A vehicle cooperation method, device and computer readable storage medium

Abstract

The application discloses a vehicle coordination method and device and a computer readable storage medium, and relates to the field of Internet of Vehicles. A requestor of the application broadcasts or multicasts a coordination request, and the coordination request at least comprises a target occupation area corresponding to a target driving behavior. A receiver determines whether to agree to the coordination according to a state of the receiver and the coordination request. The requestor determines a target coordination object from at least one receiver according to the coordination request when receiving agreement information sent by the at least one receiver. In the application, the coordination request is propagated to as many objects as possible without pre-specifying a coordination object in the case that the receiver agrees to the coordination, so that the efficiency and success rate of vehicle coordination are improved, and objects that can provide coordination in the future are avoided.

Description

Technical Field

[0001] This application relates to the field of vehicle networking technology, and more specifically, to a vehicle collaboration method, apparatus and computer-readable storage medium. Background Technology

[0002] Vehicles need to coordinate with surrounding vehicles or roadside equipment in their driving decisions. Based on C-V2X network technology, vehicle collaboration can be applied in scenarios such as cooperative lane changing, cooperative vehicle merging, and cooperative intersection passage.

[0003] In existing technologies, under the aforementioned vehicle cooperation application scenarios, if the requesting vehicle's driving behavior requires cooperation with other vehicles, a cooperation request needs to be sent to a vehicle capable of providing cooperation, or a cooperation request needs to be sent via roadside equipment to a vehicle capable of cooperating. After receiving confirmation of cooperation from the receiving vehicle, the two vehicles cooperate to achieve the requesting vehicle's driving behavior. However, both vehicle-to-vehicle and vehicle-to-infrastructure (V2I) cooperation require a significant amount of time to identify vehicles or roadside equipment capable of providing cooperation.

[0004] Therefore, there is an urgent need for a vehicle collaboration method to improve the efficiency and success rate of vehicle collaboration. Summary of the Invention

[0005] In view of the above problems, this application provides a vehicle cooperation method, apparatus, and computer-readable storage medium to improve the efficiency and success rate of vehicle cooperation. The specific solution is as follows:

[0006] The first aspect of this application provides a vehicle cooperation method applied to a requesting party, wherein the requesting party is a vehicle-side device that requests a target driving behavior, and the vehicle cooperation method includes:

[0007] Send a first message, which includes: a cooperation request and related information of the cooperation request, wherein the cooperation request includes at least: the target occupied area corresponding to the target driving behavior.

[0008] In one possible implementation, after sending the first message, the vehicle coordination method further includes:

[0009] Upon receiving cooperation consent information from at least one receiving object, a target cooperation object is determined from the at least one receiving object based on the cooperation request and the cooperation mode predetermined by the requesting party. The cooperation consent information is sent by the receiving object when the receiving object meets the preset cooperation conditions.

[0010] When the collaboration mode is vehicle-to-vehicle collaboration, the target collaboration object is the vehicle-end device currently located in the target occupied area or passing through the target occupied area in the future;

[0011] When the cooperative mode is vehicle-road cooperative, the target cooperative object is the roadside equipment located within its corresponding management range in the target occupied area.

[0012] In one possible implementation, where the cooperative mode is vehicle-to-infrastructure (V2I) cooperation, the vehicle cooperation method further includes:

[0013] The system receives a collaboration guidance strategy sent by the target collaboration object, wherein the collaboration guidance strategy is a first collaboration guidance strategy and / or a second collaboration guidance strategy, and the collaboration guidance strategy includes at least one of the following:

[0014] Control commands used to characterize whether the requesting party executes the target driving behavior;

[0015] The requesting party executes the driving strategy for the target driving behavior;

[0016] The driving parameters at each point in time during the process of the requesting party performing the target driving behavior.

[0017] In one possible implementation, sending the first message includes:

[0018] The first message is broadcast or multicast at a preset period until a preset condition is met. The preset condition includes at least: receiving cooperation consent information from at least one receiving object, or the broadcast time or multicast time of the first message reaches a preset time.

[0019] In one possible implementation, the target occupied area includes at least one of the following: the trajectory point of the target driving behavior, the geometric area occupied by the target driving behavior, the occupation time, and the driving speed of the target driving behavior.

[0020] In one possible implementation, the relevant information of the collaboration request includes at least one of the following: vehicle type information, the location where the collaboration request was initiated, the priority of the collaboration request, the purpose of the collaboration request, the reason for the collaboration request, the number of times the collaboration request was initiated, the number of times the collaboration request was rejected, and the waiting time of the collaboration request.

[0021] A second aspect of this application provides a vehicle cooperation method applied to a terminal device, the terminal device comprising at least: vehicle-side equipment and roadside equipment, the vehicle cooperation method comprising:

[0022] Receive a first message, which is a message sent by the requester including a cooperation request and related information of the cooperation request. The cooperation request includes at least: the target occupied area corresponding to the target driving behavior, and the requester is a vehicle-side device that has a target driving behavior request.

[0023] In one possible implementation, when the terminal device is a roadside device, the vehicle cooperation method further includes:

[0024] Based on the management scope corresponding to the roadside equipment, determine whether the target occupied area belongs to the management scope corresponding to the roadside equipment, and determine whether the roadside equipment is in a state that can respond to the cooperation request of the requesting party;

[0025] If the target occupied area belongs to the management scope corresponding to the roadside equipment, and the roadside equipment is in the state of being able to respond to the requester's cooperation request, then send cooperation consent information to the requester.

[0026] If the target occupied area does not belong to the management scope corresponding to the roadside equipment, or if the roadside equipment is not in the state of being able to respond to the requester's cooperation request, then a rejection of cooperation information is sent to the requester, or the first message is not responded to.

[0027] In one possible implementation, after sending the consent to cooperate information to the requesting party, the vehicle cooperation method further includes:

[0028] A second message is sent to the requesting party, the second message including a collaborative guidance strategy corresponding to the first message.

[0029] In one possible implementation, the process of generating the second message includes:

[0030] Send a collaboration request corresponding to the first message;

[0031] In the absence of receiving any consent cooperation information from any vehicle-side device, a first cooperative guidance strategy is generated based on the driving parameters of all vehicle-side devices within the management scope of the roadside device to enable the requester to perform the target driving behavior in the target occupied area.

[0032] Upon receiving the cooperation consent information sent by at least one vehicle-mounted device, at least one target cooperating vehicle-mounted device is determined from the at least one vehicle-mounted device. The target cooperating vehicle-mounted device is a vehicle-mounted device that is currently located in the target occupied area or will pass through the target occupied area in the future. Based on the driving parameters of the target cooperating vehicle-mounted device, a second cooperation guidance strategy is generated to guide the target cooperating vehicle-mounted device to cooperate with the requester in performing the target driving behavior.

[0033] The first collaboration guidance strategy and / or the second collaboration guidance strategy are determined as the second message.

[0034] In one possible implementation, when the terminal device is a vehicle-mounted device, the vehicle coordination method further includes:

[0035] Based on the driving parameters of the vehicle where the vehicle-end device is located, it is determined whether the vehicle is currently in the target occupied area, or whether the vehicle will pass through the target occupied area in the future. The driving parameters include at least the driving trajectory.

