Vehicle platoon control method, device, controller, storage medium and program product

Abstract

The application relates to a vehicle formation control method and device, a controller, a storage medium and a program product. The method comprises the following steps: receiving vehicle formation positioning deviation information sent by a leading vehicle in a vehicle formation; the vehicle formation positioning deviation information is calculated according to the deviation between a first vehicle formation and a second vehicle formation after the leading vehicle receives a vehicle formation transformation instruction; obtaining second performance position information of a following vehicle in the second vehicle formation according to first performance position information of the following vehicle in the first vehicle formation and the vehicle formation positioning deviation information; controlling the following vehicle to drive to a performance position corresponding to the second performance position information, and obtaining real-time position information of the following vehicle during the driving to the performance position; and controlling the following vehicle to perform light performance at the performance position when the real-time position information indicates that the following vehicle has driven to the performance position. The method can improve the stability of the vehicle formation control method.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle platooning control method, apparatus, controller, computer-readable storage medium, and computer program product. Background Technology

[0002] With the development of vehicle control technology, a technology has emerged that uses vehicle platooning to control light shows. This technology can control each vehicle to travel to a specific location and then control each vehicle to perform a light show at that location.

[0003] Furthermore, during the vehicle formation control performance, the vehicle formation is not static. When the vehicle formation needs to change, the vehicle positioning information needs to be dynamically adjusted in real time to complete the adjustment of the vehicle formation.

[0004] However, current vehicle formation control methods often cannot guarantee stable operation when vehicle formation changes, resulting in poor stability. Summary of the Invention

[0005] Based on this, this application addresses the aforementioned technical problems by providing a vehicle platooning control method, apparatus, controller, computer-readable storage medium, and computer program product that can improve the stability of vehicle platooning control.

[0006] In a first aspect, this application provides a vehicle platooning control method, applied to a controller of any following vehicle in a vehicle platoon, comprising:

[0007] The vehicle formation positioning deviation information is received from the leader vehicle in the vehicle formation. The vehicle formation positioning deviation information is calculated by the leader vehicle based on the deviation between the first vehicle formation and the second vehicle formation after receiving the vehicle formation change instruction. The first vehicle formation is the current vehicle formation of the vehicle formation, and the second vehicle formation is the vehicle formation after the vehicle formation change.

[0008] Based on the first performance position information of the following vehicle in the first vehicle formation and the vehicle formation positioning deviation information, the second performance position information of the following vehicle in the second vehicle formation is obtained;

[0009] Control the following vehicle to travel to the performance location corresponding to the second performance location information, and obtain the real-time location information of the following vehicle during the process of the following vehicle traveling to the performance location;

[0010] When the real-time location information indicates that the following vehicle has traveled to the performance location, the following vehicle is controlled to perform a light show at the performance location.

[0011] In the aforementioned vehicle platoon control method, the controller of any following vehicle in the platoon receives vehicle formation positioning deviation information sent by the leader vehicle in the platoon. The vehicle formation positioning deviation information is calculated by the leader vehicle after receiving the vehicle formation change command, based on the deviation between the first vehicle formation and the second vehicle formation. The first vehicle formation is the current vehicle formation of the platoon, and the second vehicle formation is the vehicle formation after the platoon change. Based on the first performance position information of the following vehicle in the first vehicle formation and the vehicle formation positioning deviation information, the second performance position information of the following vehicle in the second vehicle formation is obtained. The following vehicle is controlled to drive to the performance position corresponding to the second performance position information, and during the process of the following vehicle driving to the performance position, the real-time position information of the following vehicle is obtained. When the real-time position information indicates that the following vehicle has driven to the performance position, the following vehicle is controlled to perform a light show at the performance position. In this embodiment, after receiving the vehicle formation change command, the lead vehicle can calculate the positioning deviation between the current vehicle formation and the changed vehicle formation, and then send the positioning deviation to each following vehicle. Each following vehicle can then calculate its performance position information in the second vehicle formation based on its current performance position information in the first vehicle formation and the aforementioned positioning deviation, so as to control the following vehicles to drive to the performance position. During the driving process, real-time position information can also be acquired until the real-time position information indicates that the following vehicles have driven to the performance position, so as to control the execution of the light show. This method ensures that each following vehicle drives to the performance position after the formation change, thus improving the stability of the vehicle formation control method.

[0012] In an optional embodiment of the first aspect, the process of the following vehicle traveling to the performance location includes multiple different control cycles; the number of real-time location information of the following vehicle is multiple, each corresponding to a different control cycle; obtaining the real-time location information of the following vehicle includes: receiving a positioning signal sent by an associated vehicle of the following vehicle in the vehicle formation during the current control cycle, and obtaining the first location information of the following vehicle in the current control cycle through the positioning signal; the current control cycle is any one of multiple control cycles; if the current control cycle is not the first control cycle, obtaining the historical location information, historical speed information, and historical acceleration information of the following vehicle in the previous control cycle of the current control cycle; obtaining the second location information of the following vehicle in the current control cycle based on the historical location information, the historical speed information, and the historical acceleration information, and obtaining the real-time location information of the current control cycle based on the first location information and the second location information.

[0013] In this embodiment, the first position information of the current control cycle can be obtained through the positioning signal, and the second position information of the current control cycle can be predicted through historical information. The real-time position information of the current control cycle can be obtained by combining the first position information and the second position information. This method can improve the accuracy of obtaining the real-time position information of the current control cycle.

[0014] In an optional embodiment of the first aspect, after obtaining the real-time location information, the method further includes: acquiring target speed information and real-time speed information of the following vehicle corresponding to the current control cycle, and acquiring the leader vehicle position information of the leader vehicle in the current control cycle; acquiring spring force information of the following vehicle corresponding to the current control cycle based on the real-time position difference between the real-time location information and the leader vehicle position information in the current control cycle, and acquiring damping force information of the following vehicle corresponding to the current control cycle based on the deviation between the real-time speed information and the target speed information; and controlling the spring force output and damping force output of the following vehicle in the current control cycle according to the spring force information and the damping force information, so as to control the driving of the following vehicle in the current control cycle.

