A vehicle platoon arrangement control method and device, a terminal device, and a storage medium

Abstract

The application discloses a kind of automobile queue arrangement control method, device, terminal equipment and storage medium, belong to the field of automobile queue arrangement control, method is: based on queue arrangement function opening instruction and the vehicle state information of car is obtained to check through flag;When check through, obtain queue arrangement instruction;Based on queue arrangement instruction determines arrangement instruction type and target vehicle, and then based on arrangement instruction type and target vehicle obtains arranged queue information;Based on arranged queue information and pre-set head car mode selection parameter obtains queue operation configuration;Based on arranged queue information obtains formation power synergy parameter, and based on queue operation configuration and formation power synergy parameter obtains synchronous torque control instruction;Obtain variable instruction, based on variable instruction to synchronous torque control instruction is updated, obtains target queue control instruction;Based on target queue control instruction executes automobile queue arrangement operation, to improve the reliability of automobile queue arrangement control.

Description

Technical Field

[0001] This invention relates to the field of vehicle platooning control, and more particularly to a vehicle platooning control method, apparatus, terminal equipment, and storage medium. Background Technology

[0002] Current technologies related to autonomous vehicle platooning primarily focus on determining initial platooning schemes in a vehicle-to-everything (V2X) environment, centralized scheduling of autonomous vehicles across multiple areas, and optimizing platoon member additions and subtractions based on fuel consumption. Some technologies combine driver and vehicle information to determine platooning access or arrange freight platoons including special vehicles based on operational plans. Existing platooning technologies have the following shortcomings: First, the platooning types are limited, failing to adapt to diverse scenarios requiring dedicated platooning, such as wedding car convoys, or dynamic platooning for high-speed driving. Second, the coordination between platooning arrangement and vehicle power control is weak, failing to unify the torque control methods for vehicles within the platoon, making it difficult to effectively reduce wind resistance of following vehicles and mitigate energy consumption increases and safety risks associated with emergency braking. Third, unrelated vehicles are prone to randomly inserting into the platoon, affecting the orderliness and safety of platooning operations.

[0003] Meanwhile, the power drive control of existing autonomous vehicles mostly realizes the switching between intelligent driving and manual mode for a single vehicle, but does not optimize torque coordination for platooning scenarios. The acceleration, deceleration and braking torque of vehicles in the platoon are controlled independently, which can easily lead to asynchronous driving between vehicles, further increasing wind resistance and energy consumption. In addition, the power output of vehicles is not uniformly limited according to the platooning status, which cannot fully realize the economic advantages of platooning. Summary of the Invention

[0004] This invention provides a vehicle queue arrangement control method, device, terminal equipment, and storage medium, which can solve the above-mentioned problems in the prior art and improve the reliability of vehicle queue arrangement control.

[0005] This invention provides a vehicle platooning and control method, comprising: Obtain the queue orchestration function activation command and the vehicle status information of this vehicle; A verification pass flag is obtained based on the queue orchestration function activation command and the vehicle status information of this vehicle; When the verification pass flag is "verification passed", obtain the queue orchestration instruction; Based on the queue arrangement instructions, the arrangement instruction type and target vehicle are determined, and then the arranged queue information is obtained based on the arrangement instruction type and target vehicle; The queue operation configuration is obtained based on the pre-arranged queue information and the preset lead car mode selection parameters; Based on the arranged queue information, the formation power coordination parameters are obtained, and based on the queue operation configuration and the formation power coordination parameters, the synchronous torque control command is obtained; Obtain the change instruction, update the synchronous torque control instruction based on the change instruction, and obtain the target queue control instruction; The vehicle queue arrangement operation is performed based on the target queue control command.

[0006] In the above scheme, by first obtaining the queuing function activation command and the vehicle status information to generate a verification pass flag, and only after the verification is passed, the queuing command is obtained, ensuring the basic safety of the vehicles participating in the queuing. Then, based on the queuing command, the queuing command type and target vehicle are determined to generate the queuing information, which can flexibly adapt to different queuing scenarios. Furthermore, by combining the preset lead vehicle mode selection parameters, the queuing operation configuration is obtained, and the queuing power coordination parameters are obtained using the queuing information to generate the synchronous torque control command, realizing the unified coordination of the power output of vehicles in the queuing, effectively reducing the wind resistance and energy consumption of the rear vehicles. Finally, by obtaining the change command, the synchronous torque control command is dynamically updated to obtain the target queuing control command, and the queuing operation is executed based on the target command, so that the queuing can respond to various queuing changes in real time, ensuring the continuity and stability of queuing operation, avoiding queuing chaos or disbandment due to single-point changes, thereby improving the overall reliability of vehicle queuing.

[0007] Furthermore, the step of obtaining a verification pass flag based on the queue orchestration function activation command and the vehicle status information includes: In response to the queue orchestration function activation command, a set of verification parameters is extracted from the vehicle status information of the vehicle. When the set of verification parameters meets the preset admission conditions, the verification pass flag is generated.

[0008] In the above scheme, the verification parameter set is extracted from the vehicle status information in response to the queuing function activation command, and a verification pass flag is generated only when the verification parameter set meets the preset access conditions. This ensures that the vehicle meets the queuing requirements in terms of intelligent driving system, power system, driving section and manual intervention status, thereby improving the basic safety and reliability of queuing driving.