[0036] If the vehicle is currently in the target occupied area, or if the vehicle will pass through the target occupied area in the future, determine whether the vehicle-side device agrees to cooperate.

[0037] If the vehicle-mounted device agrees to cooperate, it sends a cooperation agreement message to the requesting party.

[0038] If the vehicle-mounted device does not agree to cooperate, it sends a rejection message to the requesting party or does not respond to the first message.

[0039] In one possible implementation, determining whether the vehicle-mounted device agrees to cooperate includes:

[0040] Determine whether the driving parameters can be changed within a preset time to prevent the vehicle from occupying the target occupied area.

[0041] A third aspect of this application provides a vehicle cooperative device applied to a requesting party, wherein the requesting party is a vehicle-mounted device that requests a target driving behavior, and the vehicle cooperative device includes:

[0042] A message sending unit is used to send a first message, the first message including: a cooperation request and related information of the cooperation request, the cooperation request including at least: the target occupied area corresponding to the target driving behavior.

[0043] A fourth aspect of this application provides a vehicle cooperative device applied to a terminal device, the terminal device comprising at least: vehicle-side equipment and roadside equipment, the vehicle cooperative device comprising:

[0044] A message receiving unit is used to receive a first message, which is a message sent by a requester including a cooperation request and related information of the cooperation request. The cooperation request includes at least: a target occupied area corresponding to the target driving behavior, and the requester is a vehicle-side device that has a target driving behavior request.

[0045] The fifth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle cooperation method of the first aspect or any implementation thereof, or the vehicle cooperation method of the second aspect or any implementation thereof.

[0046] By employing the above technical solution, the vehicle collaboration method provided in this application allows the requesting party to send a first message containing a collaboration request and related information without specifying a recipient. This enables as many terminal devices as possible located around the requesting party to receive the collaboration request. Specifically, the recipients of the collaboration request include not only those currently providing collaboration within the target area but also those potentially providing collaboration in the future. Compared to existing technologies that only send collaboration requests to currently available partners, this application eliminates the time required for the requesting party to filter information transmission objects, send collaboration requests, wait for responses, and confirm the target collaboration object, thereby improving the efficiency of vehicle collaboration. Furthermore, it avoids the problem of missing future collaboration opportunities due to requesting collaboration only from currently available partners, ensuring that alternative partners are available even when currently unavailable partners, thus increasing the success rate of matching the target collaboration object. Additionally, the first message carries relevant collaboration request information, allowing the recipient to understand the reason for the request, the urgency, and other information, providing a more comprehensive understanding of the collaboration request and increasing the success rate of the recipient agreeing to collaboration. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0048] Figure 1 A system architecture diagram for implementing the vehicle cooperation method provided in this application embodiment;

[0049] Figure 2 A signaling diagram for implementing a vehicle cooperation method provided in an embodiment of this application;

[0050] Figure 3 A schematic flowchart of a vehicle cooperation method provided in an embodiment of this application;

[0051] Figure 4 A flowchart illustrating another vehicle cooperation method provided in an embodiment of this application;

[0052] Figure 5 This is an example diagram of a collaborative vehicle merging scenario provided in an embodiment of this application;

[0053] Figure 6 A signaling diagram of a vehicle cooperation method provided in an embodiment of this application;

[0054] Figure 7 This is an example diagram of a cooperative vehicle lane-changing scenario provided in an embodiment of this application;

[0055] Figure 8 This is a schematic diagram of the structure of a vehicle cooperative device applied to a requesting party, provided as an embodiment of this application;

[0056] Figure 9 This is a schematic diagram of another vehicle cooperative device provided in an embodiment of this application. Detailed Implementation

[0057] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0058] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0059] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0060] This application can be applied to technologies such as vehicle networking, autonomous driving, and intelligent transportation. See [link to relevant documentation]. Figure 1This application provides a system architecture diagram for implementing a vehicle cooperation method. The vehicle cooperation system may include at least one vehicle and roadside equipment, wherein the vehicle-side equipment, such as an in-vehicle terminal or in-vehicle unit, possesses wireless communication technology. For example, the in-vehicle unit may carry a cellular vehicle-to-everything (C-V2X) communication technology, allowing wireless communication between vehicles (V2V), vehicles and infrastructure (V2I), vehicles and pedestrians (V2P), and vehicles and networks (V2N).

[0061] Roadside units (RSUs) communicate with onboard units to send relevant information to vehicles, read vehicle data, and perform preprocessing and data exchange. RSUs are typically installed on either side of the road or at specific locations to support various applications of intelligent transportation systems.

[0062] Specifically, in Figure 1 In the system architecture shown, the application scenarios of vehicle cooperation include at least the application scenarios in Table 1 below. For example, using vehicle-to-vehicle wireless communication (V2V) to realize cooperative lane changing, perception sharing, and cooperative vehicle platooning management; using vehicle-to-infrastructure wireless communication (V2I) to enable roadside equipment to assist vehicles in realizing cooperative intersection passage, cooperative vehicle merging, and cooperative priority vehicle passage, etc. Roadside equipment can also realize dynamic lane management, road toll collection services, and floating vehicle data collection.

[0063] Table 1 Application Scenarios

[0064] Application Category Main communication methods Application scenarios Safety V2V / V2I Sensing data sharing Safety V2V / V2I Cooperative lane changing Safety / Efficiency V2I Collaborative vehicle merging Safety / Efficiency V2I Collaborative Intersection Traffic Information services V2I Differential data service Efficiency / Traffic Management V2I Dynamic lane management efficiency V2I Collaborative priority vehicle passage Information services V2I Station route guidance service Traffic Management V2I Floating car data collection Safety P2X Safe passage for vulnerable road users Advanced intelligent driving V2V Collaborative vehicle platooning management Efficiency / Information Services V2I Road toll service

[0065] However, in the above application scenarios, a vehicle that needs the cooperation of other vehicles sends a cooperation request from the requesting vehicle to other vehicles on the road, for example, Figure 1 In this scenario, vehicle A, as the requester seeking cooperation, needs to merge into an intersection. Based on its perception of the road environment, vehicle A determines that vehicle B is about to pass through the intersection and is capable of providing cooperation. Vehicle A sends a cooperation request to vehicle B, asking it to slow down and wait for vehicle A to merge. However, in some cases, vehicle B may not respond to or refuse the cooperation request. In this situation, vehicle A needs to reassess the road environment to identify a suitable partner for cooperation. During this process, vehicle A needs to specify a particular vehicle to send the cooperation request. However, because the requester cannot discern the willingness of a vehicle to cooperate, it may miss other vehicles that are capable of providing cooperation and willing to cooperate during the negotiation process with the specified vehicle (vehicle B). This results in vehicle A needing to spend more time matching the target cooperation partner, thus reducing the efficiency and success rate of vehicle cooperation.

[0066] To address the aforementioned issues, this application provides a vehicle cooperation method applicable to a requesting party, which is a terminal device requesting a target driving behavior. The terminal device can be at least a vehicle-side device or a roadside device. Specifically, refer to... Figure 2 This application provides a signaling diagram for implementing a vehicle cooperation method, illustrating the vehicle cooperation method applied to the requesting party.