[0015] In this embodiment, the spring force output of the current control cycle can be controlled based on the difference between the real-time position of the following vehicle and the real-time position of the leading vehicle, and the damping force output of the current control cycle can be controlled based on the deviation between the real-time speed and the target speed. In this way, the driving of the following vehicle in the current control cycle can be accurately controlled, further improving the accuracy of vehicle driving control.

[0016] In an optional embodiment of the first aspect, obtaining the spring force information of the following vehicle corresponding to the current control cycle based on the real-time position difference between the real-time position information of the current control cycle and the position information of the leading vehicle includes: obtaining a pre-set target position difference; the target position difference being a pre-set ideal position difference between the leading vehicle and the following vehicle in the current control cycle; and obtaining the spring force information based on the deviation between the real-time position difference and the ideal position difference.

[0017] In this embodiment, the spring force information can also be calculated based on the difference between the real-time distance and the ideal distance between the following vehicle and the leading vehicle, thereby improving the accuracy of the spring force output.

[0018] In an optional embodiment of the first aspect, the target speed information of the current control cycle is obtained through the following steps: obtaining the remaining time for formation change corresponding to the current control cycle based on a preset formation change time; wherein the formation change time is a preset time for the first vehicle formation to change to the second vehicle formation; obtaining the original target speed information of the current control cycle based on the difference between the real-time position information and the second performance position information of the current control cycle, and the remaining time for formation change; obtaining the predicted acceleration information of the following vehicle in the current control cycle; the predicted acceleration information is generated based on the historical driving trajectory of the following vehicle; and correcting the original target speed information using the predicted acceleration information to obtain the target speed information of the current control cycle.

[0019] In this embodiment, the original target speed information can be obtained based on the remaining time of the formation change and the distance between the real-time position and the performance position. Furthermore, the original target speed information can be corrected based on the acceleration information of the current control cycle obtained by prediction to obtain the target speed information. This method can improve the accuracy of the target speed information setting.

[0020] In an optional embodiment of the first aspect, the positioning signal includes: a Bluetooth positioning signal and an ultra-wideband positioning signal; the following vehicle includes a first type of following vehicle and a second type of following vehicle; receiving the positioning signal sent by the associated vehicle of the following vehicle in the vehicle platoon during the current control cycle includes: if the following vehicle is a first type of following vehicle, receiving the ultra-wideband positioning signal sent by the leading vehicle during the current control cycle; if the following vehicle is a second type of following vehicle, receiving the Bluetooth positioning signal sent by the first type of following vehicle associated with the following vehicle during the current control cycle in a target time slot pre-allocated for the following vehicle.

[0021] In this embodiment, the following vehicles can also be divided into a first type of following vehicle and a second type of following vehicle. The first type of following vehicle can receive the ultra-wideband positioning signal sent by the leader vehicle as the positioning signal sent by the associated vehicle, while the second type of following vehicle can receive the Bluetooth positioning signal sent by the associated first type of following vehicle in a pre-allocated time slot as the positioning signal sent by the associated vehicle. This method can improve the response efficiency of formation changes.

[0022] In an optional embodiment of the first aspect, the method further includes: if the following vehicle is a first type of following vehicle, obtaining each second type of following vehicle associated with the following vehicle, and the vehicle platooning order of each second type of following vehicle in the vehicle platoon; and allocating a target time slot to each second type of following vehicle based on the vehicle platooning order.

[0023] In this embodiment, if the following vehicle is a first type of following vehicle, time slots can also be allocated for each of its associated second type of following vehicles to achieve time division multiple access for the second type of following vehicles, thereby reducing protocol conflicts.

[0024] In an optional embodiment of the first aspect, obtaining the real-time location information of the current control cycle based on the first location information and the second location information includes: when the difference between the first location information and the second location information is less than or equal to a preset threshold, performing weighted processing on the first location information and the second location information to obtain the real-time location information; when the difference between the first location information and the second location information is greater than the preset threshold, re-executing the step of receiving the positioning signal sent by the associated vehicle of the following vehicle in the vehicle platoon during the current control cycle, and obtaining the first location information of the following vehicle in the current control cycle through the positioning signal, until the difference between the first location information and the second location information is less than or equal to the preset threshold.

[0025] In this embodiment, it can also be determined whether the first location information and the second location information are similar. If they are similar, the first location information and the second location information are weighted to obtain the real-time location. This method can further improve the accuracy of real-time location acquisition.

[0026] Secondly, this application also provides a vehicle platooning control device, applied to a controller for any following vehicle in a vehicle platoon, comprising:

[0027] The formation deviation receiving module is used to receive vehicle formation positioning deviation information sent by the leader vehicle in the vehicle formation; the vehicle formation positioning deviation information is calculated by the leader vehicle based on the deviation between the first vehicle formation and the second vehicle formation after receiving the vehicle formation change instruction; the first vehicle formation is the current vehicle formation of the vehicle formation, and the second vehicle formation is the vehicle formation after the vehicle formation change.

[0028] The performance position acquisition module is used to acquire the second performance position information of the following vehicle in the second vehicle formation based on the first performance position information of the following vehicle in the first vehicle formation and the vehicle formation positioning deviation information;

[0029] The vehicle driving control module is used to control the following vehicle to drive to the performance position corresponding to the second performance position information, and to obtain the real-time position information of the following vehicle during the process of the following vehicle driving to the performance position;

[0030] The light show execution module is used to control the following vehicle to perform a light show at the performance location when the real-time location information indicates that the following vehicle has driven to the performance location.

[0031] Thirdly, this application also provides a controller, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the methods described above.

[0032] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0033] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any of the above aspects.