[0009] Further, the step of determining the orchestration instruction type and target vehicle based on the queue orchestration instruction, and then obtaining the orchestrated queue information based on the orchestration instruction type and target vehicle, includes: When the orchestration instruction type is an internal queue creation instruction, the queue creation information of the target vehicle is obtained, and the orchestrated queue information is obtained based on the queue creation information; When the orchestration instruction type is an external queue creation instruction, the target vehicle is controlled to broadcast a pre-acquired queuing detection signal in order to obtain the orchestrated queue information based on the queuing detection signal; When the orchestration instruction type is an external queue join request, the target vehicle is controlled to broadcast join request information to obtain queuing information, and then the orchestrated queue information is obtained based on the queuing information.

[0010] The above scheme handles three scenarios—internal queue creation, external queue creation, and external queue join request—based on the type of orchestration instruction. When creating an internal queue, it obtains the queue creation information of the target vehicle to generate orchestrated queue information. When creating an external queue, it controls the target vehicle to broadcast a formation detection signal and generates orchestrated queue information based on the response. When an external queue join request is received, it controls the target vehicle to broadcast the join request information and generates orchestrated queue information based on the feedback formation information. This scheme fully supports both closed and open formation modes, while standardizing the process of external vehicle joins and preventing the arbitrary insertion of irrelevant vehicles.

[0011] Furthermore, obtaining the queue operation configuration based on the arranged queue information and preset lead vehicle mode selection parameters includes: Based on the pre-arranged queue information, the vehicle number and vehicle navigation distance are obtained; The target lead vehicle is obtained based on the preset lead vehicle mode selection parameters and the vehicle number; The vehicle arrangement order is obtained based on a preset arrangement pattern, the vehicle number, the target lead vehicle, and the vehicle navigation distance; The queue operation configuration is obtained based on the target lead vehicle and the order in which the vehicles are arranged.

[0012] In the above scheme, vehicle numbers and vehicle navigation distances are obtained based on the pre-arranged queue information. The target lead vehicle is then determined by combining the preset lead vehicle mode selection parameters. The vehicle arrangement order is then obtained based on the preset arrangement mode, vehicle numbers, target lead vehicle, and vehicle navigation distance. Finally, the queue operation configuration is generated based on the target lead vehicle and the vehicle arrangement order. This scheme achieves flexible arrangement of lead vehicle mode and vehicle order, supporting both manually set fixed order and automatic sorting based on navigation distance, thus improving the flexibility and adaptability of platoon management.

[0013] Further, obtaining the target lead vehicle based on preset lead vehicle mode selection parameters and the vehicle number includes: When the preset lead vehicle mode selection parameter is fixed lead vehicle mode, the user input fixed lead vehicle is obtained, and the target lead vehicle is determined based on the user input fixed lead vehicle; When the preset lead vehicle mode selection parameter is set to change lead vehicle mode, the current lead vehicle data is obtained, and the target lead vehicle is determined based on the vehicle number of the current lead vehicle data. When the preset lead vehicle mode selection parameter is set to the rotating lead vehicle mode, the target lead vehicle is determined based on the preset rotation rules and the vehicle number.

[0014] In the above scheme, the target lead vehicle is determined by obtaining user input to fix the lead vehicle in the fixed lead vehicle mode, the target lead vehicle is determined based on the vehicle number of the current lead vehicle in the change lead vehicle mode, and the target lead vehicle is determined based on the preset rotation rules and vehicle number in the rotation lead vehicle mode. This achieves differentiated control of the three lead vehicle modes, which not only meets the need for a fixed lead vehicle in scenarios such as wedding cars, but also supports automatic switching when the lead vehicle fails and the average distribution of risks during long-distance travel, thus improving the flexibility and robustness of convoy lead vehicle management.

[0015] Further, the process of obtaining the vehicle arrangement order based on the preset arrangement pattern, the vehicle number, the target lead vehicle, and the vehicle navigation distance includes: When the preset arrangement mode is the manual setting mode, the vehicle arrangement order is determined based on the size of the vehicle number; When the preset arrangement mode is the default state mode, the last vehicle is determined based on the vehicle navigation distance, and the vehicle arrangement order is determined based on the target lead vehicle and the last vehicle.

[0016] In the above scheme, the vehicle arrangement order is determined directly based on the size of the vehicle number in the manual setting mode, and the last vehicle is determined based on the navigation distance in the default state mode. The complete arrangement order is determined based on the target lead vehicle and the last vehicle. This realizes support for both manual arrangement by the driver and automatic sorting by the system. In the default state mode, the vehicles are arranged from farthest to closest according to the navigation distance, so that the vehicle with the farthest navigation distance is the lead vehicle. This is conducive to the consistency of the overall driving path of the convoy and simplifies the user operation.

[0017] Furthermore, it also includes: Based on the arranged queue information and the target lead vehicle, a disbanding instruction is obtained; The vehicle queue is disbanded based on the disbanding instruction.

[0018] In the above scheme, by generating a disbanding command based on the arranged queue information and the target lead vehicle and executing the queue disbanding operation, the platoon control can be terminated in a timely manner and the independent driving mode of the vehicles can be restored when disbanding conditions such as insufficient number of vehicles in the platoon, lead vehicle failure and no available new lead vehicle, large-scale vehicle withdrawal, communication interruption, or driving to a non-platoon section are met. This avoids the continuous operation of the platoon in abnormal conditions and improves the safety of platoon driving.