[0067] Step S1: The requester sends the first message.

[0068] The first message includes: a collaboration request and related information about the collaboration request. The collaboration request includes at least: the target occupied area corresponding to the target driving behavior.

[0069] It is understood that a cooperation request is generated in response to the requester's target driving behavior request. When the requester needs cooperation from other vehicles, it should send a cooperation request to other vehicles to indicate its cooperation needs. In this embodiment, the cooperation request includes at least: the target occupied area corresponding to the target driving behavior.

[0070] The target occupied area can be the road resources to be occupied, such as the trajectory points of the target driving behavior, the geometric area occupied by the target driving behavior, the occupation time, and the driving speed of the target driving behavior, or the trajectory points and geometric area predicted by the requester to be occupied in the process of realizing the target driving behavior. Optionally, it may also include the driving speed and occupation time of the vehicle when occupying the area. The target occupied area includes at least one of the above information. The geometric area can be a rectangular area or a polygonal area, which can be adaptively determined according to the road conditions and the target driving behavior.

[0071] Optionally, the information related to the collaboration request includes at least one of the following: vehicle type information, the location where the collaboration request was initiated, the priority of the collaboration request, the purpose of the collaboration request, the reason for the collaboration request, the number of times the collaboration request was initiated, the number of times the collaboration request was rejected, and the waiting time for the collaboration request.

[0072] The priority can be determined by evaluating the reasons for performing the target driving behavior based on pre-configured rules. A higher priority indicates a more urgent collaboration request from the requester. For example, if there is a patient in the requester's vehicle who urgently needs medical treatment, then the collaboration request generated by that request will have the highest priority.

[0073] Understandably, for the vehicle or roadside equipment requesting cooperation, if only the requester's target driving behavior is obtained without knowing the reason, the requested vehicle may not be able to provide a suitable cooperation solution based on its own driving situation. However, if the cooperation request includes information such as the requester's reason, priority, and number of times it has been initiated, the receiving entity can consider the urgency of the request and promptly provide a suitable cooperation solution.

[0074] For example, when a receiving party receives a high-priority collaboration request from a patient with an urgent need for medical treatment, it can understand the urgency of the request, which may influence its willingness to cooperate. The requested party may be more likely to agree to cooperate, increasing the success rate of vehicle collaboration. Furthermore, the requested vehicle will promptly provide feedback on its agreement or refusal based on the urgency level, reducing the requester's waiting time and improving the efficiency of the collaboration.

[0075] Optionally, the collaboration request may also include: vehicle information, such as special vehicles (engineering vehicles / buses, etc.) or emergency vehicles performing tasks; the waiting time for this collaboration request, the time interval from when the request was initiated to the present; the location where the collaboration request was initiated, the location of the requester when the request was initiated, such as the distance from the merging point; the purpose of this collaboration request, such as refueling, charging, or leaving the current road; the waiting time for this collaboration request, such as the time interval since the first request was initiated if multiple requests have been initiated; the number of times the collaboration request has been rejected, such as the number of times the first request has been rejected if multiple requests have been initiated; and the number of times / times for which no response has been received for this collaboration request, such as the time interval or number of times no response has been received since the first request has been initiated if multiple requests have been initiated.

[0076] In this embodiment, when a vehicle detects road conditions requiring lateral driving actions such as lane changing, merging, or intersections, or when a driver issues an operation command to perform lateral driving actions, the vehicle switches its identity to become the requester. Based on a cooperation request including information such as the target driving action to determine the target occupied area and the reason for performing the target driving action, the vehicle generates a first message and sends it to find a vehicle or roadside device that can cooperate with the requesting vehicle. When the roadside device receives confirmation from the requesting vehicle that it is the target cooperation partner, the roadside device switches its identity to become the requester. Based on the cooperation request and related information sent by the requesting vehicle, the roadside device generates a first message and sends it to find a vehicle that can cooperate with the requesting vehicle. Therefore, depending on the request scenario, the requester performing step S1 can be either the requesting vehicle or the requesting roadside device.

[0077] In one possible implementation, step S1 sending a first message includes: broadcasting or multicasting the first message at a preset period until a preset condition is met, the preset condition including at least: receiving consent cooperation information sent by at least one receiving object, or the broadcast time or multicast time of the first message reaching a preset time.

[0078] Understandably, the requesting party broadcasts the cooperation request to all vehicles and roadside devices within its communication range. Multicast refers to sending a message to a selected subset of all possible destinations. For example, the requesting party multicasts its first message to all terminal devices within 20 meters of its own vehicle or within 20 meters of the target's occupied area. The cooperation request in the first message does not contain the IDs of any vehicle or roadside device.

[0079] Therefore, it can be seen that by choosing to send the first message in the form of broadcast or multicast in the embodiments of this application, the requesting party can send the cooperation request to as many vehicles and roadside equipment as possible without specifying a specific cooperation object, thereby increasing the likelihood of receiving the cooperation consent information.

[0080] Taking broadcasting as an example, it is understood that vehicles on the lane are in motion. During the negotiation process, vehicle A may leave the requester's broadcast range while vehicle B enters the requester's broadcast range. Vehicle B may not have received the cooperation request broadcast by the requester beforehand. However, vehicle B may be a vehicle capable of providing cooperation. Therefore, in order to avoid missing any vehicles that may cooperate, this application embodiment may adopt a periodic broadcasting or multicasting method to send the cooperation request to every vehicle and roadside equipment around the requester as much as possible.

[0081] Furthermore, considering that once the requesting party receives the consent information from the receiving party, it may not need to search for other cooperating parties, the broadcast or multicast will stop upon receiving consent information from at least one or a preset number of receiving parties. However, if the broadcast or multicast timeout occurs, such as if vehicle A broadcasts for one minute and still has not received consent information from any surrounding vehicles or roadside equipment, the target driving behavior will be assumed to be unachievable, and the current driving mode will continue, at which point the broadcast can be stopped.

[0082] In addition, in the existing technology, since the requesting party needs to specify the object of cooperation and send a cooperation request to the specified object, in order to ensure that vehicles or roadside equipment of different brands and models can communicate and exchange information effectively, and since different vehicles or equipment use different communication protocols and technical standards, before sending the cooperation request, it is necessary to issue a business capability announcement between the requesting party and the specified object of cooperation to clarify the key elements such as communication protocol, data format, and information exchange process in the communication process, so as to ensure the compatibility and interoperability of communication in the process of vehicle-to-vehicle cooperation and vehicle-to-infrastructure cooperation.

[0083] However, broadcasting or multicasting is relatively simple, primarily aimed at quickly conveying specific information rather than engaging in complex information exchange. The focus is on the content of the interaction, not the vehicle's or equipment's capabilities or technical details, and the interaction content, i.e., the collaboration request, does not contain any recipient's ID. Therefore, this application's embodiments can also eliminate the process of announcing business capabilities during negotiation in the prior art, improving the efficiency of vehicle collaboration.

[0084] Step S2: The terminal device receives the first message.