[0034] Regarding the beneficial effects of any of the technical solutions in the second to fifth aspects mentioned above, refer to the beneficial effects of the corresponding technical solutions in the first aspect; repeated examples will not be listed here. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of an optional process for a vehicle platooning control method in one embodiment;

[0037] Figure 2 This is a schematic diagram of an optional process for obtaining real-time location information in one embodiment;

[0038] Figure 3 This is a schematic diagram of an optional process for controlling driving in one embodiment;

[0039] Figure 4 This is a schematic diagram of an optional process for obtaining target speed information in one embodiment;

[0040] Figure 5 This is a schematic diagram of an optional process for a Bluetooth calibration adaptation mechanism in one embodiment;

[0041] Figure 6 This is a schematic diagram of an optional process for a UWB-Bluetooth optimization scheme in one embodiment;

[0042] Figure 7 This is a schematic diagram of one possible structure for a base station deployment scheme in one embodiment;

[0043] Figure 8 This is a schematic diagram of an optional structure of the vehicle platooning control device in one embodiment;

[0044] Figure 9 This is a schematic diagram of an optional internal structure of the controller in one embodiment. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0046] The terms "first," "second," etc., used in this application may be used to describe various elements, but these elements are not limited by these terms. These terms are used only to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0047] In one embodiment, such as Figure 1As shown, a vehicle platooning control method is provided. This embodiment illustrates the application of this method to the controller of any following vehicle. It is understood that this method can also be applied to a system including a controller and a server, and implemented through the interaction between the controller and the server. In this embodiment, the method includes the following steps:

[0048] Step S101: Receive vehicle formation positioning deviation information sent by the leader vehicle in the vehicle formation; the vehicle formation positioning deviation information is calculated by the leader vehicle based on the deviation between the first vehicle formation and the second vehicle formation after receiving the vehicle formation change instruction; the first vehicle formation is the current vehicle formation of the vehicle formation, and the second vehicle formation is the vehicle formation after the vehicle formation change.

[0049] A vehicle platoon refers to a procession of vehicles that perform a light show. In this embodiment, the vehicles performing the light show are usually multiple vehicles. Therefore, multiple vehicles can form a vehicle platoon to cooperate in completing the light show. The vehicle platoon can include a leader vehicle and multiple follower vehicles. The leader vehicle can be the first vehicle in the vehicle platoon, while the follower vehicles can be any other vehicles in the vehicle platoon except for the leader vehicle.

[0050] Vehicle formation change command refers to the command used to instruct a vehicle formation to switch from the first vehicle formation to the second vehicle formation. The first vehicle formation refers to the current vehicle formation, while the second vehicle formation is the formation after the vehicle formation has switched. During a vehicle light show, the same formation is not usually maintained indefinitely. When a vehicle formation change is required, the cloud server can send a vehicle formation change command to the leader vehicle of the vehicle formation to switch the vehicle formation from the current first vehicle formation to the second vehicle formation.

[0051] Vehicle formation positioning deviation information refers to the deviation position information between the first vehicle formation and the second vehicle formation. This deviation information can be determined based on the position of the leader vehicle in the first vehicle formation and the position of the leader vehicle in the second vehicle formation.

[0052] Specifically, when a vehicle formation change is required, the cloud server can send a vehicle formation change command to the leader vehicle in the vehicle formation to switch the vehicle formation from the first vehicle formation to the second vehicle formation. After receiving the command, the leader vehicle can first calculate the vehicle formation positioning deviation information based on its position in the first vehicle formation and its position in the second vehicle formation, and then send the vehicle formation positioning deviation information to each following vehicle in the vehicle formation, so that the controller of each following vehicle can receive the above-mentioned vehicle formation positioning deviation information.

[0053] Step S102: Based on the first performance position information of the following vehicle in the first vehicle formation and the vehicle formation positioning deviation information, obtain the second performance position information of the following vehicle in the second vehicle formation.

[0054] The first performance position information refers to the performance position information of the following vehicle in the first vehicle formation, that is, the current position information of the following vehicle. The second performance position information refers to the performance position information of the following vehicle in the second vehicle formation, that is, the position information after the following vehicle formation changes. Specifically, after obtaining the vehicle formation positioning deviation information, the following vehicle can first calculate the second performance position information based on the first performance position information and the vehicle formation positioning deviation information.

[0055] Step S103: Control the following vehicle to travel to the performance position corresponding to the second performance position information, and obtain the real-time position information of the following vehicle during the process of traveling to the performance position.

[0056] Real-time location information refers to the real-time location coordinates of the following vehicle. After obtaining the second performance location information, the controller of the following vehicle can use the second performance location information as the target location and control the following vehicle to drive to the location corresponding to the second performance location information through autonomous driving, which will serve as the performance location of the following vehicle. During the driving process, the controller can also obtain the location of the following vehicle in real time, thereby obtaining the real-time location information of the following vehicle.

[0057] Step S104: When the real-time location information indicates that the following vehicle has moved to the performance position, control the following vehicle to perform a light show at the performance position.

[0058] Finally, if the real-time location information indicates that the following vehicle has reached the performance position, for example, if the distance between the real-time location information and the second performance position information is less than the preset distance, it can be indicated that the target vehicle has reached the performance position. After that, the target vehicle can wait for the leader vehicle to return to the light show trigger signal to control the lights, thereby completing the light show through the switched formation.

[0059] In the aforementioned vehicle platoon control method, the controller of any following vehicle in the platoon receives vehicle formation positioning deviation information sent by the leader vehicle in the platoon. The vehicle formation positioning deviation information is calculated by the leader vehicle after receiving the vehicle formation change command, based on the deviation between the first vehicle formation and the second vehicle formation. The first vehicle formation is the current vehicle formation of the platoon, and the second vehicle formation is the vehicle formation after the platoon change. Based on the first performance position information of the following vehicle in the first vehicle formation and the vehicle formation positioning deviation information, the second performance position information of the following vehicle in the second vehicle formation is obtained. The following vehicle is controlled to drive to the performance position corresponding to the second performance position information, and during the process of the following vehicle driving to the performance position, the real-time position information of the following vehicle is obtained. When the real-time position information indicates that the following vehicle has driven to the performance position, the following vehicle is controlled to perform a light show at the performance position. In this embodiment, after receiving the vehicle formation change command, the lead vehicle can calculate the positioning deviation between the current vehicle formation and the changed vehicle formation, and then send the positioning deviation to each following vehicle. Each following vehicle can then calculate its performance position information in the second vehicle formation based on its current performance position information in the first vehicle formation and the aforementioned positioning deviation, so as to control the following vehicles to drive to the performance position. During the driving process, real-time position information can also be acquired until the real-time position information indicates that the following vehicles have driven to the performance position, so as to control the execution of the light show. This method ensures that each following vehicle drives to the performance position after the formation change, thus improving the stability of the vehicle formation control method.

