Vehicle cooperative following method, system, device and medium

Abstract

This application discloses a vehicle cooperative following method, which establishes a wireless communication connection with the leading vehicle to provide a channel for data transmission; then, through this connection, it receives the leading vehicle's periodically transmitted location information, obtaining the dynamic location data source of the leading vehicle; next, it displays the leading vehicle's location information in real time on the local map interface of the following vehicle, enabling the driver of the following vehicle to obtain an intuitive and continuous spatial location perception; finally, based on the real-time location of the leading vehicle and the current location of the following vehicle, it automatically plans and generates a driving route and navigation guidance to the location of the leading vehicle. This method creatively combines direct communication between vehicles, dynamic location sharing, and real-time path planning to form a closed-loop cooperative navigation process, enabling the following vehicle to automatically and accurately follow the leading vehicle, effectively solving the problem of the following vehicle easily getting lost due to obstructed vision and inconvenient communication in convoy travel, and improving the safety and overall stability of convoy travel.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, specifically to a vehicle following system and method based on wireless communication technology, which is particularly suitable for scenarios such as multi-vehicle group travel and logistics fleet management that require maintaining vehicle platooning. Background Technology

[0002] In daily life, it's common for multiple people to travel together in several cars. In this situation, the following car needs to follow the car in front. However, in actual driving, due to factors such as the high speed of the car in front, heavy traffic, and obstructed visibility, the following car often cannot see the car in front clearly. To maintain the cohesion of the convoy, the driver of the following car often needs to make a phone call to ask the car in front to slow down or wait. This method is not only cumbersome but can also distract the driver, posing certain safety hazards.

[0003] Currently, some navigation software on the market offers real-time positioning and route planning capabilities. However, these programs primarily focus on navigating individual vehicles and cannot achieve collaborative navigation between multiple vehicles, failing to meet the needs of convoys where following vehicles need to follow the vehicle in front. Some fleet management systems used in logistics primarily send vehicle information to a management center for monitoring; however, vehicles cannot directly exchange information, and following vehicles cannot directly obtain the location information of the vehicle in front for navigation. Therefore, they cannot meet the flexible navigation needs of following vehicles in scenarios such as group travel.

[0004] Therefore, existing technologies lack a solution that allows vehicles to establish direct communication connections to share location data and enables following vehicles to automatically plan their routes based on the position of the preceding vehicle. Summary of the Invention

[0005] This application aims to address the problem in existing technologies where, during convoy operations, following vehicles cannot obtain real-time location information of the vehicles in front, making it easy for following vehicles to lose track of the leading vehicle. This necessitates communication via cumbersome methods such as telephone, posing safety hazards and hindering collaborative automatic navigation. To achieve the above objective, this application adopts the following technical solution.

[0006] In a first aspect, embodiments of this application provide a vehicle cooperative following method, including:

[0007] Establish a wireless communication connection with the lead vehicle;

[0008] Through the wireless communication connection, the system receives follow data containing the location information periodically transmitted by the leading vehicle.

[0009] The location information of the leading vehicle is displayed in real time on the local map interface;

[0010] Based on the real-time location information of the leading vehicle and the current location information of the vehicle, the system automatically plans and outputs a driving route to the leading vehicle.

[0011] Furthermore, in the step of receiving the following data periodically sent by the leading vehicle, the receiving period is dynamically adjusted according to the driving environment.

[0012] Furthermore, the steps for establishing a wireless communication connection include:

[0013] Determine the real-time distance between this vehicle and the leading vehicle;

[0014] When the real-time distance is less than the first distance threshold, a direct connection based on short-range wireless communication technology is established.

[0015] When the real-time distance is greater than or equal to the first distance threshold, the system accesses the cloud server via the mobile data network and establishes an indirect communication connection based on the cloud server.

[0016] Furthermore, the steps for automatically planning driving routes include:

[0017] Based on the historically received location information sequence of the leading vehicle, predict the future short-term driving trajectory of the leading vehicle.

[0018] Based on the future short-term driving trajectory and the current position of the vehicle, the driving route is planned.