[0085] In this embodiment, terminal devices in the vicinity of the requesting party that can receive the first message can be referred to as receiving objects. After receiving the cooperation request, they determine whether they can cooperate based on their own preset cooperation conditions, or whether they are willing to cooperate based on the driver's wishes. If the receiving object meets the preset cooperation conditions, it indicates that it can or is willing to cooperate, and sends feedback to the requesting party indicating agreement to cooperation. If the receiving object does not meet the preset cooperation conditions, it indicates that it cannot or is unwilling to cooperate, and sends feedback to the requesting party indicating refusal to cooperate.

[0086] Reference Figure 3 This application provides a flowchart of a vehicle cooperation method, in which the receiving object is a roadside device. Specifically, it describes a vehicle cooperation method applied to a roadside device, illustrating the process by which the roadside device, after receiving a first message from a requester, responds with either agreement or rejection of cooperation based on pre-set cooperation conditions. The process may include the following steps:

[0087] Step S210: Receive the first message sent by the requester.

[0088] Step S220: Based on the management scope corresponding to the roadside equipment, determine whether the target occupied area belongs to the management scope corresponding to the roadside equipment, and determine whether the roadside equipment is in a state that can respond to the cooperation request of the requesting party.

[0089] If the target occupied area falls within the management scope of the roadside equipment and the roadside equipment is in a state where it can respond to the requester's cooperation request, then proceed to step S230; if the target occupied area does not fall within the management scope of the roadside equipment, or the roadside equipment is not in a state where it can respond to the requester's cooperation request, then proceed to step S240.

[0090] Step S230: Send a cooperation agreement message to the requesting party.

[0091] Step S240: Send a rejection message to the requester, or do not respond to the first message.

[0092] Roadside equipment determines whether the target area requested by the requester falls within its management scope, based on the corresponding road management area. Optionally, it can also consider the reasons and priorities of the target driving behavior in the cooperation request to comprehensively evaluate whether to agree to cooperation. It is understandable that roadside equipment may be busy due to receiving multiple cooperation requests simultaneously and performing other intelligent transportation tasks, and may not be able to respond to cooperation requests in real time. Therefore, even if the target area falls within the roadside equipment's management scope, to ensure accurate response, the roadside equipment can be verified again to ensure it is in a state capable of responding to the requester's cooperation request. If the target area requested by the requester falls within its management scope, and the roadside equipment can respond to the requester's cooperation request, then it can send cooperation consent information to the requester.

[0093] Conversely, if the target occupied area falls within the management scope of the roadside equipment, but the roadside equipment cannot respond to the requester's cooperation request, or if the target occupied area does not fall within the management scope of the roadside equipment, the roadside equipment can ignore the cooperation request, that is, not respond to the first message received, or reply to the requester with a message of refusal to cooperate.

[0094] Reference Figure 4 This application provides a flowchart illustrating another vehicle collaboration method, where the receiving object is a vehicle-side device, such as an in-vehicle terminal or in-vehicle unit. The method applies to the vehicle-side device and describes the process by which other vehicles, besides the requesting party, respond with either agreement or rejection of collaboration based on pre-set collaboration conditions after receiving broadcast data. Specifically, this may include the following steps:

[0095] Step S310: Receive the first message sent by the requester.

[0096] Step S320: Based on the driving parameters of the vehicle where the on-board equipment is located, determine whether the vehicle is currently in the target occupied area or whether the vehicle will pass through the target occupied area in the future. If yes, proceed to step S330; otherwise, proceed to step S350.

[0097] Step S330: Determine whether the vehicle-side device agrees to cooperate. If yes, proceed to step S340; otherwise, proceed to step S350.

[0098] Step S340: Send a cooperation agreement message to the requesting party.

[0099] Step S350: Send a rejection message to the requester, or do not respond to the first message.

[0100] After receiving the first message broadcast or multicast by the requester, the receiving object obtains its own vehicle's driving parameters, which may include driving trajectory, vehicle speed, and vehicle position. Based on the driving parameters, it determines whether its own vehicle is in the target occupied area, or whether its own vehicle is likely to pass through the target occupied area in a short period of time, in order to determine whether its own vehicle has the conditions to provide cooperation to the requester.

[0101] Reference Figure 5 The example diagram of the cooperative vehicle merging scenario provided in this application embodiment shows that vehicle A is the requester, requesting to merge into the right lane of the main road in the target occupied area. Therefore, it sends a first message carrying its own vehicle cooperation request in the form of broadcast or multicast. After receiving the first message, the on-vehicle devices of surrounding vehicles determine whether their own vehicles can provide cooperation to vehicle A based on their own vehicle's location, driving direction, driving trajectory, etc. Specifically, vehicle E determines that it is impossible to pass through the target occupied area based on its own driving trajectory, driving direction, and driving lane. Therefore, vehicle E cannot provide cooperation to the requester. Vehicle E can ignore the first message or send a rejection message to vehicle A. However, vehicles B, C, and D can determine that they will pass through the target occupied area in the right lane in the future based on their own driving trajectory, driving direction, speed, etc. Therefore, vehicles B, C, and D can determine that their own vehicles can provide cooperation to the requester.

[0102] Furthermore, vehicles B, C, and D continue to determine whether they agree to cooperate. Understandably, this may involve consulting the driver's wishes, assessing their own vehicle's condition to determine whether they can yield in time, and so on, in order to decide whether they agree to cooperate.

[0103] In one possible implementation, step S330 may include: determining whether driving parameters can be changed within a preset time to prevent the vehicle from occupying the target occupied area.

[0104] Vehicles B, C, and D then determine whether, based on their own speeds, they can promptly change their current driving status (such as speed and direction) to allow vehicle A to merge and clear the target occupied area. For example, if vehicle B is traveling at 80 m / s and the distance between it and the target occupied area is less than 10 m, and vehicle A is expected to merge in 30 seconds, then even if vehicle A urgently reduces its speed, it will inevitably pass through the target occupied area within 30 seconds. Therefore, based on its own driving status, vehicle B determines that even if it changes its driving parameters, it cannot prevent itself from occupying the target occupied area within the preset time. Based on this, vehicle B can send a refusal to cooperate message to the requesting party.

[0105] Based on this, vehicles C and D, combining their own driving parameters, determine whether they can change their driving parameters within a preset time to prevent the vehicle from occupying the target area. If the determination is yes, it proves that they can provide cooperation to vehicle A. They can also consider the wishes of their own drivers or passengers to determine whether they agree to cooperate. If the final result is agreement to cooperate, a cooperation agreement message is sent to the requesting party; otherwise, if the final result is disagreement to cooperate, a rejection message is sent to the requesting party, or the first message is ignored.

[0106] Upon receiving consent to cooperate from at least one recipient, the requesting party needs to select a suitable cooperating partner to collaboratively complete the subsequent target driving behavior. In one possible implementation, when the requesting party's terminal device is a vehicle-mounted device, after sending the first message, the vehicle cooperation method applied to the requesting party further includes: upon receiving consent to cooperate information from at least one recipient, determining a target cooperating partner from the at least one recipient based on the cooperation request and a cooperation mode predetermined by the requesting party; the consent to cooperate information is sent by the recipient if the recipient meets preset cooperation conditions; in the case of vehicle-to-vehicle cooperation, the target cooperating partner is a vehicle-mounted device currently located in the target occupied area or passing through the target occupied area in the future; in the case of vehicle-to-infrastructure cooperation, the target cooperating partner is a roadside device located within its corresponding management range in the target occupied area.