[0019] Another embodiment of the present invention provides a vehicle queuing control device, comprising: The basic data acquisition module is used to acquire the queue orchestration function start command and the vehicle status information of this vehicle; The verification pass flag acquisition module is used to obtain the verification pass flag based on the queue orchestration function start command and the vehicle status information of the vehicle. The queue orchestration instruction acquisition module is used to acquire the queue orchestration instruction when the verification pass flag is verified. The pre-arranged queue information acquisition module is used to determine the arrangement instruction type and target vehicle based on the queue arrangement instruction, and then obtain the pre-arranged queue information based on the arrangement instruction type and target vehicle. The queue operation configuration acquisition module is used to obtain the queue operation configuration based on the arranged queue information and the preset lead car mode selection parameters; The synchronous torque control command acquisition module is used to obtain the formation power coordination parameters based on the arranged queue information, and to obtain the synchronous torque control command based on the queue operation configuration and the formation power coordination parameters; The target queue control instruction acquisition module is used to acquire change instructions, update the synchronous torque control instruction based on the change instructions, and obtain the target queue control instruction. The vehicle queue arrangement operation execution module is used to execute vehicle queue arrangement operations based on the target queue control command.

[0020] Another embodiment of the present invention provides a terminal device, including: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the steps of the vehicle queue arrangement control method of the present invention.

[0021] Another embodiment of the present invention also provides a computer-readable storage medium item, including: a stored computer program, which, when the computer program is running, controls the device where the computer-readable storage medium is located to perform the steps of a car queue arrangement control method of the present invention. Attached Figure Description

[0022] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a flowchart illustrating a vehicle queue arrangement control method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a car queue arrangement control device provided in an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0026] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0029] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0030] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0031] See Figure 1 To address the aforementioned problems in the prior art and improve the reliability of vehicle queue arrangement control, an embodiment of the present invention provides a vehicle queue arrangement control method, comprising: Step S1: Obtain the queue orchestration function activation command and the vehicle status information; Step S2: Obtain a verification pass flag based on the queue orchestration function start command and the vehicle status information of this vehicle; Step S3: When the verification pass flag is "verification passed", obtain the queue arrangement instruction; Step S4: Determine the arrangement instruction type and target vehicle based on the queue arrangement instruction, and then obtain the arranged queue information based on the arrangement instruction type and target vehicle; Step S5: Obtain the queue operation configuration based on the arranged queue information and the preset lead car mode selection parameters; Step S6: Obtain the formation power coordination parameters based on the arranged queue information, and obtain the synchronous torque control command based on the queue operation configuration and the formation power coordination parameters; Step S7: Obtain the change instruction, update the synchronous torque control instruction based on the change instruction, and obtain the target queue control instruction; Step S8: Perform vehicle queue arrangement operation based on the target queue control command.

[0032] In the above scheme, by first obtaining the queuing function activation command and the vehicle status information to generate a verification pass flag, and only after the verification is passed, the queuing command is obtained, ensuring the basic safety of the vehicles participating in the queuing. Then, based on the queuing command, the queuing command type and target vehicle are determined to generate the queuing information, which can flexibly adapt to different queuing scenarios. Furthermore, by combining the preset lead vehicle mode selection parameters, the queuing operation configuration is obtained, and the queuing power coordination parameters are obtained using the queuing information to generate the synchronous torque control command, realizing the unified coordination of the power output of vehicles in the queuing, effectively reducing the wind resistance and energy consumption of the rear vehicles. Finally, by obtaining the change command, the synchronous torque control command is dynamically updated to obtain the target queuing control command, and the queuing operation is executed based on the target command, so that the queuing can respond to various queuing changes in real time, ensuring the continuity and stability of queuing operation, avoiding queuing chaos or disbandment due to single-point changes, thereby improving the overall reliability of vehicle queuing.

[0033] Furthermore, a vehicle platooning orchestration control method relies on the following components for execution: (1) Vehicle Controller (VCU): As the core of platoon control, it is responsible for judging the platoon arrangement conditions, executing the platoon creation, joining, leaving and reconnection logic, and performing the lead vehicle mode switching control; at the same time, it calculates and issues unified torque control commands in combination with the platoon status to realize the torque coordination of vehicles in the platoon; it is also responsible for collecting information such as vehicle faults, vehicle speed, and gear position to provide vehicle condition basis for platoon control.

[0034] (2) Gateway Controller (GW): Responsible for information exchange and forwarding between vehicles, including queue application information, formation status information, torque coordination instructions, vehicle condition information, etc.; at the same time, it filters formation applications from irrelevant vehicles to ensure the effectiveness of vehicle-to-vehicle interaction.

[0035] (3) Autonomous Driving Controller (ADU): It is responsible for collecting information about the surrounding environment of the vehicle (such as the distance to the vehicle in front, the position of the vehicle behind, and road conditions), receiving platoon control instructions from the VCU, controlling the vehicle's steering, acceleration and deceleration and other basic intelligent driving actions, and cooperating with the VCU to realize platoon driving, following other vehicles, changing lanes and other operations.

[0036] (4) Motor controller (MCU): responds to the formation torque command issued by the VCU, controls the motor to output driving torque or braking torque, and ensures the synchronization of power output of vehicles in the formation.

[0037] (5) Onboard sensors and communication modules: responsible for collecting information such as vehicle position, speed and distance, realizing low-latency wireless communication between vehicles, and providing real-time data support for formation control.

[0038] (6) Instrument (IC): Displays the formation status (such as queue type, queue number, lead vehicle information, exit prompt) and formation fault information, realizing human-machine interaction between the driver and the formation system.

[0039] It should be noted that, specifically for step S1: the command to activate the queue arrangement function can be triggered by the driver through a human-machine interface (such as the instrument IC or the central control screen); the vehicle status information is collected by the vehicle controller (VCU) through on-board sensors and communication modules, including the intelligent driving system fault status, the power system fault status, the current road segment type, the current vehicle speed, and the brake pedal and accelerator pedal signals, etc.

[0040] For step S2, specifically: the VCU makes a basic judgment on the vehicle status. When the vehicle meets the requirements of normal intelligent driving mode, no fault in the power system, and is in a road section suitable for platooning and no manual intervention in driving, a verification pass mark is generated.

