Platoon vehicle communication control method, vehicle platoon driving system, and storage medium

Abstract

This invention discloses a vehicle platooning communication control method, a vehicle platooning driving system, and a storage medium. The vehicle platooning communication control method includes: acquiring information about the current driving environment of the vehicle platoon and the communication link status information between vehicles in the platoon; based on the communication link status information, acquiring a communication quality assessment value for the vehicle platoon under the current communication mode; based on the communication quality assessment value and the communication quality threshold corresponding to the current communication mode, determining whether a communication mode switch is needed; if a switch is needed, determining a target communication mode from multiple communication modes based on the adaptation relationship between the driving environment information and preset multiple communication modes; and controlling the vehicle platoon to switch from the current communication mode to the target communication mode. This invention improves the stability and robustness of communication during vehicle platooning, thereby ensuring communication quality of the vehicle platoon to a certain extent in complex driving environments.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology for vehicle platooning, specifically to a communication control method for platooned vehicles, a vehicle platooning driving system, and a storage medium. Background Technology

[0002] With the development of autonomous driving technology, single-vehicle autonomous driving has been widely adopted, which has laid the foundation for realizing autonomous platooning. Vehicle platooning can effectively improve transportation efficiency. Autonomous platooning refers to two or more vehicles, based on technologies such as intelligent sensors, wireless communication, and cloud platforms, driving autonomously in a queue in specific scenarios through data sharing and collaborative decision-making.

[0003] During convoy driving, communication between vehicles is crucial. Vehicles in the convoy maintain direct or indirect communication to keep track of the status of all vehicles in the convoy. However, during convoy driving, various situations can cause the link to be interrupted, which will affect the communication between the lead vehicle and the following vehicles. This will affect the stability of the entire convoy communication and may even affect the driving safety of the convoy. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle platooning communication control method, a vehicle platooning driving system, and a storage medium. By introducing a quantitative evaluation of communication quality and an adaptive switching mechanism for communication modes based on the communication link status, the vehicle platoon can automatically switch to a communication mode adapted to the current driving environment. Through the switching of various different communication modes, the vehicle platoon can adopt a communication mode that is more suitable for different driving environments during driving, so that the communication effectiveness of any vehicle in the platoon remains above the communication quality threshold, thereby improving the stability and robustness of communication during vehicle platooning driving and thus ensuring the communication quality of the vehicle platoon in complex driving environments to a certain extent.

[0005] Therefore, the technical solution adopted by the present invention is as follows: According to a first aspect of the present invention, a platooning vehicle communication control method is provided, applied to vehicle platooning, wherein multiple vehicles in the platooning are arranged sequentially; the method includes: Obtain the current driving environment information of the vehicle formation and the communication link status information between vehicles in the vehicle formation; Based on the communication link status information, obtain the communication quality assessment value of the vehicle formation in the current communication mode; Based on the communication quality assessment value and the communication quality threshold corresponding to the current communication mode, determine whether it is necessary to switch the communication mode; If it is determined that a communication mode needs to be switched, the target communication mode is determined from the multiple communication modes based on the adaptation relationship between the driving environment information and the preset multiple communication modes. Control the vehicle platoon to switch from the current communication mode to the target communication mode.

[0006] According to a second aspect of the present invention, a vehicle platooning system is also provided, characterized in that it comprises: a plurality of vehicles communicating with each other, and a central processing unit, wherein the plurality of vehicles are arranged in sequence to form a vehicle platoon; The central processing unit is used to execute the above-described platooning vehicle communication control method.

[0007] According to a third aspect of the present invention, a computer-readable storage medium is also provided, which is a non-volatile or non-transient storage medium, having stored thereon a computer program that, when executed by a processor, performs the steps of the platooning vehicle communication control method described above.

[0008] In one embodiment, the communication link status information includes: communication link packet loss rate, communication round-trip time, number of consecutive communication failures, and number of valid neighbor nodes; Based on the communication link status information, obtain the communication quality assessment value of the vehicle formation in the current communication mode, including: Based on the parameters in the communication link status information and the preset weights of each parameter, the communication quality assessment value of the vehicle formation in the current communication mode is calculated.