[0060] In one embodiment, the process of following the vehicle to the performance location includes multiple different control cycles; the number of real-time location information points for the following vehicle is multiple, each corresponding to a different control cycle; such as... Figure 2 As shown, step S103 may further include:

[0061] Step S201: Receive the positioning signal sent by the associated vehicle in the vehicle platoon during the current control cycle, and obtain the first position information of the following vehicle during the current control cycle through the positioning signal; the current control cycle can be any one of multiple control cycles.

[0062] In this embodiment, there can be multiple control cycles for controlling the following vehicle to travel to the performance position. Therefore, there can also be multiple real-time position information of the following vehicle during the driving process, each corresponding to a different control cycle. The current control cycle refers to any one of the multiple control cycles, and the first position information is the position information of the following vehicle in the current control cycle obtained through the positioning signal.

[0063] Specifically, while controlling the following vehicle to its performance position, the controller can continuously receive positioning signals from associated vehicles in the vehicle platoon that have established a pre-existing relationship with the following vehicle. These associated vehicles can be the lead vehicle in the platoon or other following vehicles. Subsequently, if the controller receives a positioning signal from an associated vehicle during the current control cycle, it can determine the following vehicle's initial position information for that cycle based on the positioning signal.

[0064] Step S202: If the current control cycle is not the first control cycle, obtain the historical position information, historical speed information and historical acceleration information of the following vehicle in the previous control cycle of the current control cycle.

[0065] The previous control cycle refers to the control cycle preceding the current control cycle. Historical position information refers to the position information of the following vehicle in the previous control cycle, historical speed information refers to the driving speed information of the following vehicle in the previous control cycle, and historical acceleration information refers to the driving acceleration information of the following vehicle in the previous control cycle. Specifically, if the current control cycle is not the first control cycle, the controller can also obtain pre-recorded historical position information, historical speed information, and historical acceleration information of the following vehicle in the previous control cycle.

[0066] Step S203: Based on historical position information, historical speed information and historical acceleration information, obtain the second position information of the following vehicle in the current control cycle, and based on the first position information and the second position information, obtain the real-time position information of the current control cycle.

[0067] The second location information refers to the location information of the following vehicle in the current control cycle, which is predicted based on historical information. In this embodiment, the location of the following vehicle in the current control cycle can be obtained in two ways: one is the first location information obtained through positioning signals, and the other is the second location information predicted through historical information.

[0068] Specifically, after obtaining the historical position information, historical speed information, and historical acceleration information of the previous control cycle, the controller can further predict the second position information of the following vehicle in the current control cycle based on the above historical information. Then, based on the first position information and the second position information, the real-time position information of the current control cycle can be obtained.

[0069] For example, the second location information can be calculated using the following formula:

[0070]

[0071] in, This indicates the second position information of the current control cycle. This indicates the historical position information from the previous control cycle. This indicates the historical velocity information from the previous control cycle. This indicates historical acceleration information from the previous control cycle. This indicates the length of the control cycle, while This indicates process noise.

[0072] In this embodiment, the first position information of the current control cycle can be obtained through the positioning signal, and the second position information of the current control cycle can be predicted through historical information. The real-time position information of the current control cycle can be obtained by combining the first position information and the second position information. This method can improve the accuracy of obtaining the real-time position information of the current control cycle.

[0073] In one embodiment, such as Figure 3 As shown, step S203 may further include:

[0074] Step S301: Obtain the target speed information and real-time speed information of the following vehicle corresponding to the current control cycle, and obtain the position information of the leading vehicle in the current control cycle.

[0075] Target speed information refers to the speed value that the following vehicle is expected to reach in the current control cycle. Real-time speed information is the real-time speed of the following vehicle in the current control cycle, which can be collected by the vehicle speed sensor. Leader vehicle position information is the real-time position of the leader vehicle in the current control cycle, which can be provided when the associated vehicle sends a positioning signal.

[0076] Specifically, the controller can also calculate the target speed of the following vehicle in the current control cycle, obtain the real-time speed, and the position information of the leading vehicle in the current control cycle.

[0077] Step S302: Based on the real-time position difference between the real-time position information of the current control cycle and the position information of the leading vehicle, obtain the spring force information of the following vehicle corresponding to the current control cycle, and based on the deviation between the real-time speed information and the target speed information, obtain the damping force information of the following vehicle corresponding to the current control cycle.

[0078] Real-time position difference refers to the difference between the real-time position of the following vehicle and the real-time position of the leader vehicle in the current control cycle, i.e., the real-time distance between the following vehicle and the leader vehicle. Spring force information refers to the expected output spring force of the following vehicle in the current control cycle, while damping force information refers to the expected output damping force of the following vehicle in the current control cycle.

[0079] Specifically, the controller can calculate the spring force information for the current control cycle based on the real-time position between the following vehicle and the lead vehicle. It can also calculate the deviation between the real-time speed and the target speed, thereby obtaining the damping force information for the current control cycle based on the speed deviation.

[0080] Step S303: Control the spring force output and damping force output of the following vehicle in the current control cycle according to the spring force information and damping force information, so as to control the driving of the following vehicle in the current control cycle.

[0081] After obtaining the spring force and damping force information, the spring force output and damping force output of the following vehicle in the current control cycle can be controlled according to the above spring force and damping force information, thereby controlling the driving of the following vehicle in the current control cycle.

[0082] In this embodiment, the spring force output of the current control cycle can be controlled based on the difference between the real-time position of the following vehicle and the real-time position of the leading vehicle, and the damping force output of the current control cycle can be controlled based on the deviation between the real-time speed and the target speed. In this way, the driving of the following vehicle in the current control cycle can be accurately controlled, further improving the accuracy of vehicle driving control.

[0083] Furthermore, step S302 may further include: acquiring a pre-set target position difference; the target position difference is the pre-set ideal position difference between the leading vehicle and the following vehicle in the current control cycle; acquiring spring force information based on the deviation between the real-time position difference and the ideal position difference.

[0084] The target position difference refers to the ideal distance between the following vehicle and the leading vehicle that is set in advance. In this embodiment, the spring force information can be obtained by calculating the difference between the real-time distance between the following vehicle and the leading vehicle and the ideal distance between the following vehicle and the leading vehicle that is set in advance.