[0041] For step S3, specifically: when the verification pass flag indicates verification passed, a queue arrangement instruction is obtained. The queue arrangement instruction can be an internal queue creation instruction set by the driver, an external queue creation instruction, or an external queue join application actively broadcast by the vehicle.

[0042] For step S4, specifically: if it is an internal queue creation instruction, the target vehicle is the initiating vehicle. By inviting designated vehicles and registering members, an arranged queue information containing queue type, member list, vehicle sequence number, lead vehicle identifier, platoon spacing parameters, and torque coordination coefficient is generated; if it is an external queue creation instruction, the target vehicle is the detection vehicle. By broadcasting detection signals and filtering responding vehicles, external queue information is generated; if it is an external queue join application, the target vehicle is the applying vehicle. After verification by the lead vehicle, a sequence number is assigned and the queue information is updated.

[0043] For step S5, specifically: the preset lead vehicle mode selection parameters include fixed lead vehicle mode, change lead vehicle mode or rotating lead vehicle mode. Combined with the vehicle sequence number, navigation distance and other information in the arranged queue information, the target lead vehicle and the vehicle arrangement order are determined, thereby obtaining the queue operation configuration.

[0044] For step S6, specifically: Formation power coordination parameters include road condition information (road slope, curvature), current vehicle speed, formation spacing, formation size, ADU intelligent driving torque, vehicle fault torque limit, BMS battery power, MCU maximum allowable torque, and rear axle allowable torque. The target lead vehicle's VCU calculates the baseline torque based on the formation configuration and these parameters. Combining this with the torque coordination coefficient (the lead vehicle's coefficient is 1, decreasing sequentially for subsequent vehicles) and the maximum allowable torque threshold, it generates a unified synchronous torque control command, which is then distributed to the VCUs of all member vehicles via the gateway GW. Specifically: Based on the pre-arranged queue information, the platooning power coordination parameters are obtained. These parameters include: current road gradient, road curvature, vehicle speed, platoon spacing, queue size, intelligent driving torque provided by the Autopilot Controller (ADU), vehicle fault torque limit, battery management system (BMS) power, motor controller (MCU) maximum allowable torque, and rear axle allowable torque. Specifically, road gradient, road curvature, vehicle speed, platoon spacing, and queue size are collected in real-time by the target lead vehicle's VCU through onboard sensors and communication modules; the ADU intelligent driving torque, vehicle fault torque limit, BMS battery power, MCU maximum allowable torque, and rear axle allowable torque are obtained from their respective controllers.

[0045] Furthermore, based on the queue operation configuration and the formation power coordination parameters, the synchronous torque control command is obtained according to the following steps: The target lead vehicle's VCU collects five parameters in real time: current road gradient, road curvature, vehicle speed, platoon spacing, and platoon size. A superposition and allocation method is used to calculate the platoon's baseline driving torque / baseline braking torque. Specifically: based on the cruising torque corresponding to the vehicle speed, torque or braking is increased according to road gradient (increased torque uphill, increased braking downhill); torque is decreased according to road curvature (appropriately decreased torque on curves with high curvature); torque smoothness is adjusted according to platoon spacing (smooth torque for small-space platoons); and torque conservatism is adjusted according to platoon size (conservative torque for large platoons). After the above superposition and correction, a unified baseline driving torque / baseline braking torque is output.

[0046] The baseline driving torque / braking torque obtained above is combined with the ADU intelligent driving torque, vehicle fault torque limit, BMS battery power, MCU motor maximum allowable torque, and rear axle allowable torque, and the smaller value is taken to determine the maximum allowable torque threshold for the formation. This maximum allowable torque threshold for the formation ensures that the vehicle's torque output is within a safe range, protecting the performance of components such as the battery, motor, and rear axle.

[0047] The target lead vehicle's VCU sets a torque coordination coefficient for each member vehicle based on the position of each vehicle in the queue (target lead vehicle, middle vehicle, and last vehicle) in the queue operation configuration. The target lead vehicle's own torque coordination coefficient is 1, and the torque coordination coefficients of the middle and last vehicles decrease sequentially (e.g., 0.9, 0.8, the specific values ​​can be calibrated) to reduce the wind resistance of the following vehicles and optimize the power output of the following vehicles in following the leading vehicles.

[0048] The target lead vehicle's VCU synthesizes the reference drive torque / reference braking torque, the torque coordination coefficient for each vehicle, and the maximum permissible torque threshold of the formation into a unified torque command. The torque coordination coefficient is carried separately for each vehicle (e.g., a coefficient of 1 for vehicle A, 0.9 for vehicle B, and 0.8 for vehicle C). The target lead vehicle's VCU then distributes this command to the VCUs of all member vehicles via the gateway GW.

[0049] After receiving the unified torque command, each member vehicle's VCU performs the following secondary verification: (1) Multiply the base torque issued by the target lead vehicle by the torque coordination coefficient allocated to this vehicle by the target lead vehicle to obtain the initial target torque of this vehicle; (2) Compare the initial target torque with the maximum allowable torque threshold issued by the target lead vehicle; (3) Combine the vehicle's own vehicle condition (motor capability, battery status, fault status, torque limiting requirements) to obtain the maximum allowable output torque of this vehicle; (4) Take the minimum value among the initial target torque, the maximum allowable torque threshold of the formation, and the allowable torque of this vehicle as the final output torque of the member vehicle and send it to the MCU for execution.