[0009] In one embodiment, the driving environment information includes at least one of the following: signal obstruction status, limited driving speed, and vehicle spacing; Based on the compatibility relationship between the driving environment information and multiple preset communication modes, a target communication mode is determined from the multiple communication modes, including: Obtain the signal attenuation level and vehicle distance parameters indicated by the driving environment information; Based on the signal attenuation level and vehicle spacing parameters, a target communication mode that matches the driving environment information in the communication topology parameter set is determined from among the multiple communication modes. The communication topology parameter set includes at least one of the following: maximum communication distance per node, maximum number of node connections, routing redundancy level, heartbeat cycle, and retransmission strategy.

[0010] In one embodiment, before controlling the vehicle platoon to switch from the current communication mode to the target communication mode, the method further includes: Determine whether the duration of the communication quality assessment value and the communication quality threshold corresponding to the current communication mode is greater than a preset time threshold; If the value is greater than the target value, then proceed to the step of controlling the vehicle formation to switch from the current communication mode to the target communication mode.

[0011] In one embodiment, controlling the vehicle platoon to switch from the current communication mode to the target communication mode includes: Establish communication of the target communication mode between the vehicle formations; Once the communication stability requirements of the target communication mode are met, the communication of the vehicle platoon in the current communication mode is disconnected.

[0012] In one embodiment, when the number of consecutive communication failures of the vehicle formation in the current communication mode reaches a preset threshold, the step of controlling the vehicle formation to switch from the current communication mode to the target communication mode is initiated.

[0013] In one embodiment, the lead vehicle or the multiple vehicles in the vehicle platoon collaboratively initiate the switching of communication modes based on a preset consistency determination mechanism.

[0014] In one embodiment, the communication modes supported by the vehicle platoon include: serial communication mode, star communication mode, hybrid communication mode, and mesh communication mode. Attached Figure Description

[0015] Figure 1 This is a flowchart of a platooning vehicle communication control method according to an embodiment of the present invention; Figure 2 yes Figure 1 The detailed flowchart of step 105 in the platoon vehicle communication control method. Detailed Implementation

[0016] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative of the essential spirit of the technical solution of the present invention.

[0017] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0018] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0019] In the following description, in order to clearly demonstrate the structure and working method of the present invention, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0020] The first embodiment of this invention relates to a vehicle platooning communication control method, applied to a vehicle platoon comprising multiple vehicles, wherein the vehicles in the platoon are arranged sequentially and travel in sequence; the vehicles in the platoon can communicate with each other, i.e., V2V communication, and the vehicles communicate with each other using short-range radio technology (DSRC); for example, the vehicles communicate with each other through an on-board unit (OBU) for V2V (Vehicle-to-Vehicle) communication. The OBU can obtain information about the surrounding environment through on-board sensors, such as the speed of surrounding vehicles, vehicle position, driving status warnings, etc. The vehicles can exchange various information in real time through V2V communication, including but not limited to text, pictures, audio, and video.

[0021] In addition, the vehicle platooning system architecture may also include cloud servers, roadside units, and V2X (Vehicle to Everything) wireless communication components. This refers to the technology for vehicles to exchange and communicate with their surrounding environment (including other vehicles, pedestrians, road infrastructure, and networks), including V2I (Vehicle-to-Infrastructure), V2C (Vehicle-to-Cloud), and the aforementioned V2V wireless communication.

[0022] Vehicles in a platoon include a lead vehicle and follower vehicles. The lead vehicle is generally the vehicle at the very front of the platoon, while the follower vehicles are the other vehicles following the lead vehicle. During operation, a follower vehicle can be switched to become the lead vehicle as needed. The lead vehicle is the decision-maker for all platoon actions (including creating and disbanding the platoon, vehicles joining and leaving the platoon, etc.), managing and deciding on platoon behavior. The lead vehicle leads the entire platoon along a pre-defined route, which can be a navigation path from the origin to the destination. Follower vehicles, as all other vehicles following the lead vehicle, are capable of maintaining a safe distance from the vehicle in front. Vehicles may be, for example, a combination of a tractor and a trailer. The vehicles in the platoon are electric vehicles, meaning they have rechargeable battery modules. The vehicle controller can obtain the status of the battery modules and the overall power consumption of the vehicle. The driving path can be divided into multiple road segments according to road type, such as rural roads, county roads, national highways, provincial highways, and expressways.