[0019] Furthermore, following the step of automatically planning the driving route, the following is also included:

[0020] Calculate the real-time following distance between this vehicle and the leading vehicle;

[0021] When the real-time following distance exceeds the preset safe following distance threshold, a follow-to-the-car warning is generated.

[0022] Furthermore, the steps for automatically planning driving routes also include:

[0023] Obtain real-time traffic and road attribute information;

[0024] When planning the driving route, the real-time traffic information and road attribute information are used as constraints for optimization.

[0025] Furthermore, following the step of establishing a wireless communication connection, the following is also included:

[0026] Receive the global planned route sent by the lead vehicle through the wireless communication connection;

[0027] The steps of automatically planning a driving route specifically include: based on the global planned route, the real-time location information of the leading vehicle, and the current location of the vehicle, planning a shuttle route for the vehicle to enter and travel along the global planned route.

[0028] Secondly, embodiments of this application provide a vehicle cooperative following system capable of implementing any of the aforementioned vehicle cooperative following methods, comprising: an on-board terminal integrated in each vehicle; each on-board terminal further comprising:

[0029] The wireless communication module is used to establish a communication connection with the lead vehicle or cloud server to receive follow data;

[0030] The positioning module is used to obtain the vehicle's location information;

[0031] A data processing module, connected to the wireless communication module and the positioning module, is used to process the received following data and the vehicle's location information;

[0032] The map navigation module, connected to the data processing module, is used to display the current vehicle's location and the processed location of the leading vehicle on the map interface, and to automatically generate and output navigation guidance based on the location of the leading vehicle and the current vehicle's location.

[0033] Thirdly, embodiments of this application provide an electronic device, including: one or more processors;

[0034] A memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors are able to implement the steps in the vehicle cooperative following method described in any of the preceding claims.

[0035] Fourthly, embodiments of this application provide a computer-readable medium storing a computer program, which, when executed by a processor, can implement the steps of the vehicle cooperative following method described in any of the preceding claims.

[0036] This application discloses a vehicle cooperative following method, which establishes a wireless communication connection with the leading vehicle to provide a channel for data transmission; then, through this connection, it receives the leading vehicle's periodically transmitted location information, obtaining the dynamic location data source of the leading vehicle; next, it displays the leading vehicle's location information in real time on the local map interface of the following vehicle, enabling the driver of the following vehicle to obtain an intuitive and continuous spatial location perception; finally, based on the real-time location of the leading vehicle and the current location of the following vehicle, it automatically plans and generates a driving route and navigation guidance to the location of the leading vehicle. This method creatively combines direct communication between vehicles, dynamic location sharing, and real-time path planning to form a closed-loop cooperative navigation process, enabling the following vehicle to automatically and accurately follow the leading vehicle, effectively solving the problem of the following vehicle easily getting lost due to obstructed vision and inconvenient communication in convoy travel, and improving the safety and overall stability of convoy travel. Attached Figure Description

[0037] Figure 1 This is a core flowchart of a vehicle cooperative following method provided in an embodiment of this application;

[0038] Figure 2 A schematic diagram of the module structure of an in-vehicle terminal in a vehicle cooperative following system provided in an embodiment of this application;

[0039] Figure 3 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0040] To enable those skilled in the art to better understand the technical solutions of this application, exemplary embodiments of this application are described below with reference to the accompanying drawings, including various details of the embodiments of this application to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description. Unless otherwise specified, the various embodiments of this application and the features within those embodiments can be combined with each other.

[0041] As used herein, the term "and / or" includes any and all combinations of one or more of the associated enumerated entries. The terminology used herein is for describing particular embodiments only and is not intended to limit the application. As used herein, the singular forms "a" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that when the terms "comprising" and / or "made of" are used herein, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Terms such as "connected" or "linked" are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0042] Unless otherwise specified, all terms used in this application (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It should also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this application, and will not be interpreted as having an idealized or overly formal meaning, unless expressly so defined in this application.

[0043] refer to Figure 2 One embodiment of this application proposes a vehicle cooperative following system, which includes an on-board terminal integrated in each vehicle; each on-board terminal specifically includes: a wireless communication module, a positioning module, a data processing module, and a map navigation module.

