target assembly area based on the guidance path information, and reconstruct the target formation according to a predetermined formation sequence.

9. A computer-readable storage medium, characterized in that, It stores a computer program thereon, which is executed by a processor to implement the method of any one of claims 1 to 7.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1 to 7.

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