[0085] For example, spring force information can be calculated using the following formula:

[0086]

[0087] in, This indicates the spring force information for the current control cycle. This represents the stiffness coefficient, used to control the strength for position correction. This indicates the real-time distance between the following vehicle and the lead vehicle, while This indicates the ideal distance between the following vehicle and the lead vehicle. Therefore, when the vehicle spacing is too large ( ), then a positive tensile force is generated ( When the distance between vehicles is too small ( ), then a reverse thrust is generated ( ).

[0088] The damping force information is calculated using the following formula:

[0089]

[0090] in, This indicates the damping force information for the current control cycle. This represents the damping coefficient, used to control the smoothness of velocity changes. This indicates the real-time speed of the current control cycle, while This indicates the target speed for the current control cycle. Therefore, when the vehicle accelerates too quickly ( ), then reverse resistance will be generated ( When the vehicle accelerates too slowly ( ), then a positive thrust is generated ( ).

[0091] In this embodiment, the spring force information can also be calculated based on the difference between the real-time distance and the ideal distance between the following vehicle and the leading vehicle, thereby improving the accuracy of the spring force output.

[0092] In one embodiment, such as Figure 4 As shown, the target speed information for the current control cycle is obtained through the following steps:

[0093] Step S401: Obtain the remaining time for formation change corresponding to the current control cycle based on the preset formation change time; wherein the formation change time is the preset time for the first vehicle formation to change to the second vehicle formation.

[0094] The formation change time refers to the preset time for the first vehicle formation to change to the second vehicle formation. For example, it can be preset to complete the formation change within 5 seconds or 10 seconds. This time is the formation change time. The remaining formation change time corresponds to the remaining formation change time in the current control cycle. For example, if 2 seconds have passed from the start of the formation change to the current control cycle, then if the preset formation change time is 5 seconds, the remaining time is 3 seconds.

[0095] Specifically, the controller can first obtain the remaining time for the formation change corresponding to the current control cycle based on the pre-set formation change time.

[0096] Step S402: Based on the difference between the real-time position information of the current control cycle and the second performance position information, as well as the remaining time for formation change, obtain the original target speed information of the current control cycle.

[0097] The difference between real-time position information and second performance position information can represent the distance between the real-time position and the performance position of the following vehicle, while the original target speed information refers to the uncorrected target speed information. Specifically, the controller can calculate the original target speed information of the current control cycle based on the distance between the real-time position and the performance position of the vehicle, as well as the remaining time for the formation change.

[0098] Step S403: Obtain the predicted acceleration information of the following vehicle in the current control cycle; the predicted acceleration information is generated based on the historical driving trajectory of the following vehicle.

[0099] Step S404: Correct the original target velocity information using the predicted acceleration information to obtain the target velocity information for the current control cycle.

[0100] Predicted acceleration information refers to the acceleration information obtained by predicting the acceleration of the following vehicle in the current control cycle. This acceleration is the acceleration vector predicted from the vehicle's historical trajectory, which is predicted by the LSTM (Long Short-Term Memory) neural network model. Then, the original target speed information can be corrected based on the predicted acceleration information to obtain the target speed information for the current control cycle.

[0101] For example, target velocity information can be calculated using the following formula:

[0102]

[0103] in, For target speed information, This represents the position weighting coefficient. This represents the displacement difference vector between the current position and the target position, i.e., the distance between the current position and the performance position. Indicates the remaining time for the formation change. This represents the acceleration gain coefficient, used to adjust the degree of influence of the predicted acceleration on the target velocity. This indicates the predicted acceleration information.

[0104] In this embodiment, the original target speed information can be obtained based on the remaining time of the formation change and the distance between the real-time position and the performance position. Furthermore, the original target speed information can be corrected based on the acceleration information of the current control cycle obtained by prediction to obtain the target speed information. This method can improve the accuracy of the target speed information setting.

[0105] In one embodiment, the positioning signal includes a Bluetooth positioning signal and an ultra-wideband positioning signal; the following vehicle includes a first type of following vehicle and a second type of following vehicle; step S201 may further include: if the following vehicle is a first type of following vehicle, receiving the ultra-wideband positioning signal sent by the leading vehicle in the current control cycle; if the following vehicle is a second type of following vehicle, receiving the Bluetooth positioning signal sent by the first type of following vehicle associated with the following vehicle in the current control cycle in a target time slot pre-allocated for the following vehicle.

[0106] In this embodiment, the location signal received by the following vehicle can be of various types, such as Bluetooth location signal or ultra-wideband location signal (UWB location signal). At the same time, there can be two types of following vehicles, namely a first type of following vehicle and a second type of following vehicle.

[0107] To improve response efficiency during formation changes, in this embodiment, following vehicles can be divided into a first type of following vehicle and a second type of following vehicle. The first type of following vehicle can be a backbone vehicle, while the second type of following vehicle can be an edge vehicle. For example, one out of every five following vehicles can be selected as a backbone vehicle, and the rest can be edge vehicles. Backbone vehicles are directly connected to each other via UWB, while edge vehicles only need a Bluetooth module to complete communication, and collisions are reduced through the TDMA (Time Division Multiple Access) protocol.

[0108] Specifically, if the following vehicle is a first-type following vehicle, that is, a backbone vehicle, then the vehicle can receive the ultra-wideband positioning signal sent by the leader vehicle in the current control cycle as the positioning signal sent by the associated vehicle in the current control cycle. If the following vehicle is a second-type following vehicle, it will receive the Bluetooth positioning signal sent by the first-type following vehicle associated with the following vehicle in the target time slot pre-allocated by the following vehicle.

[0109] In this embodiment, the following vehicles can also be divided into a first type of following vehicle and a second type of following vehicle. The first type of following vehicle can receive the ultra-wideband positioning signal sent by the leader vehicle as the positioning signal sent by the associated vehicle, while the second type of following vehicle can receive the Bluetooth positioning signal sent by the associated first type of following vehicle in a pre-allocated time slot as the positioning signal sent by the associated vehicle. This method can improve the response efficiency of formation changes.

[0110] In addition, the vehicle platooning control method may also include: when the following vehicle is a first type of following vehicle, obtaining each second type of following vehicle associated with the following vehicle, and the vehicle platooning order of each second type of following vehicle in the vehicle platoon; and allocating target time slots to each second type of following vehicle based on the vehicle platooning order.