[0044] The wireless communication module is used to establish a communication connection with the leading vehicle or a cloud server to receive follow data. Specifically, the wireless communication module uses wireless network technologies such as Wi-Fi or mobile data networks (e.g., 4G, 5G) to establish connections and transmit data between vehicles.

[0045] The positioning module is used to obtain the vehicle's location information. Specifically, the positioning module is based on the Global Positioning System (GPS) or the BeiDou Navigation Satellite System to obtain the vehicle's real-time location data (including longitude, latitude, and altitude).

[0046] The data processing module, connected to the wireless communication module and the positioning module, is used to process the received following data and the vehicle's location information. Specifically, the data processing module is responsible for processing the received and transmitted location data, such as data format conversion and verification.

[0047] The map navigation module, connected to the data processing module, is used to integrate and display the current vehicle's position and the processed position of the preceding vehicle on the map interface, and automatically generate and output navigation guidance based on the positions of the preceding and following vehicles. Specifically, the map navigation module has a built-in map database, can receive and display the position data of other vehicles, and automatically plan driving routes based on the positions of the preceding and following vehicles.

[0048] refer to Figure 1 One embodiment of this application proposes a vehicle cooperative following method, which may specifically include the following steps.

[0049] S1. The following vehicle establishes a wireless communication connection with the leading vehicle (i.e., the vehicle in front).

[0050] Specifically, before the convoy departs, the following vehicles establish a wireless network connection with the preceding vehicle through the wireless communication module of their onboard terminal, forming a temporary convoy communication network.

[0051] At short distances, the lead vehicle creates a Wi-Fi hotspot, and subsequent vehicles join the network by connecting to this hotspot. If the distance is greater, multiple vehicles can connect to the same cloud server via mobile data networks (such as 4G or 5G) for indirect communication. Specifically, upon system startup, it first attempts to discover and connect to the lead vehicle via Bluetooth (assuming a first threshold of 100 meters). If the connection is successful, data is transmitted using the Bluetooth channel. If the Bluetooth connection fails or the signal is weak, it automatically switches to connecting to the fleet management cloud server via the 5G network, where both the lead and subsequent vehicles upload data for exchange. This achieves adaptive switching between short-range direct connection and long-range cloud connection, combining the low latency and low power consumption of short-range communication with the wide coverage of cellular networks, ensuring stable communication for the fleet at various distances.

[0052] S2. The following vehicle receives follow data containing its location information periodically sent by the leading vehicle through the wireless communication connection.

[0053] Specifically, after the connection is established, the positioning module of the leading vehicle (based on GPS or Beidou system) acquires its own location data (including longitude, latitude, etc.) every 3-5 seconds. After being processed by the data processing module, it is sent to the following vehicle through the wireless communication module.

[0054] The frequency of sending (and receiving) follow data containing the position information of the vehicle ahead (corresponding to the vehicle behind) can be dynamically adjusted according to road conditions. Specifically, the data processing module can connect to vehicle speed sensors and map traffic information. In situations with good road conditions and stable vehicle movement, such as on highways, the cycle can be extended to once every 6-8 seconds; in situations with complex road conditions and significant changes in vehicle movement, such as on urban roads, the cycle can be shortened to once every 1-2 seconds. This optimizes network resource utilization while ensuring real-time following performance.

[0055] In addition to basic location data, the following data sent by the leading vehicle can also include vehicle status information implicit in the system, such as speed, turn signal status, and braking status. After the data processing module of the following vehicle parses this information, the map navigation module can display the speed value next to the icon of the leading vehicle on the map, or overlay a highlighted warning symbol on the position marker of the leading vehicle when a braking signal is detected, to alert the driver of the following vehicle. This real-time transmission of the leading vehicle's driving intentions and emergency status to the following vehicle greatly enhances the driver's anticipation and reaction capabilities, significantly improving the safety of convoy following.

[0056] S3. The following vehicle displays the location information of the leading vehicle in real time on the local map interface.