[0107] Understandably, in Figure 1 In the system architecture shown, when the requester is a vehicle-side device, the cooperation mode can include vehicle-to-vehicle cooperation and vehicle-to-infrastructure cooperation. In the case of vehicle-to-vehicle cooperation, the target cooperation object is determined from at least one receiving object that has sent consent cooperation information. The target cooperation object is a vehicle currently located in the target occupied area or that will pass through the target occupied area in the future.

[0108] Reference Figure 5If vehicle A wants to merge into the right lane of the main road at the target occupied area, while vehicle E is located in the left lane, no driving action by vehicle E can assist vehicle A. Therefore, even if vehicle E's consent to cooperate is received, it needs to be filtered out and cannot be considered a target cooperation partner. Furthermore, it is understood that vehicle-to-vehicle cooperation requires cooperating vehicles to yield, allowing the requesting vehicle to enter the vacated lane. Therefore, for vehicle A to enter the target occupied area, vehicles currently in the target occupied area or those that will pass through the target occupied area in the right lane need to yield. Based on this, it is necessary to identify whether any vehicles currently in the target occupied area or those that will pass through the target occupied area are among the vehicles that sent consent to cooperate. Additionally, considering that vehicle A's merging time may change at any time, vehicle A can also determine its target cooperation partner based on the yielding time of each recipient of the consent to cooperate message. Therefore, at least one recipient of the consent to cooperate message is selected as the target cooperation partner. If the requesting party does not receive any consent to collaborate from any recipient, or cannot select the target collaboration recipient from the recipients of the consent to collaborate information, it can continue to execute step S2 until the target collaboration recipient can be found, or until the broadcast time or multicast time of the first message reaches the preset time, then the collaboration is determined to have failed.

[0109] Optionally, when the cooperative mode is vehicle-road cooperative, the target cooperative object is determined from at least one receiving object that sent the consent cooperative information. The target cooperative object is the roadside equipment whose target occupied area is located within its corresponding management range.

[0110] Reference Figure 5 Vehicle A merges into the right lane of the main road within the target occupied area. Roadside device A and roadside device B are installed on the main road, with roadside device B managing both the left and right lanes. Therefore, upon receiving a broadcast cooperation request, roadside devices A and B will determine whether they can provide cooperation based on their own management scope, the reason for the request, and priority, and will then provide feedback to vehicle A indicating agreement or rejection. The requesting vehicle selects a roadside device suitable for the current driving behavior from among those that have sent cooperation agreement messages. For example, it might choose a roadside device whose management scope includes the target occupied area, or, if multiple roadside devices' management scopes include the target occupied area, it might choose the roadside device closest to the target occupied area.

[0111] Understandably, in the cooperative mode of vehicle-road cooperation, when a roadside device is selected as the target cooperative object by a requesting vehicle, the roadside device, as the requesting party, negotiates with each vehicle in the lane based on the current road conditions, the driving data of each vehicle, and the occupancy status of the target area, in order to coordinate the vehicles and formulate a cooperative guidance strategy for the requesting vehicle. Furthermore, it sends a second message to the requesting party, which includes the cooperative guidance strategy corresponding to the first message, to guide the requesting vehicle to complete the target driving behavior.

[0112] Based on this, the process of negotiating with various vehicles to obtain a second message containing a cooperative guidance strategy is described. This process may include: the roadside device sending a cooperative request corresponding to the first message; if no cooperative consent information is received from any vehicle-mounted device, generating a first cooperative guidance strategy for the requester to perform the target driving behavior in the target occupied area based on the driving parameters of all vehicle-mounted devices within the management scope of the roadside device; if cooperative consent information is received from at least one vehicle-mounted device, identifying at least one target cooperative vehicle-mounted device from the at least one vehicle-mounted device, wherein the target cooperative vehicle-mounted device is a vehicle-mounted device currently located in the target occupied area or will pass through the target occupied area in the future; generating a second cooperative guidance strategy for guiding the target cooperative vehicle-mounted device to cooperate with the requester in performing the target driving behavior based on the driving parameters of the target cooperative vehicle-mounted device; and determining the first cooperative guidance strategy and / or the second cooperative guidance strategy as the second message.

[0113] Reference Figure 6 This is a signaling diagram of a vehicle cooperation method provided in an embodiment of this application. It can be understood that there may be many roadside devices sending cooperation consent information to the requesting vehicle, and not every roadside device can be a target cooperation object. Therefore, for a roadside device, the sign that cooperation with the requesting party to achieve the target driving behavior begins is that after receiving confirmation cooperation information from the requesting party confirming that it is the target cooperation object, the roadside device can become the requesting party and execute the above step S1. It broadcasts or multicasts a first message carrying the cooperation request of the requesting vehicle to every vehicle within its communication range or management range, wherein the first message does not include the vehicle ID of any vehicle. Based on the cooperation consent or rejection information from each vehicle, multiple vehicles are coordinated to generate a second cooperation guidance strategy. The second cooperation guidance strategy is sent to the requesting party and the target cooperation vehicle that agrees to cooperate, so that the requesting party and the target cooperation vehicle jointly achieve the target driving behavior according to the second cooperation guidance strategy.

[0114] If the roadside equipment does not receive any consent information, it means that none of the vehicles within its management area agree to yield. Therefore, based on the driving parameters of each vehicle within its management area, it determines the time gap that would allow the requesting party to achieve the desired driving behavior. For example, referring to... Figure 5 If vehicle A wants to merge into the target occupied area, but vehicles B, C, and D all disagree to give way, and based on the distance between vehicles B, C, and D, it is determined that the distance between vehicle C and vehicle D is larger, then the roadside equipment provides the requesting party with a suitable speed suggestion and merging timing, which is used as the first cooperative guidance strategy and sent to vehicle A, so that vehicle A can merge into the right lane of the main road between vehicles C and D without the need for cooperation from vehicles C and D.

[0115] Based on this, when the cooperative mode is vehicle-road cooperative, the vehicle cooperative method applied to the vehicle-side device further includes: receiving a cooperative guidance strategy sent by the target cooperative object, wherein the cooperative guidance strategy is a first cooperative guidance strategy and / or a second cooperative guidance strategy, and the cooperative guidance strategy includes at least one of the following: whether the requester can execute the instruction of the target driving behavior; the driving strategy of the requester to execute the target driving behavior; the driving parameters at each time point during the process of the requester executing the target driving behavior; further, the requester controls the vehicle driving according to the cooperative guidance strategy.

[0116] It is understood that the cooperative guidance strategy received by the requesting party is one of the first cooperative guidance strategy and the second cooperative guidance strategy. Optionally, the roadside equipment can simultaneously generate the first cooperative guidance strategy and the second cooperative guidance strategy and send them to the requesting party, providing the requesting party with the opportunity to choose. The requesting party follows the cooperative guidance strategy to achieve the target driving behavior according to the driving mode in the cooperative guidance strategy sent by the roadside equipment, such as the target driving trajectory, driving parameters corresponding to each time point, turning and other operation instructions.