[0050] When encountering sudden road conditions (such as obstacles ahead), the target lead vehicle's ADU detects the required braking torque based on the actual road conditions (e.g., -500Nm requested if there's an obstacle 30 meters ahead, -2000Nm requested if there's an obstacle 10 meters ahead). The target lead vehicle's VCU receives this requested negative torque from the ADU and combines it with the minimum absolute value of other vehicle components (such as the battery's allowable recharge torque, the motor's allowable braking torque, and the rear axle's allowable braking torque). For example, if the battery's allowable recharge torque is -300Nm, but the ADU requests -400Nm, then the motor will be requested to perform the -300Nm request; if the braking force is insufficient for deceleration, mechanical braking will compensate. The calculated emergency braking torque is issued along with the synchronization torque command to achieve synchronized braking in the formation.

[0051] When a vehicle needs to be manually taken over and requires emergency acceleration or deceleration, the vehicle's VCU sends a torque anomaly signal to the target lead vehicle. The target lead vehicle's VCU immediately suspends torque coordination control of that vehicle. Torque coordination control of that vehicle is resumed after the manual takeover ends or the vehicle leaves the formation.

[0052] For step S7, specifically: the change instructions include vehicle joining applications, vehicle leaving notifications, etc. For example, when a vehicle leaves, the automatic reconnection logic is triggered, the target lead vehicle's VCU updates the queue member information and recalculates the torque instructions. Specifically: The system acquires a change command, which includes an active or passive exit notification from any vehicle within the queue. Exit triggering conditions include: vehicle reaching its destination, powertrain / driving system malfunction, driver manually disabling queue arrangement, manual intervention in driving, and vehicle-to-vehicle communication interruption. When any of the above conditions are met, the exiting vehicle's VCU sends an exit notification to the target lead vehicle and adjacent vehicles via the GW, while the instrument cluster IC displays an exit prompt. This exit notification serves as the change command.

[0053] The synchronous torque control command is updated based on the change command to obtain the target queue control command. Specifically, after receiving the exit notification, the target lead vehicle VCU sends a formation adjustment command to all members in the queue, triggering automatic reconnection logic: among all vehicles behind the exiting vehicle, the vehicle immediately following the exiting vehicle first recognizes the exit signal and automatically adjusts its speed and distance to reconnect to the previous end of the normal queue. Subsequent vehicles follow suit and reconnect, re-forming a continuous queue. The target lead vehicle VCU updates the queue number and member information according to the queue status after reconnection, and recalculates the torque coordination coefficient based on the updated queue information, thereby updating the original synchronous torque control command to the target queue control command.

[0054] If, after reconnection, the number of vehicles in the platoon is less than 2, the lead vehicle malfunctions and there is no new lead vehicle to choose from, more than 50% of the vehicles leave the platoon, there is a large-scale interruption in vehicle-to-vehicle communication, or the vehicles travel to a non-platoon section, the target lead vehicle's VCU will announce the disbandment of the platoon, send a disbandment notice to all members, and the vehicles will resume independent driving mode. At this time, the target platoon control command is the disbandment command.

[0055] For step S8, specifically: after each member vehicle's VCU receives the target queuing control command, it performs a secondary verification based on its own vehicle condition, and sends the final torque value to the MCU to control the motor output, thus realizing queuing driving; when the disbanding conditions are met, the target lead vehicle's VCU broadcasts a disbanding command, and the vehicle resumes independent driving mode.

[0056] In another embodiment, the step of obtaining a verification pass flag based on the queue orchestration function activation command and the vehicle status information includes: In response to the queue orchestration function activation command, a set of verification parameters is extracted from the vehicle status information of the vehicle. When the set of verification parameters meets the preset admission conditions, the verification pass flag is generated.

[0057] It should be noted that, in response to the queue orchestration function activation command, a set of verification parameters is extracted from the vehicle status information. The set of verification parameters includes the vehicle intelligent driving system fault status, power system fault status, vehicle-to-vehicle communication link status, current road segment type, current vehicle speed, brake pedal signal, and accelerator pedal signal, etc.

[0058] When the set of verification parameters meets the preset access conditions, a verification pass flag is generated. The preset access conditions include: the vehicle's intelligent driving mode is normal, and the ADU, VCU, and GW are fault-free, with uninterrupted vehicle-to-vehicle communication; the powertrain system is normal, and the BMS, MCU, and rear axle are fault-free, with torque output meeting platooning requirements; the current road segment is a highway, urban expressway, or dedicated road, and the vehicle speed is within the platooning adaptation range; there are no valid manual intervention signals on the brake and accelerator pedals (except in emergencies). When all the above conditions are met, the VCU generates a verification pass flag.

[0059] In another embodiment, the step of determining the orchestration instruction type and target vehicle based on the queue orchestration instruction, and then obtaining the orchestrated queue information based on the orchestration instruction type and target vehicle, includes: When the orchestration instruction type is an internal queue creation instruction, the queue creation information of the target vehicle is obtained, and the orchestrated queue information is obtained based on the queue creation information; When the orchestration instruction type is an external queue creation instruction, the target vehicle is controlled to broadcast a pre-acquired queuing detection signal in order to obtain the orchestrated queue information based on the queuing detection signal; When the orchestration instruction type is an external queue join request, the target vehicle is controlled to broadcast join request information to obtain queuing information, and then the orchestrated queue information is obtained based on the queuing information.

[0060] It should be noted that when the orchestration instruction type is an internal queue creation instruction, the queue creation information of the target vehicle is obtained, and the orchestrated queue information is obtained based on the queue creation information. Specifically, the target vehicle is the initiating vehicle. The driver sets queue creation information such as queue size, fixed lead vehicle identifier, platoon spacing, and torque coordination coefficient through the human-machine interface; the VCU of the initiating vehicle sends exclusive platoon invitations to designated vehicles within a preset range through the GW; after the invited vehicles confirm joining, the VCU of the initiating vehicle completes member registration, assigns a unique serial number to each vehicle in the queue, and generates orchestrated queue information containing a fixed lead vehicle identifier, each vehicle's serial number, and permission to prohibit external vehicles from joining.