[0057] Specifically, after the wireless communication module of the following vehicle receives the location data sent by the vehicle in front, it passes it to the data processing module for processing, and then sends it to the map navigation module. The map navigation module marks and displays the location of the vehicle in front on the map application interface, allowing the driver of the following vehicle to clearly see the real-time location of the vehicle in front.

[0058] S4. Based on the real-time location information of the leading vehicle and the current location information of the vehicle, automatically plan and output the driving route to the leading vehicle.

[0059] Specifically, the map navigation module of the following vehicle automatically plans the driving route from the current location of the following vehicle to the location of the preceding vehicle based on the real-time location data of the preceding vehicle and the current location data of the following vehicle, combined with road information in the map database, and provides navigation guidance to the driver of the following vehicle through voice and map display.

[0060] The data processing module of the following vehicle can cache the position sequence of the preceding vehicle received over multiple consecutive cycles. During automatic route planning, the map navigation module not only points to the current position of the preceding vehicle but also invokes a trajectory prediction algorithm to predict the preceding vehicle's trajectory for the next few seconds based on historical position sequences (e.g., determining whether it is currently turning or maintaining a lane). This predicted trajectory serves as a reference target for route planning, making the following vehicle's following actions smoother and more predictive. Specifically, the data processing module of the following vehicle caches the continuous position points of the preceding vehicle over the past 30 seconds and uses trajectory prediction algorithms (such as linear extrapolation or road network-based prediction models) to calculate the expected path of the preceding vehicle for the next 10 seconds. The navigation module then uses this predicted path as a "dynamic target corridor" to plan the route for the following vehicle to enter and travel along that corridor. This shift from passive following to active prediction makes the following vehicle's route planning more forward-looking and smooth, reducing sudden braking or route replanning caused by the preceding vehicle's sudden lane changes or turns, thus improving ride comfort and convoy continuity.

[0061] After automatically planning the driving route, the system also includes: calculating the real-time following distance between the current vehicle and the leading vehicle; and generating a "following too far" warning when the real-time following distance exceeds a preset safe following distance threshold. Specifically, after planning the route, the map navigation module can calculate the remaining distance from the current vehicle along the planned route to the position of the vehicle in front as the following distance. Users can preset a distance threshold (e.g., 500 meters). When the calculated following distance exceeds this threshold, the system triggers a voice reminder "Caution, too far from the vehicle in front" and displays a text prompt on the screen. This provides an intuitive following distance monitoring and reminder function, helping drivers maintain a reasonable following distance and further ensuring that the convoy does not become disjointed, which is especially suitable for scenarios with high requirements for convoy integrity.

[0062] The steps for automatically planning driving routes also include: acquiring real-time traffic information and road attribute information; and optimizing the planning route using the real-time traffic information and road attribute information as constraints. Specifically, when planning a route from the current vehicle to the vehicle in front, the map navigation module not only considers the shortest path but also acquires real-time traffic information via a wireless network. If the system detects severe congestion ahead of the vehicle in front (e.g., marked in red) while there is a clear parallel road (e.g., marked in green), it may plan an optimized route for the current vehicle to first detour through the clear road and then rejoin the vehicle before the congested section, preventing the following vehicle from blindly following and getting stuck in congestion. This makes the following route planning more intelligent and efficient, preventing the following vehicle from blindly following the vehicle in front and getting stuck in congestion, improving the overall travel efficiency of the convoy, and demonstrating the intelligent advantages of collaborative navigation.

[0063] After establishing a wireless communication connection, the process includes: receiving a globally planned route from the leading vehicle via the connection; and automatically planning the driving route, specifically including: based on the globally planned route, the real-time location information of the leading vehicle, and the current position of the vehicle itself, planning a connecting route for the vehicle to enter and travel along the globally planned route. Specifically, the leading vehicle's map navigation module can plan a globally planned route from the origin to the destination. After establishing a communication connection, the leading vehicle sends this global route (e.g., a series of key waypoints) to the following vehicle. Upon receiving this, the following vehicle's map navigation module displays the route as a background reference line. At this point, the following vehicle's automatic route planning logic changes to: prioritizing the planning of a connecting route from the vehicle's current position to the "nearest entry point" of the global route. After entering the global route, navigation prompts focus on maintaining the current route and indicating the distance to the leading vehicle. This provides another efficient and unified cooperative navigation mode, especially suitable for long-distance travel, ensuring that the entire convoy follows the same main route while allowing following vehicles to flexibly merge according to their own positions, balancing convoy uniformity and individual flexibility.