[0117] Understandably, in vehicle-to-vehicle collaboration, when the target collaborating party provides feedback agreeing to the collaboration, it will also provide feedback such as "yield for 5 seconds at a certain time in the target-occupied area". The requesting party can then complete the target driving behavior based on this yielding information.

[0118] In summary, the vehicle collaboration method provided in this application involves the requesting party broadcasting the collaboration request as broadcast data, enabling as many vehicles or roadside devices as possible around the requesting party to obtain the collaboration request. From each vehicle or roadside device that provides feedback agreeing to the collaboration, a target collaboration object is selected to work with the requesting party's vehicle to complete the target driving behavior.

[0119] Understandably, due to its wide message propagation range, this application can spread collaboration requests to as many objects as possible without selectively choosing recipients. This ensures that recipients include not only those currently capable of providing collaboration but also those who will be able to provide it in the future. Compared to existing technologies that only send collaboration requests to currently capable recipients, this application eliminates the time required for the requester to filter information transmission recipients, send collaboration requests, wait for responses, and confirm the target collaboration recipient, thereby improving the efficiency of vehicle collaboration. Furthermore, since this application does not specify information transmission recipients in its broadcast data but propagates it indefinitely to every receivable object, it avoids the problem of missing future collaboration recipients due to requesting collaboration only from currently capable recipients. This provides alternative collaboration recipients even when currently capable recipients cannot provide collaboration, thus increasing the success rate of the requester matching the target collaboration recipient.

[0120] Next, refer to Figure 7 The example diagram of the cooperative vehicle lane-changing scenario provided in this application illustrates the practical application of the above-mentioned vehicle cooperation method.

[0121] Vehicle A is driving normally in the left lane of the main road and plans to change lanes to the right. It requests cooperation from vehicles in the right lane to complete the change. Vehicle A generates a cooperation request message, which includes the target area of ​​the right lane to be occupied, as well as vehicle A's lane-changing speed, lane-changing time, and vehicle ID. It should be noted that this cooperation request does not include the IDs of any other vehicles or roadside equipment besides itself. Furthermore, vehicle A periodically broadcasts the cooperation request.

[0122] Next, we will take the vehicle-to-vehicle cooperative mode as an example to explain the vehicle cooperative method.

[0123] After receiving the cooperation request, vehicles B, C, and D determine whether to agree to cooperate based on their preset cooperation conditions.

[0124] For example, if vehicle D determines that it does not occupy the target area requested by vehicle A, it will ignore the cooperation request and not respond. Vehicle B, based on its driver's intention, refuses to yield and replies to vehicle A with a refusal to cooperate message. Vehicle C, based on its driving status, agrees to yield and replies to vehicle A with an agreement to cooperate message.

[0125] After receiving the cooperation agreement from Vehicle C, Vehicle A selects Vehicle C as the target cooperation partner and sends a cooperation confirmation message containing Vehicle C's ID information, confirming their future cooperation partnership. During the cooperation process, Vehicle C and Vehicle A interact in real time. Vehicle C adjusts its speed based on Vehicle A's position and yields to Vehicle A when it reaches the target occupied area. After successfully changing lanes to the target occupied area, Vehicle A sends a cooperation completion message to Vehicle C, which then stops yielding and resumes normal driving, completing the cooperation.

[0126] Next, we will take the vehicle-road cooperative mode as an example to explain the vehicle cooperative method.

[0127] Roadside device A and roadside device B are responsible for information sharing and guidance for vehicles in different lanes, respectively. When the two roadside devices receive a cooperation request, roadside device B determines that the target area requested by vehicle A is not within its assigned lane and either ignores the request or replies with a message indicating refusal to cooperate. Roadside device A determines that the target area requested by vehicle A is within its assigned lane and replies with a message indicating agreement to cooperate.

[0128] Vehicle A identifies the roadside device A, which has agreed to cooperate, as the target cooperation object and sends a cooperation confirmation message to it, conveying the information that the roadside device A is the target cooperation object and that the cooperation will complete the lane change driving behavior.

[0129] After receiving the cooperation confirmation information, roadside device A begins to formulate a cooperation guidance strategy for vehicle A. Optionally, roadside device A first assumes that neither vehicle C nor vehicle B agrees to yield, and then determines whether the distance between vehicle C and vehicle B is large enough to ensure that vehicle A can safely enter the target occupied area after vehicle B leaves the target occupied area without changing the driving status of vehicle C and vehicle B. If so, it determines the speed and time of vehicle A entering the target occupied area after vehicle B leaves the target occupied area and before vehicle C enters the target occupied area, and uses this as the cooperation guidance strategy, sending it to vehicle A so that vehicle A can execute it and complete the lane change.

[0130] To ensure driving safety and efficiency, roadside equipment A can also act as a requester to simultaneously negotiate with vehicles B, C, and D. Roadside equipment A broadcasts a cooperation request from vehicle A. Upon receiving this request, vehicles B, C, and D determine whether to agree to cooperate based on their pre-set cooperation conditions, referring to the cooperation results of vehicles B, C, and D in the vehicle-to-vehicle cooperation section above. After receiving the consent or rejection information from vehicles B, C, and D, roadside equipment A selects vehicle C as the target cooperation vehicle and sends it cooperation confirmation information, including vehicle C's vehicle ID, confirming its role as a cooperation partner of vehicle A. Simultaneously, the information about vehicle C as the target cooperation vehicle is updated to vehicle A, guiding vehicle A and vehicle C to complete the cooperation.

[0131] In summary, the vehicle collaboration method provided in this application allows vehicles and roadside equipment to communicate collaboration requests via broadcast, eliminating the need to send business announcement information and saving negotiation time. Furthermore, since the requesting party is driving, its corresponding target occupied area may also change. Broadcasting collaboration requests eliminates the need to specify a particular recipient, ensuring more efficient communication and expanding the number of receiving objects to cover all objects that can provide collaboration as much as possible, thereby increasing the success rate of matching the target collaboration object.

[0132] Understandably, during the negotiation or collaboration process, if the requesting party wants to cancel the collaboration request, it can directly stop broadcasting or send a stop-collaboration message to the already confirmed collaboration partners to terminate the collaboration. Similarly, if the target collaboration partner wants to cancel the collaboration, it can send a cancellation message to the requesting party so that the requesting party can broadcast to find other target collaboration partners.

[0133] Before using the technical solutions disclosed in the embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and their authorization should be obtained.

[0134] The above describes a vehicle cooperation method provided by the embodiments of this application. The following describes the apparatus for performing the above vehicle cooperation method.

[0135] Please see Figure 8 , Figure 8 This is a schematic diagram of a vehicle cooperative device provided in an embodiment of this application. Figure 8 As shown, the vehicle coordination device is applied to the requesting party, which is a vehicle-mounted device that requests a target driving behavior. The requesting party is a vehicle-mounted device that requests a target driving behavior.