[0061] When the orchestration instruction type is an external queue creation instruction, the target vehicle is controlled to broadcast pre-acquired platoon detection signals to obtain the orchestrated queue information based on the platoon detection signals. Specifically, the target vehicle is a detection vehicle, whose VCU broadcasts platoon detection signals (including vehicle type, intelligent driving status, driving segment, and vehicle speed) to the surrounding area through the GW; among the surrounding vehicles, those that meet the basic judgment conditions will send back response signals; the detection vehicle's VCU filters out vehicles with the same driving direction, speed deviation within the threshold, and the same road segment as a candidate vehicle set, sends a platoon formation application to the candidate vehicle set, and completes member registration after the candidate vehicles are confirmed; and assigns sequence numbers to each vehicle in the queue according to the navigation distance from farthest to nearest, with the vehicle with the farthest navigation distance being the target lead vehicle by default, generating orchestrated queue information containing the lead vehicle identifier and the sequence numbers of each vehicle.

[0062] When the orchestration instruction type is an external queue join request, the target vehicle is controlled to broadcast join request information to obtain platooning information, and then the orchestrated queue information is obtained based on the platooning information. Specifically, the target vehicle is the requesting vehicle, whose VCU broadcasts the join request (including vehicle information, driving status, and request intention) to the surrounding area through the GW; the lead vehicle GW of the target external queue receives the request and forwards it to the lead vehicle VCU; the target lead vehicle VCU verifies the requesting vehicle (consistency of driving direction, speed deviation, normal vehicle condition, and communication connectivity); after successful verification, the target lead vehicle VCU sends join confirmation information and the assigned queue number to the requesting vehicle. After the requesting vehicle joins the designated position in the platoon, the target lead vehicle VCU updates the queue member information, generates orchestrated queue information containing the new members and their numbers, and synchronizes it to all member vehicles.

[0063] In another embodiment, obtaining the queue operation configuration based on the arranged queue information and preset lead vehicle mode selection parameters includes: Based on the pre-arranged queue information, the vehicle number and vehicle navigation distance are obtained; The target lead vehicle is obtained based on the preset lead vehicle mode selection parameters and the vehicle number; The vehicle arrangement order is obtained based on a preset arrangement pattern, the vehicle number, the target lead vehicle, and the vehicle navigation distance; The queue operation configuration is obtained based on the target lead vehicle and the order in which the vehicles are arranged.

[0064] It should be noted that the vehicle number and vehicle navigation distance are obtained based on the pre-arranged queue information. The pre-arranged queue information includes a unique serial number (i.e., vehicle number) for each vehicle and navigation distance data for each vehicle. Then, the target lead vehicle is obtained based on preset lead vehicle mode selection parameters and the vehicle number. The preset lead vehicle mode selection parameters are manually set by the driver or automatically triggered by the VCU, including a fixed lead vehicle mode, a changed lead vehicle mode, or a rotating lead vehicle mode; the vehicle that should currently serve as the lead vehicle is determined as the target lead vehicle based on the selected mode and vehicle number. Then, the vehicle arrangement order is obtained based on the preset arrangement mode, the vehicle number, the target lead vehicle, and the vehicle navigation distance. The preset arrangement mode includes a manual setting mode and a default state mode: in the manual setting mode, the order is determined according to the vehicle number set by the driver; in the default state, vehicles are arranged from farthest to closest navigation distance, with the target lead vehicle being the vehicle with the farthest navigation distance and the last vehicle being the vehicle with the closest navigation distance. Finally, the queue operation configuration is obtained based on the target lead vehicle and the vehicle arrangement order. The queue operation configuration includes at least the current lead vehicle identifier, the order of each vehicle, and a dynamic platoon spacing function (dynamically adjusted according to vehicle speed). Specifically, the faster the vehicle speed, the larger the spacing. Preferably, the dynamic platoon spacing function can preset a mapping table between vehicle speed and spacing, and adjust the spacing based on each vehicle and the mapping table.

[0065] In another embodiment, obtaining the target lead vehicle based on preset lead vehicle mode selection parameters and the vehicle number includes: When the preset lead vehicle mode selection parameter is fixed lead vehicle mode, the user input fixed lead vehicle is obtained, and the target lead vehicle is determined based on the user input fixed lead vehicle; When the preset lead vehicle mode selection parameter is set to change lead vehicle mode, the current lead vehicle data is obtained, and the target lead vehicle is determined based on the vehicle number of the current lead vehicle data. When the preset lead vehicle mode selection parameter is set to the rotating lead vehicle mode, the target lead vehicle is determined based on the preset rotation rules and the vehicle number.

[0066] It should be noted that when the preset lead vehicle mode selection parameter is set to fixed lead vehicle mode, the user input for a fixed lead vehicle is obtained, and the target lead vehicle is determined based on this input. Fixed lead vehicle mode is suitable for scenarios such as wedding cars where a fixed lead vehicle is required throughout the journey; it will not be changed unless the lead vehicle malfunctions or actively withdraws. When the preset lead vehicle mode selection parameter is set to change lead vehicle mode, the current lead vehicle data is obtained, and the target lead vehicle is determined based on the vehicle number in the current lead vehicle data. Changing lead vehicle mode is usually not the first mode. Typically, after executing the fixed lead vehicle mode, i.e., after the target lead vehicle has been determined, the current lead vehicle data is the relevant data for the target lead vehicle. When the target lead vehicle malfunctions, requires manual intervention, or reaches its destination, the target lead vehicle VCU sends a lead vehicle change prompt to all members in the queue. The driver can then manually select a new lead vehicle, or the VCU can automatically select the second-ranked vehicle in the queue as the new lead vehicle, which becomes the new target lead vehicle. When the preset lead vehicle mode selection parameter is set to the rotating lead vehicle mode, the target lead vehicle is determined based on the preset rotation rules and the vehicle number. Specifically, the driver can set the rotation cycle or rotation conditions (such as the lead vehicle traveling a preset distance / time). After reaching the rotation node, the target lead vehicle VCU will transfer control to the next numbered vehicle, and the rotation will proceed in sequence.