[0064] This application solves the tracking loss and communication security risks pointed out in the background technology through the core process of "establishing a connection - receiving data - displaying - automatic planning". Overall, the beneficial effects of this application compared to the prior art include:

[0065] 1. It enables dynamic collaborative navigation between vehicles, fundamentally solving the "losing out" problem.

[0066] Existing single-vehicle navigation software cannot obtain the real-time location of other vehicles; fleet management systems only provide data to the monitoring center, with no direct navigation collaboration between vehicles. This application establishes direct or indirect communication links between vehicles, enabling the real-time and automatic transmission of the preceding vehicle's location data to the following vehicle, which then serves as the dynamic destination for the following vehicle's navigation system. This allows the driver of the following vehicle to visually see the preceding vehicle on a map, and the system can automatically plan and guide the following vehicle to drive towards the preceding vehicle, completely changing the outdated following mode that relies on line of sight or telephone communication.

[0067] 2. Significantly reduced communication costs and driving safety risks.

[0068] In existing following scenarios, drivers of the following vehicle often need to frequently call the vehicle in front to confirm its location or request it to wait, which severely distracts their driving attention. This application, through automated location sharing and route guidance, eliminates the need for drivers of the following vehicle to make frequent calls, allowing them to focus more on their own driving environment and operations, thereby effectively reducing the risk of traffic accidents caused by distracted communication.

[0069] 3. Improved the intelligence and adaptive capabilities of the fleet's driving.

[0070] Existing solutions have fixed functions and cannot adapt to complex and ever-changing driving environments. This application optimizes routes by dynamically adjusting the data update frequency (e.g., low frequency on highways, high frequency in urban areas), adaptively selecting communication methods (short-distance direct connection, long-distance cloud connection), and integrating real-time traffic conditions. The system can intelligently adapt to different road conditions and scenarios, optimizing communication resources and driving strategies while ensuring following accuracy.

[0071] 4. Enhanced safety and predictability of the following process.

[0072] In existing technologies, following vehicles cannot anticipate the driving intentions of the vehicle in front (such as impending braking or turning). This application addresses this by adding vehicle dynamic status information (such as braking and turning signals) to the data sent by the vehicle in front and combining it with historical trajectories for short-term path prediction. This allows the following vehicle system to provide advance warnings to the driver or plan a smoother route, transforming the following behavior from a "passive reaction" to an "active prediction," significantly improving the safety of following other vehicles.

[0073] 5. It offers a variety of flexible collaborative follow modes, making it more widely applicable.

[0074] Existing technical solutions are limited and cannot meet the needs of different travel scenarios. This application not only supports the most basic "point-to-point" real-time location tracking, but also provides a "global route sharing" mode, allowing convoys to travel along the same preset route, with subsequent vehicles merging flexibly. This versatility makes it suitable for both the flexible needs of friends traveling together and commercial fleet management where route consistency is more critical.

[0075] The embodiments of the vehicle cooperative following method and the embodiments of the vehicle cooperative following system are identical or related in technical concept, and they can be referenced and learned from each other in terms of technical details and technical effects, which will not be repeated here.

[0076] Based on the same inventive concept, embodiments of this application also provide an electronic device. Figure 3 This is a structural block diagram of an electronic device provided in an embodiment of this application. Figure 3 As shown in the embodiments of this application, an electronic device includes: one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement any of the vehicle cooperative following methods described in the above embodiments; the one or more I / O interfaces 103 are connected between the processors and the memory, configured to enable information interaction between the processors and the memory.

[0077] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read / write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus).

[0078] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the computing device.

[0079] In some embodiments, the one or more processors 101 include a field-programmable gate array.

[0080] This application also provides a computer-readable medium. The computer-readable medium stores a computer program, which, when executed by a processor, implements the steps of any of the vehicle cooperative following methods described above. The computer-readable storage medium may be volatile or non-volatile.