[0111] In this embodiment, in order to implement time division multiple access and reduce protocol conflicts, if the following vehicle is a first-type following vehicle, i.e., a backbone vehicle, it is also necessary to allocate time slots for its associated edge vehicles, i.e., the associated second-type following vehicles. For example, time slot allocation can be completed according to the order of each second-type following vehicle in the vehicle platoon.

[0112] Specifically, if the following vehicle is a type 1 following vehicle, the vehicle platooning order of its associated type 2 following vehicles can be obtained first, and the target time slot can be allocated according to the vehicle platooning order.

[0113] In this embodiment, if the following vehicle is a first type of following vehicle, time slots can also be allocated for each of its associated second type of following vehicles to achieve time division multiple access for the second type of following vehicles, thereby reducing protocol conflicts.

[0114] In one embodiment, step S203 may further include: if the difference between the first location information and the second location information is less than or equal to a preset threshold, performing weighted processing on the first location information and the second location information to obtain real-time location information; if the difference between the first location information and the second location information is greater than the preset threshold, re-executing the step of receiving the positioning signal sent by the associated vehicle in the vehicle platoon during the current control cycle, and obtaining the first location information of the following vehicle during the current control cycle through the positioning signal, until the difference between the first location information and the second location information is less than or equal to the preset threshold.

[0115] Specifically, if the difference between the first location information and the second location information is small, it means that the location obtained by the positioning signal is close to the location predicted by historical information. In this case, the first location information and the second location information can be weighted to obtain the real-time location information.

[0116] If the difference between the first location information and the second location information is large, it indicates that the first location may be incorrect. In this case, the steps of receiving the location signal and calculating the first location information can be repeated until the difference between the first location information and the second location information is less than or equal to the preset threshold.

[0117] In this embodiment, it can also be determined whether the first location information and the second location information are similar. If they are similar, the first location information and the second location information are weighted to obtain the real-time location. This method can further improve the accuracy of real-time location acquisition.

[0118] In one embodiment, a method for performing a convoy light show is also provided. During the convoy light show performance, when the vehicles need to dynamically change formation, the Bluetooth calibration method needs to be dynamically adjusted in real time. The Bluetooth calibration adaptive mechanism can be as follows: Figure 5 As shown, the lead vehicle maintains its position as a reference point, and the following vehicle continuously monitors its distance from the lead vehicle via Bluetooth RSSI / ToF. The target position is calculated in real time based on the new offset, and speed is controlled using PID control.

[0119]

[0120] Introducing UWB-assisted positioning:

[0121] if (formation_change_in_progress) {

[0122] enable_uwb_positioning(); / / Enable UWB during formation changes

[0123] set_brake_light(ON); / / Turn on the brake light warning

[0124] } else {

[0125] enable_bluetooth_positioning(); / / Use Bluetooth normally

[0126] Cooperative path planning algorithm:

[0127] def virtual_spring_adjustment():

[0128] for car in followers:

[0129] d = distance_to_leader(car) # Calculate the distance to the car in front

[0130] F_spring = k * (d - d_desired) # Calculate the spring force

[0131] F_damping = c * velocity_diff # Calculate the damping force

[0132] acceleration = (F_spring + F_damping) / mass # Calculate acceleration

[0133] update_position(acceleration) # Update vehicle position

[0134] Motion prediction acceleration algorithm:

[0135]

[0136] in, For target speed information, This represents the position weighting coefficient. This represents the displacement difference vector between the current position and the target position, i.e., the distance between the current position and the performance position. Indicates the remaining time for the formation change. This represents the acceleration gain coefficient, used to adjust the degree of influence of the predicted acceleration on the target velocity. This indicates the predicted acceleration information.

[0137] Lighting status feedback:

[0138] if abs(d - d_desired) > 0.3:

[0139] set_turn_signal(ON) # Turn on the turn signal

[0140] Predictive compensation algorithm:

[0141]

[0142] in, This indicates the second position information of the current control cycle. This indicates the historical position information from the previous control cycle. This indicates the historical velocity information from the previous control cycle. This indicates historical acceleration information from the previous control cycle. This indicates the length of the control cycle, while This indicates process noise.

[0143] Relative position verification between vehicles:

[0144] def cross_verify(car1, car2):

[0145] d_ble = bluetooth_distance(car1, car2) # Get Bluetooth distance measurement results

[0146] d_uwb = uwb_distance(car1, car2) # Get the UWB distance measurement result

[0147] if abs(d_ble - d_uwb) > 0.5: # Error threshold is 0.5 meters

[0148] request_repositioning() # Triggers repositioning

[0149] set_light_state(0x00) # Turn off the lights

[0150] To achieve rapid response during formation changes (e.g., regrouping 20 vehicles within 5 seconds), a UWB-Bluetooth optimization solution can be used as follows: Figure 6 As shown, one UWB backbone node is set up for every 5 vehicles, and the backbones are directly connected via UWB; regular vehicles only need a Bluetooth module, and the TDMA (Time Division Multiple Access) protocol is used to reduce collisions.

[0151] / / Time slice allocation pseudocode:

[0152] void assign_time_slots() { / / Define a function named assign_time_slots

[0153] for (int i = 0; i < vehicle_count; i++) { / / Loop through all vehicles

[0154] slot[i] = (position_rank * 10) + (i % 10); / / Allocate time slots according to position

[0155] } / / End the loop

[0156] } / / End function

[0157] When the target formation is distributed from the cloud, the predicted path is sent simultaneously.

[0158] The vehicle starts moving 500ms in advance.

[0159] Real-time UWB ranging and position correction (updated 100Hz)

[0160] Triggered upon arrival at the target area:

[0161] if (position_error < 0.1m) { / / If the position error is less than 0.1 meters

[0162] send_light_cmd(0x04); / / Send the light control command, lightshowcontrol=4 to continue the performance.

[0163] }

[0164] UWB-TDoA Accelerated Positioning, Base Station Deployment Solution Figure 7 As shown in Table 1, the channel distribution strategy can be implemented as follows:

[0165] Table 1. Schematic diagram of channel distribution strategy

[0166]

[0167] The switching strategy is as follows:

[0168] def select_positioning_mode(): # Define a function named select_positioning_mode

[0169] if time_to_target < 2.0: # Less than 2 seconds remaining

[0170] activate_uwb_tdoa() # Activate UWB TDOA positioning mode

[0171] set_brake_light(ON) # Brake light warning

[0172] elif formation_change_speed > 1.5m / s: # If the formation change speed is greater than 1.5 m / s

[0173] activate_vision_aid() # Activate vision aid

[0174] else: # Other cases

[0175] use_bluetooth() # Use Bluetooth

[0176] This embodiment enables dynamic changes in vehicle formation and improves the efficiency and stability of vehicle formation switching.