[0136] The message sending unit 1100 is used to send a first message, which includes: a cooperation request and related information of the cooperation request, wherein the cooperation request includes at least: the target occupied area corresponding to the target driving behavior.

[0137] In one possible implementation, after the message sending unit 1100 has completed sending the first message, the vehicle coordination device further includes:

[0138] The first target object confirmation unit is used to determine a target collaboration object from the at least one receiving object based on the collaboration request and the collaboration mode predetermined by the requesting party when receiving a collaboration agreement information sent by at least one receiving object. The collaboration agreement information is sent by the receiving object when the receiving object meets the preset collaboration conditions.

[0139] When the collaboration mode is vehicle-to-vehicle collaboration, the target collaboration object is the vehicle-end device currently located in the target occupied area or passing through the target occupied area in the future;

[0140] When the cooperative mode is vehicle-road cooperative, the target cooperative object is the roadside equipment located within its corresponding management range in the target occupied area.

[0141] In one possible implementation, when the terminal device is a vehicle-mounted device, and when the cooperative mode is vehicle-to-infrastructure (V2I) cooperation, the vehicle cooperative device further includes:

[0142] A policy receiving unit is configured to receive a collaboration guidance policy sent by the target collaboration object, wherein the collaboration guidance policy includes at least one of the following:

[0143] Can the requesting party execute the instruction for the target driving behavior?

[0144] The requesting party executes the driving strategy for the target driving behavior;

[0145] The driving parameters at each point in time during the process of the requesting party performing the target driving behavior.

[0146] In one possible implementation, the message sending unit 1100 includes:

[0147] The message playback subunit is used to broadcast or multicast the first message at a preset period until a preset condition is met. The preset condition includes at least: receiving cooperation consent information sent by at least one receiving object, or the broadcast time or multicast time of the first message reaches a preset time.

[0148] In one possible implementation, the target occupied area includes at least one of the following: the trajectory point of the target driving behavior, the geometric area occupied by the target driving behavior, the occupation time, and the driving speed of the target driving behavior.

[0149] In one possible implementation, the relevant information of the collaboration request includes at least one of the following: vehicle type information, the location where the collaboration request was initiated, the priority of the collaboration request, the purpose of the collaboration request, the reason for the collaboration request, the number of times the collaboration request was initiated, the number of times the collaboration request was rejected, and the waiting time of the collaboration request.

[0150] Please see Figure 9 , Figure 9 This is a schematic diagram of another vehicle cooperative device provided in an embodiment of this application. Figure 9 As shown, the device is applied to a terminal device, which includes at least: vehicle-side equipment and roadside equipment. The vehicle cooperative device includes:

[0151] Receive first message 2100, the first message is a message sent by the requester including a cooperation request and related information of the cooperation request, the cooperation request includes at least: the target occupied area corresponding to the target driving behavior, and the requester is a vehicle-end device that has a target driving behavior request.

[0152] In one possible implementation, when the terminal device is a roadside device, the vehicle coordination device further includes:

[0153] The judgment unit is used to determine whether the target occupied area belongs to the management scope corresponding to the roadside equipment, and to determine whether the roadside equipment is in a state that can respond to the cooperation request of the requesting party, based on the management scope corresponding to the roadside equipment.

[0154] The first consent unit is used to send consent to cooperation information to the requesting party when the judgment result of the range judgment unit is that the target occupied area belongs to the management range corresponding to the roadside equipment, and the roadside equipment is in the state of being able to respond to the cooperation request of the requesting party.

[0155] The first rejection unit is used to send a rejection message to the requester or not respond to the first message when the range determination unit determines that the target occupied area does not belong to the management range corresponding to the roadside device, or the roadside device is not in the state of being able to respond to the requester's cooperation request.

[0156] In one possible implementation, the vehicle cooperative device further includes:

[0157] The second message sending unit is used to send a second message to the requesting party after the first consent unit has completed sending consent cooperation information to the requesting party. The second message includes a cooperation guidance strategy corresponding to the first message.

[0158] In one possible implementation, the functional unit in the vehicle coordination device for generating the second message includes:

[0159] A request sending subunit is used to send a cooperation request corresponding to the first message;

[0160] The first collaborative guidance strategy generation unit is used to generate a first collaborative guidance strategy for the requester to perform the target driving behavior in the target occupied area, based on the driving parameters of all vehicle-end devices within the management scope of the roadside device, in the absence of receiving any consent information from any vehicle-end device.

[0161] The second collaborative guidance strategy generation unit is configured to, upon receiving the consent to cooperate information sent by at least one vehicle-mounted device, determine at least one target collaborative vehicle-mounted device from the at least one vehicle-mounted device, wherein the target collaborative vehicle-mounted device is a vehicle-mounted device currently located in the target occupied area or will pass through the target occupied area in the future; and generate a second collaborative guidance strategy for guiding the target collaborative vehicle-mounted device to cooperate with the requester to perform the target driving behavior based on the driving parameters of the target collaborative vehicle-mounted device.

[0162] The second message generation unit is used to determine the first collaboration guidance strategy or the second collaboration guidance strategy as the second message.

[0163] In one possible implementation, when the terminal device is a vehicle-mounted device, the vehicle coordination device further includes:

[0164] The driving judgment unit is used to determine whether the vehicle is currently in the target occupied area or whether the vehicle will pass through the target occupied area in the future, based on the driving parameters of the vehicle where the vehicle-end device is located. The driving parameters include at least the driving trajectory.

[0165] A consent determination unit is used to determine whether the vehicle-side equipment agrees to cooperate if the determination result of the driving determination unit is yes.

[0166] The second consent unit is used to send consent cooperation information to the requesting party when the consent judgment unit determines that the consent result is yes.

[0167] The second rejection unit is used to send a rejection message to the requesting party or not respond to the first message if the decision result of the consent judgment unit is negative.

[0168] In one possible implementation, the consent determination unit includes:

[0169] The vehicle movement determination subunit is used to determine whether the driving parameters can be changed within a preset time so that the vehicle does not occupy the target occupied area.

[0170] In summary, in this embodiment of the application, the requester broadcasts the cooperation request as broadcast data, so that as many vehicles or roadside devices as possible around the requester can obtain the cooperation request, select a target cooperation object from each vehicle or roadside device that responds with cooperation consent information, and complete the target driving behavior together with the requester's vehicle.

[0171] Understandably, due to its large broadcast range, this application can propagate collaboration requests to as many objects as possible without selectively choosing recipients. This ensures that recipients include not only currently available collaborators but also those who will provide collaboration in the future. Compared to existing technologies that only send collaboration requests to currently available collaborators, this application eliminates the time required for the requester to filter information transmission objects, send collaboration requests, wait for responses, and confirm the target collaboration object, thereby improving the efficiency of vehicle collaboration. Furthermore, because the broadcast data in this application does not specify information transmission objects but is broadcast indefinitely to every receivable object, it avoids the problem of missing future collaboration opportunities due to requesting collaboration only from currently available collaborators. This provides alternative collaboration objects even when currently available collaborators are unavailable, thus increasing the success rate of the requester matching the target collaboration object.