[0081] This application also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code. When the computer-readable code is run in the processor of an electronic device, the processor in the electronic device executes the above-described vehicle cooperative following method.

[0082] Those skilled in the art will understand that all or some of the steps, systems, and apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software can be distributed on a computer-readable storage medium, which may include computer storage media (or non-transitory media) and communication media (or transient media).

[0083] As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable program instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technologies, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable program instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0084] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0085] The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing the status information of the computer-readable program instructions. These electronic circuits can execute the computer-readable program instructions to implement various aspects of this application.

[0086] The computer program product described herein can be implemented specifically through hardware, software, or a combination thereof. In one alternative embodiment, the computer program product is specifically embodied in a computer storage medium; in another alternative embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0087] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0088] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0089] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0090] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0091] Exemplary embodiments have been disclosed in this application, and while specific terminology has been used, it is used only and should be interpreted in a general illustrative sense and is not intended to be limiting. In some embodiments, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of this application as set forth by the appended claims.

Claims

1. A vehicle cooperative following method, characterized in that, include: Establish a wireless communication connection with the lead vehicle; Through the wireless communication connection, the system receives follow data containing the location information periodically transmitted by the leading vehicle. The location information of the leading vehicle is displayed in real time on the local map interface; Based on the real-time location information of the leading vehicle and the current location information of the vehicle, the system automatically plans and outputs a driving route to the leading vehicle.

2. The vehicle cooperative following method according to claim 1, characterized in that, In the step of receiving the following data periodically sent by the leading vehicle, the receiving period is dynamically adjusted according to the driving environment.

3. The vehicle cooperative following method according to claim 1, characterized in that, The steps to establish a wireless communication connection include: Determine the real-time distance between this vehicle and the leading vehicle; When the real-time distance is less than the first distance threshold, a direct connection based on short-range wireless communication technology is established. When the real-time distance is greater than or equal to the first distance threshold, the system accesses the cloud server via the mobile data network and establishes an indirect communication connection based on the cloud server.

4. The vehicle cooperative following method according to claim 1, characterized in that, The steps for automatically planning a driving route include: Based on the historically received location information sequence of the leading vehicle, predict the future short-term driving trajectory of the leading vehicle. Based on the future short-term driving trajectory and the current position of the vehicle, the driving route is planned.

5. The vehicle cooperative following method according to claim 1, characterized in that, Following the step of automatically planning the driving route, the following is also included: Calculate the real-time following distance between this vehicle and the leading vehicle; When the real-time following distance exceeds the preset safe following distance threshold, a follow-to-the-car warning is generated.

6. The vehicle cooperative following method according to claim 1, characterized in that, The steps for automatically planning driving routes also include: Obtain real-time traffic and road attribute information; When planning the driving route, the real-time traffic information and road attribute information are used as constraints for optimization.

7. The vehicle cooperative following method according to claim 1, characterized in that, Following the step of establishing a wireless communication connection, the following steps are also included: Receive the global planned route sent by the lead vehicle through the wireless communication connection; The steps of automatically planning a driving route specifically include: based on the global planned route, the real-time location information of the leading vehicle, and the current location of the vehicle, planning a shuttle route for the vehicle to enter and travel along the global planned route.

8. A vehicle cooperative following system capable of implementing the vehicle cooperative following method according to any one of claims 1-7, characterized in that, include: An in-vehicle terminal integrated into each vehicle; each of the in-vehicle terminals specifically includes: The wireless communication module is used to establish a communication connection with the lead vehicle or cloud server to receive follow data; The positioning module is used to obtain the vehicle's location information; A data processing module, connected to the wireless communication module and the positioning module, is used to process the received following data and the vehicle's location information; The map navigation module, connected to the data processing module, is used to display the current vehicle's location and the processed location of the leading vehicle on the map interface, and to automatically generate and output navigation guidance based on the location of the leading vehicle and the current vehicle's location.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the steps in the vehicle cooperative following method as described in any one of claims 1 to 7.

10. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it can implement the steps in the vehicle cooperative following method as described in any one of claims 1 to 7.

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