[0067] In another embodiment, obtaining the vehicle arrangement order based on a preset arrangement pattern, the vehicle number, the target lead vehicle, and the vehicle navigation distance includes: When the preset arrangement mode is the manual setting mode, the vehicle arrangement order is determined based on the size of the vehicle number; When the preset arrangement mode is the default state mode, the last vehicle is determined based on the vehicle navigation distance, and the vehicle arrangement order is determined based on the target lead vehicle and the last vehicle.

[0068] It should be noted that when the preset arrangement mode is manual setting mode, the vehicle arrangement order is determined based on the vehicle number, that is, the driver manually sets the sequence number of each vehicle, and they are arranged in ascending order of sequence number. The platoon spacing is uniformly set by the target lead vehicle VCU. When the preset arrangement mode is default state mode, the last vehicle is determined based on the vehicle navigation distance, and the vehicle arrangement order is determined based on the target lead vehicle and the last vehicle. Specifically, by default, they are arranged in order of navigation distance from farthest to closest, with the target lead vehicle being the vehicle with the farthest navigation distance, the last vehicle being the vehicle with the closest navigation distance, and the middle vehicles arranged in descending order of navigation distance. The platoon spacing is dynamically adjusted with vehicle speed; the faster the vehicle speed, the larger the spacing. Preferably, a mapping table between vehicle speed and spacing can be preset, and the spacing is adjusted based on each vehicle and this mapping table.

[0069] In another embodiment, a vehicle queue arrangement control method further includes: Based on the arranged queue information and the target lead vehicle, a disbanding instruction is obtained; The vehicle queue is disbanded based on the disbanding instruction.

[0070] It should be noted that the disbanding instruction is received based on the pre-arranged queue information and the target lead vehicle. Specifically, the target lead vehicle VCU uses the currently maintained pre-arranged queue information as data basis and, in conjunction with the status of the target lead vehicle, determines in real time whether the disbanding conditions are met. The disbandment conditions are associated with the pre-arranged queue information as follows: a disbandment command is generated when the number of vehicles in the platoon is less than two, based on the member list in the pre-arranged queue information; a disbandment command is generated when the target lead vehicle malfunctions and there are no other available vehicles (no vehicle with the second-highest serial number or the vehicle is also unable to serve as the lead vehicle), based on the vehicle serial number in the pre-arranged queue information; a disbandment command is generated when the number of vehicles that have withdrawn exceeds 50% of the total number of members, based on the member list in the pre-arranged queue information; a disbandment command is generated when vehicle-to-vehicle communication is largely interrupted, making it impossible to obtain the communication status of vehicles exceeding the threshold proportion in the pre-arranged queue information; and a disbandment command is generated when a vehicle travels to a non-platooned road segment (such as a regular urban road) and the information of this road segment does not match the queue driving environment recorded in the pre-arranged queue information.

[0071] Then, based on the disbanding command, the vehicle platoon is disbanded. The target lead vehicle's VCU broadcasts a disbanding notice to all member vehicles. After receiving the disbanding command, each vehicle's VCU resumes independent driving mode, stops torque coordination control, and the instrument IC displays that the platoon has been disbanded.

[0072] Based on the above method embodiments, corresponding apparatus embodiments are provided; like Figure 2 As shown, one embodiment of the present invention provides a vehicle queuing and control device, comprising: The basic data acquisition module is used to acquire the queue orchestration function start command and the vehicle status information of this vehicle; The verification pass flag acquisition module is used to obtain the verification pass flag based on the queue orchestration function start command and the vehicle status information of the vehicle. The queue orchestration instruction acquisition module is used to acquire the queue orchestration instruction when the verification pass flag is verified. The pre-arranged queue information acquisition module is used to determine the arrangement instruction type and target vehicle based on the queue arrangement instruction, and then obtain the pre-arranged queue information based on the arrangement instruction type and target vehicle. The queue operation configuration acquisition module is used to obtain the queue operation configuration based on the arranged queue information and the preset lead car mode selection parameters; The synchronous torque control command acquisition module is used to obtain the formation power coordination parameters based on the arranged queue information, and to obtain the synchronous torque control command based on the queue operation configuration and the formation power coordination parameters; The target queue control instruction acquisition module is used to acquire change instructions, update the synchronous torque control instruction based on the change instructions, and obtain the target queue control instruction. The vehicle queue arrangement operation execution module is used to execute vehicle queue arrangement operations based on the target queue control command.

[0073] It is understood that the above-described device embodiments correspond to the method embodiments of the present invention, and can implement the vehicle queue arrangement control method provided by any of the above-described method embodiments of the present invention.

[0074] It should be noted that the device embodiments described above are merely illustrative, and some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can specifically be implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0075] Based on the above-described embodiment of a vehicle queue arrangement control method, another embodiment of the present invention provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements a vehicle queue arrangement control method according to any embodiment of the present invention.

[0076] For example, in this embodiment, the computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the terminal device.

[0077] The terminal device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0078] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.