[0172] This application also provides a computer-readable storage medium carrying one or more computer programs. When the one or more computer programs are executed by an electronic device or processor, the electronic device or processor can implement any of the vehicle coordination methods provided in this application.

[0173] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0174] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0175] In the above embodiments, the implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, in the form of a computer program.

[0176] The computer program includes one or more computer instructions that, when loaded and executed on a computer, generate, in whole or in part, the processes or functions described in the embodiments of this application. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store, or a data storage device such as a training device or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

Claims

1. A vehicle cooperative method, characterized in that, Applied to a requesting party, wherein the requesting party is a vehicle-mounted device that requests a target driving behavior, the vehicle cooperation method includes: Send a first message, which includes: a cooperation request and related information of the cooperation request, wherein the cooperation request includes at least: the target occupied area corresponding to the target driving behavior.

2. The vehicle cooperation method according to claim 1, characterized in that, After sending the first message, the vehicle coordination method further includes: Upon receiving cooperation consent information from at least one receiving object, a target cooperation object is determined from the at least one receiving object based on the cooperation request and the cooperation mode predetermined by the requesting party. The cooperation consent information is sent by the receiving object when the receiving object meets the preset cooperation conditions. When the collaboration mode is vehicle-to-vehicle collaboration, the target collaboration object is the vehicle-end device currently located in the target occupied area or passing through the target occupied area in the future; When the cooperative mode is vehicle-road cooperative, the target cooperative object is the roadside equipment located within its corresponding management range in the target occupied area.

3. The vehicle cooperation method according to claim 2, characterized in that, When the cooperative mode is vehicle-to-infrastructure (V2I) cooperation, the vehicle cooperation method further includes: The system receives a collaboration guidance strategy sent by the target collaboration object, wherein the collaboration guidance strategy is a first collaboration guidance strategy and / or a second collaboration guidance strategy, and the collaboration guidance strategy includes at least one of the following: Control commands used to characterize whether the requesting party executes the target driving behavior; The requesting party executes the driving strategy for the target driving behavior; The driving parameters at each point in time during the process of the requesting party performing the target driving behavior.

4. The vehicle cooperation method according to claim 1, characterized in that, Sending the first message includes: The first message is broadcast or multicast at a preset period until a preset condition is met. The preset condition includes at least: receiving cooperation consent information from at least one receiving object, or the broadcast time or multicast time of the first message reaches a preset time.

5. The vehicle cooperation method according to any one of claims 1-4, characterized in that, The target occupied area includes at least one of the following: the trajectory point of the target driving behavior, the geometric area occupied by the target driving behavior, the occupation time, and the driving speed of the target driving behavior.

6. The vehicle cooperation method according to any one of claims 1-4, characterized in that, The information related to the collaboration request includes at least one of the following: vehicle type information, the location where the collaboration request was initiated, the priority of the collaboration request, the purpose of the collaboration request, the reason for the collaboration request, the number of times the collaboration request was initiated, the number of times the collaboration request was rejected, and the waiting time for the collaboration request.

7. A vehicle cooperative method, characterized in that, Applied to terminal equipment, the terminal equipment includes at least: vehicle-side equipment and roadside equipment, and the vehicle cooperation method includes: Receive a first message, which is a message sent by the requester including a cooperation request and related information of the cooperation request. The cooperation request includes at least: the target occupied area corresponding to the target driving behavior. The requester is a vehicle-side device that has a target driving behavior request.

8. The vehicle cooperation method according to claim 7, characterized in that, When the terminal device is a roadside device, the vehicle cooperation method further includes: Based on the management scope corresponding to the roadside equipment, determine whether the target occupied area belongs to the management scope corresponding to the roadside equipment, and determine whether the roadside equipment is in a state that can respond to the cooperation request of the requesting party; If the target occupied area belongs to the management scope corresponding to the roadside equipment, and the roadside equipment is in the state of being able to respond to the requester's cooperation request, then send cooperation consent information to the requester. If the target occupied area does not belong to the management scope corresponding to the roadside equipment, or if the roadside equipment is not in the state of being able to respond to the requester's cooperation request, then a rejection of cooperation information is sent to the requester, or the first message is not responded to.

9. The vehicle cooperation method according to claim 8, characterized in that, After sending the cooperation agreement information to the requesting party, the vehicle cooperation method further includes: A second message is sent to the requesting party, the second message including a collaborative guidance strategy corresponding to the first message.

10. The vehicle cooperation method according to claim 9, characterized in that, The process of generating the second message includes: Send a collaboration request corresponding to the first message; In the absence of receiving any consent cooperation information from any vehicle-side device, a first cooperative guidance strategy is generated based on the driving parameters of all vehicle-side devices within the management scope of the roadside device to enable the requester to perform the target driving behavior in the target occupied area. Upon receiving the cooperation consent information sent by at least one vehicle-mounted device, at least one target cooperating vehicle-mounted device is determined from the at least one vehicle-mounted device. The target cooperating vehicle-mounted device is a vehicle-mounted device that is currently located in the target occupied area or will pass through the target occupied area in the future. Based on the driving parameters of the target cooperating vehicle-mounted device, a second cooperation guidance strategy is generated to guide the target cooperating vehicle-mounted device to cooperate with the requester in performing the target driving behavior. The first collaboration guidance strategy and / or the second collaboration guidance strategy are determined as the second message.

11. The vehicle cooperation method according to claim 7, characterized in that, When the terminal device is a vehicle-mounted device, the vehicle coordination method further includes: Based on the driving parameters of the vehicle where the vehicle-end device is located, it is determined whether the vehicle is currently in the target occupied area, or whether the vehicle will pass through the target occupied area in the future. The driving parameters include at least the driving trajectory. If the vehicle is currently in the target occupied area, or if the vehicle will pass through the target occupied area in the future, determine whether the vehicle-side device agrees to cooperate. If the vehicle-mounted device agrees to cooperate, it sends a cooperation agreement message to the requesting party. If the vehicle-mounted device does not agree to cooperate, it sends a rejection message to the requesting party or does not respond to the first message.

12. The vehicle cooperation method according to claim 10, characterized in that, The determination of whether the vehicle-side device agrees to cooperate includes: Determine whether the driving parameters can be changed within a preset time to prevent the vehicle from occupying the target occupied area.

13. A vehicle cooperative device, characterized in that, Applied to the requesting party, which is a vehicle-mounted device that requests a target driving behavior, the vehicle cooperative device includes: A message sending unit is used to send a first message, the first message including: a cooperation request and related information of the cooperation request, the cooperation request including at least: the target occupied area corresponding to the target driving behavior.

14. A vehicle cooperative device, characterized in that, Applied to terminal equipment, the terminal equipment includes at least: vehicle-side equipment and roadside equipment, and the vehicle cooperative device includes: A message receiving unit is used to receive a first message, which is a message sent by a requester including a cooperation request and related information of the cooperation request. The cooperation request includes at least: a target occupied area corresponding to the target driving behavior, and the requester is a vehicle-side device that has a target driving behavior request.

15. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the vehicle coordination method as described in any one of claims 1 to 6, or the vehicle coordination method as described in any one of claims 7 to 12.

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