[0177] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0178] Based on the same inventive concept, this application also provides a vehicle platooning control device for implementing the vehicle platooning control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle platooning control device embodiments provided below can be found in the limitations of the vehicle platooning control method described above, and will not be repeated here.

[0179] In one embodiment, such as Figure 8 As shown, a vehicle platooning control device is provided, applied to the controller of any following vehicle in a vehicle platoon, including: a formation deviation receiving module 801, a performance position acquisition module 802, a vehicle driving control module 803, and a light show execution module 804, wherein:

[0180] The formation deviation receiving module 801 is used to receive vehicle formation positioning deviation information sent by the leader vehicle in the vehicle formation; the vehicle formation positioning deviation information is calculated by the leader vehicle after receiving the vehicle formation change instruction based on the deviation between the first vehicle formation and the second vehicle formation; the first vehicle formation is the current vehicle formation of the vehicle formation, and the second vehicle formation is the vehicle formation after the vehicle formation change.

[0181] The performance position acquisition module 802 is used to acquire the second performance position information of the following vehicle in the second vehicle formation based on the first performance position information of the following vehicle in the first vehicle formation and the vehicle formation positioning deviation information.

[0182] The vehicle driving control module 803 is used to control the following vehicle to drive to the performance position corresponding to the second performance position information, and to obtain the real-time position information of the following vehicle during the process of driving the following vehicle to the performance position;

[0183] The light show execution module 804 is used to control the following vehicle to perform a light show at the performance location when the real-time location information indicates that the following vehicle has driven to the performance location.

[0184] In one embodiment, the process of following a vehicle to the performance location includes multiple different control cycles; the number of real-time location information of the following vehicle is multiple, each corresponding to a different control cycle; the vehicle driving control module 803 is further configured to receive the positioning signal sent by the associated vehicle in the vehicle formation during the current control cycle, and obtain the first location information of the following vehicle during the current control cycle through the positioning signal; the current control cycle is any one of the multiple control cycles; if the current control cycle is not the first control cycle, the historical location information, historical speed information, and historical acceleration information of the following vehicle in the previous control cycle are obtained; based on the historical location information, historical speed information, and historical acceleration information, the second location information of the following vehicle during the current control cycle is obtained, and based on the first location information and the second location information, the real-time location information of the current control cycle is obtained.

[0185] In one embodiment, the vehicle driving control module 803 is further configured to acquire target speed information and real-time speed information of the following vehicle corresponding to the current control cycle, and acquire the position information of the leading vehicle in the current control cycle; acquire spring force information of the following vehicle corresponding to the current control cycle based on the real-time position difference between the real-time position information and the position information of the leading vehicle in the current control cycle, and acquire damping force information of the following vehicle corresponding to the current control cycle based on the deviation between the real-time speed information and the target speed information; and control the spring force output and damping force output of the following vehicle in the current control cycle according to the spring force information and the damping force information, so as to control the driving of the following vehicle in the current control cycle.

[0186] In one embodiment, the vehicle driving control module 803 is further configured to acquire a pre-set target position difference; the target position difference is the pre-set ideal position difference between the leading vehicle and the following vehicle in the current control cycle; and acquire spring force information based on the deviation between the real-time position difference and the ideal position difference.

[0187] In one embodiment, the vehicle driving control module 803 is further configured to: obtain the remaining time for formation change corresponding to the current control cycle based on a preset formation change time; wherein the formation change time is a preset time for the first vehicle formation to change to the second vehicle formation; obtain the original target speed information of the current control cycle based on the difference between the real-time position information and the second performance position information of the current control cycle, and the remaining time for formation change; obtain the predicted acceleration information of the following vehicle in the current control cycle; the predicted acceleration information is generated based on the historical driving trajectory of the following vehicle; and correct the original target speed information using the predicted acceleration information to obtain the target speed information of the current control cycle.

[0188] In one embodiment, the positioning signal includes a Bluetooth positioning signal and an ultra-wideband positioning signal; the following vehicle includes a first type of following vehicle and a second type of following vehicle; the vehicle driving control module 803 is further configured to receive the ultra-wideband positioning signal sent by the leading vehicle in the current control cycle when the following vehicle is a first type of following vehicle; and to receive the Bluetooth positioning signal sent by the first type of following vehicle associated with the following vehicle in the current control cycle in a target time slot pre-allocated for the following vehicle when the following vehicle is a second type of following vehicle.

[0189] In one embodiment, the vehicle driving control module 803 is further configured to, when the following vehicle is a first type of following vehicle, acquire each second type of following vehicle associated with the following vehicle, and the vehicle platooning order of each second type of following vehicle in the vehicle platoon; and allocate target time slots to each second type of following vehicle based on the vehicle platooning order.

[0190] In one embodiment, the vehicle driving control module 803 is further configured to, when the difference between the first location information and the second location information is less than or equal to a preset threshold, perform weighted processing on the first location information and the second location information to obtain real-time location information; when the difference between the first location information and the second location information is greater than the preset threshold, re-execute the step of receiving the positioning signal sent by the associated vehicle in the vehicle platoon during the current control cycle and obtaining the first location information of the following vehicle during the current control cycle through the positioning signal, until the difference between the first location information and the second location information is less than or equal to the preset threshold.

[0191] Each module in the aforementioned vehicle platooning control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the controller in hardware form or independent of it, or stored in the memory of the controller in software form, so that the processor can call and execute the corresponding operations of each module.

[0192] In one embodiment, a controller is provided, the internal structure of which can be shown in the following diagram. Figure 9As shown, the controller includes a processor, memory, input / output interfaces, and a communication interface. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a vehicle platooning control method.

[0193] Those skilled in the art will understand that Figure 9 The structure shown is a block diagram of a partial structure related to the solution of this application, and does not constitute a limitation on the controller applied thereto by the solution of this application. The specific controller may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0194] In one exemplary embodiment, a controller is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0195] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method embodiments.