[0079] Based on the above-described method embodiments, another embodiment of the present invention provides a computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute a vehicle queue arrangement control method as described in any of the above-described method embodiments of the present invention.

[0080] The modules / units integrated in the device / terminal equipment, if implemented as software functional units and sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0081] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for controlling the queuing of vehicles, characterized in that, include: Obtain the queue orchestration function activation command and the vehicle status information of this vehicle; A verification pass flag is obtained based on the queue orchestration function activation command and the vehicle status information of this vehicle; When the verification pass flag is "verification passed", obtain the queue orchestration instruction; Based on the queue arrangement instructions, the arrangement instruction type and target vehicle are determined, and then the arranged queue information is obtained based on the arrangement instruction type and target vehicle; The queue operation configuration is obtained based on the pre-arranged queue information and the preset lead car mode selection parameters; Based on the arranged queue information, the formation power coordination parameters are obtained, and based on the queue operation configuration and the formation power coordination parameters, the synchronous torque control command is obtained; Obtain the change instruction, update the synchronous torque control instruction based on the change instruction, and obtain the target queue control instruction; The vehicle queue arrangement operation is performed based on the target queue control command.

2. The vehicle platooning arrangement control method according to claim 1, characterized in that, The verification pass flag obtained based on the queue orchestration function activation command and the vehicle status information includes: In response to the queue orchestration function activation command, a set of verification parameters is extracted from the vehicle status information of the vehicle. When the set of verification parameters meets the preset admission conditions, the verification pass flag is generated.

3. The vehicle platooning arrangement control method according to claim 1, characterized in that, The process of determining the orchestration instruction type and target vehicle based on the orchestration instruction, and then obtaining the orchestrated queue information based on the orchestration instruction type and target vehicle, includes: When the orchestration instruction type is an internal queue creation instruction, the queue creation information of the target vehicle is obtained, and the orchestrated queue information is obtained based on the queue creation information; When the orchestration instruction type is an external queue creation instruction, the target vehicle is controlled to broadcast a pre-acquired queuing detection signal in order to obtain the orchestrated queue information based on the queuing detection signal; When the orchestration instruction type is an external queue join request, the target vehicle is controlled to broadcast join request information to obtain queuing information, and then the orchestrated queue information is obtained based on the queuing information.

4. The vehicle platooning arrangement control method according to claim 1, characterized in that, The process of obtaining the queue operation configuration based on the pre-arranged queue information and preset lead vehicle mode selection parameters includes: Based on the pre-arranged queue information, the vehicle number and vehicle navigation distance are obtained; The target lead vehicle is obtained based on the preset lead vehicle mode selection parameters and the vehicle number; The vehicle arrangement order is obtained based on a preset arrangement pattern, the vehicle number, the target lead vehicle, and the vehicle navigation distance; The queue operation configuration is obtained based on the target lead vehicle and the order in which the vehicles are arranged.

5. The vehicle platooning arrangement control method according to claim 4, characterized in that, The process of obtaining the target lead vehicle based on preset lead vehicle mode selection parameters and the vehicle number includes: When the preset lead vehicle mode selection parameter is fixed lead vehicle mode, the user input fixed lead vehicle is obtained, and the target lead vehicle is determined based on the user input fixed lead vehicle; When the preset lead vehicle mode selection parameter is set to change lead vehicle mode, the current lead vehicle data is obtained, and the target lead vehicle is determined based on the vehicle number of the current lead vehicle data. When the preset lead vehicle mode selection parameter is set to the rotating lead vehicle mode, the target lead vehicle is determined based on the preset rotation rules and the vehicle number.

6. The vehicle platooning arrangement control method according to claim 5, characterized in that, The process of obtaining the vehicle arrangement order based on a preset arrangement pattern, the vehicle number, the target lead vehicle, and the vehicle navigation distance includes: When the preset arrangement mode is the manual setting mode, the vehicle arrangement order is determined based on the size of the vehicle number; When the preset arrangement mode is the default state mode, the last vehicle is determined based on the vehicle navigation distance, and the vehicle arrangement order is determined based on the target lead vehicle and the last vehicle.

7. The vehicle platooning arrangement control method according to claim 5, characterized in that, Also includes: Based on the arranged queue information and the target lead vehicle, a disbanding instruction is obtained; The vehicle queue is disbanded based on the disbanding instruction.

8. A vehicle platoon formation control device, characterized in that, include: The basic data acquisition module is used to acquire the queue orchestration function start command and the vehicle status information of this vehicle; The verification pass flag acquisition module is used to obtain the verification pass flag based on the queue orchestration function start command and the vehicle status information of the vehicle. The queue orchestration instruction acquisition module is used to acquire the queue orchestration instruction when the verification pass flag is verified. The pre-arranged queue information acquisition module is used to determine the arrangement instruction type and target vehicle based on the queue arrangement instruction, and then obtain the pre-arranged queue information based on the arrangement instruction type and target vehicle. The queue operation configuration acquisition module is used to obtain the queue operation configuration based on the arranged queue information and the preset lead car mode selection parameters; The synchronous torque control command acquisition module is used to obtain the formation power coordination parameters based on the arranged queue information, and to obtain the synchronous torque control command based on the queue operation configuration and the formation power coordination parameters; The target queue control instruction acquisition module is used to acquire change instructions, update the synchronous torque control instruction based on the change instructions, and obtain the target queue control instruction. The vehicle queue arrangement operation execution module is used to execute vehicle queue arrangement operations based on the target queue control command.

9. A terminal device, characterized in that, The system includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements a vehicle queuing control method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, include: A stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform a vehicle queuing control method as described in any one of claims 1-7.

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