[0196] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0197] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0198] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program mentioned can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0199] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0200] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle platooning control method, characterized in that, A controller applied to any following vehicle in a vehicle platoon, the method comprising: The vehicle formation positioning deviation information is received from the leader vehicle in the vehicle formation. The vehicle formation positioning deviation information is calculated by the leader vehicle based on the deviation between the first vehicle formation and the second vehicle formation after receiving the vehicle formation change instruction. The first vehicle formation is the current vehicle formation of the vehicle formation, and the second vehicle formation is the vehicle formation after the vehicle formation change. Based on the first performance position information of the following vehicle in the first vehicle formation and the vehicle formation positioning deviation information, the second performance position information of the following vehicle in the second vehicle formation is obtained; Control the following vehicle to travel to the performance location corresponding to the second performance location information, and obtain the real-time location information of the following vehicle during the process of the following vehicle traveling to the performance location; When the real-time location information indicates that the following vehicle has traveled to the performance location, the following vehicle is controlled to perform a light show at the performance location.

2. The method according to claim 1, characterized in that, The process of the following vehicle traveling to the performance location includes multiple different control cycles; the number of real-time location information of the following vehicle is multiple, each corresponding to a different control cycle; obtaining the real-time location information of the following vehicle includes: The system receives a positioning signal sent by an associated vehicle in the vehicle platoon during the current control cycle, and obtains the first position information of the following vehicle during the current control cycle through the positioning signal; the current control cycle can be any one of multiple control cycles. If the current control cycle is not the first control cycle, the historical position information, historical speed information, and historical acceleration information of the following vehicle in the previous control cycle of the current control cycle are obtained. Based on the historical location information, the historical speed information, and the historical acceleration information, the second location information of the following vehicle in the current control cycle is obtained, and based on the first location information and the second location information, the real-time location information of the current control cycle is obtained.

3. The method according to claim 2, characterized in that, After obtaining the real-time location information, the process further includes: The target speed information and real-time speed information of the following vehicle corresponding to the current control cycle are obtained, and the position information of the leading vehicle in the current control cycle is obtained. Based on the real-time position difference between the real-time position information of the current control cycle and the position information of the leading vehicle, the spring force information of the following vehicle corresponding to the current control cycle is obtained, and based on the deviation between the real-time speed information and the target speed information, the damping force information of the following vehicle corresponding to the current control cycle is obtained. The spring force output and damping force output of the following vehicle in the current control cycle are controlled according to the spring force information and the damping force information, so as to control the driving of the following vehicle in the current control cycle.

4. The method according to claim 3, characterized in that, The step of obtaining the spring force information of the following vehicle corresponding to the current control cycle based on the real-time position difference between the real-time position information of the current control cycle and the position information of the leading vehicle includes: Obtain a pre-set target position difference; the target position difference is the pre-set ideal position difference between the lead vehicle and the follower vehicle in the current control cycle; The spring force information is obtained based on the deviation between the real-time position difference and the ideal position difference.

5. The method according to claim 3, characterized in that, The target speed information for the current control cycle is obtained through the following steps: Based on the preset formation change time, obtain the remaining time for the formation change corresponding to the current control cycle; wherein the formation change time is the preset time for the first vehicle formation to change to the second vehicle formation; Based on the difference between the real-time position information of the current control cycle and the second performance position information, and the remaining time of the formation change, the original target speed information of the current control cycle is obtained; The predicted acceleration information of the following vehicle in the current control cycle is obtained; the predicted acceleration information is generated based on the historical driving trajectory of the following vehicle. The predicted acceleration information is used to correct the original target velocity information to obtain the target velocity information for the current control cycle.

6. The method according to claim 2, characterized in that, The positioning signals include: Bluetooth positioning signals and ultra-wideband positioning signals; the following vehicles include first-type following vehicles and second-type following vehicles; receiving the positioning signals sent by the associated vehicles of the following vehicles in the vehicle platoon during the current control cycle includes: When the following vehicle is a first type of following vehicle, the ultra-wideband positioning signal sent by the leading vehicle in the current control cycle is received. In the case that the following vehicle is a second type of following vehicle, the Bluetooth positioning signal sent by the first type of following vehicle associated with the following vehicle in the current control cycle is received in the target time slot pre-allocated for the following vehicle.

7. The method according to claim 6, characterized in that, The method further includes: When the following vehicle is a first type of following vehicle, obtain each second type of following vehicle associated with the following vehicle, and the vehicle formation order of each second type of following vehicle in the vehicle formation; Based on the platooning order of each vehicle, a target time slot is allocated to each of the second type of following vehicles.

8. The method according to claim 2, characterized in that, The step of obtaining the real-time location information for the current control cycle based on the first location information and the second location information includes: If the difference between the first location information and the second location information is less than or equal to a preset threshold, the first location information and the second location information are weighted to obtain the real-time location information. If the difference between the first location information and the second location information is greater than the preset threshold, the step of receiving the positioning signal sent by the associated vehicle of the following vehicle in the vehicle formation during the current control cycle and obtaining the first location information of the following vehicle in the current control cycle through the positioning signal is re-executed until the difference between the first location information and the second location information is less than or equal to the preset threshold.

9. A vehicle platooning control device, characterized in that, A controller applied to any following vehicle in a vehicle platoon, the device comprising: The formation deviation receiving module is used to receive vehicle formation positioning deviation information sent by the leader vehicle in the vehicle formation; the vehicle formation positioning deviation information is calculated by the leader vehicle based on the deviation between the first vehicle formation and the second vehicle formation after receiving the vehicle formation change instruction; the first vehicle formation is the current vehicle formation of the vehicle formation, and the second vehicle formation is the vehicle formation after the vehicle formation change. The performance position acquisition module is used to acquire the second performance position information of the following vehicle in the second vehicle formation based on the first performance position information of the following vehicle in the first vehicle formation and the vehicle formation positioning deviation information; The vehicle driving control module is used to control the following vehicle to drive to the performance position corresponding to the second performance position information, and to obtain the real-time position information of the following vehicle during the process of the following vehicle driving to the performance position; The light show execution module is used to control the following vehicle to perform a light show at the performance location when the real-time location information indicates that the following vehicle has driven to the performance location.

10. A controller comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

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