[0023] The available V2V vehicle-to-vehicle communication modes in vehicle platooning include: serial communication mode, star communication mode, hybrid communication mode, and mesh communication mode, as detailed below: In serial communication mode, each vehicle in the platoon communicates only with the vehicle in front of it, which is suitable for scenarios with poor signal strength. In star-shaped communication mode, all vehicles following the lead vehicle in the vehicle formation communicate with the lead vehicle, and all vehicles can communicate with the lead vehicle to achieve rapid information exchange. In the hybrid communication mode, each vehicle communicates not only with the vehicle in front, but also with the lead vehicle and all vehicles within a set distance range, which improves communication redundancy and increases communication reliability. In mesh communication mode, each vehicle communicates with multiple vehicles within a certain distance, resulting in higher communication redundancy. The failure of a small number of links does not affect the overall communication of the vehicle platoon.

[0024] The specific process of the platoon vehicle communication control method in this embodiment is as follows: Figure 1 As shown, the platooning vehicle driving control method is applied to the central processing unit of the vehicle platooning driving system. The central processing unit can be the control unit of any of the vehicles or the processor of a cloud server.

[0025] Step 101: Obtain the current driving environment information of the vehicle formation and the communication link status information between the vehicles in the vehicle formation.

[0026] Specifically, during platooning, the central processing unit can acquire information about the current driving environment of the platoon, as well as the communication link status information between multiple vehicles in the platoon; specifically: Driving environment information indicates at least the state of the road environment at the current location of the vehicle platoon. This information includes road condition information, which characterizes the road environment of the current road segment, such as the obstruction status, minimum speed limit, and minimum distance limit. Obstruction status reflects signal attenuation on that road segment; minimum speed and minimum distance reflect the distance requirements for communication between vehicles. Therefore, the communication stability of vehicles in their current environment can be determined based on the driving environment information.

[0027] The communication link status information between multiple vehicles in a vehicle platoon indicates the communication quality between vehicles in the current communication mode. This information includes: communication link packet loss rate, round-trip time (RTD), number of consecutive communication failures, and the number of valid neighbor nodes. Valid neighbor nodes are the number of other vehicles communicating before and after each vehicle. The communication link packet loss rate, RTD, number of consecutive communication failures, and number of valid neighbor nodes in the vehicle platoon's communication link status information can be considered as the average of these parameters collected from all vehicles during the communication process.

[0028] The current communication mode can be one of the following: serial communication mode, star communication mode, hybrid communication mode, and mesh communication mode.

[0029] Step 102: Based on the communication link status information, obtain the communication quality assessment value of the vehicle formation in the current communication mode.

[0030] Specifically, based on the parameters in the communication link status information and the preset weights of each parameter, the communication quality assessment value of the vehicle formation in the current communication mode is calculated.

[0031] For example, the formula for calculating the communication quality assessment value of a vehicle formation under the current communication mode is as follows: Q = w1×PLR + w2×RTT + w3×H + w4×(1 / N); Where Q represents the communication quality assessment value of the vehicle formation in the current communication mode, PLR represents the communication link packet loss rate, RTT represents the communication round-trip time, H represents the number of consecutive communication failures, N represents the number of effective neighbor nodes, and w1 to w4 are preset weight parameters corresponding to the communication link packet loss rate, communication round-trip time, number of consecutive communication failures, and number of effective neighbor nodes, respectively; the sum of w1 to w4 is 1.

[0032] Step 103: Based on the communication quality assessment value and the communication quality threshold corresponding to the current communication mode, determine whether it is necessary to switch the communication mode.

[0033] Specifically, different communication modes correspond to different communication quality thresholds. The communication quality requirements of different modes, from high to low, are: hybrid communication mode > mesh communication mode > star communication mode > serial communication mode. The higher the communication quality requirement, the larger the corresponding communication quality threshold.

[0034] If the current communication quality assessment value is less than the communication quality threshold corresponding to the current communication mode, it is determined that the communication mode needs to be switched; if the current communication quality assessment value is greater than or equal to the communication quality threshold corresponding to the current communication mode, it is determined that the communication mode does not need to be switched and the current communication mode is maintained.

[0035] Step 104: If it is determined that a communication mode needs to be switched, the target communication mode is determined from the multiple communication modes based on the adaptation relationship between the driving environment information and the preset multiple communication modes.

[0036] Specifically, when it is determined that a communication mode needs to be switched, the signal attenuation level and vehicle spacing parameters indicated by the driving environment information are obtained; based on the signal attenuation level and vehicle spacing parameters, a target communication mode that matches the driving environment information in the communication topology parameter set among the multiple communication modes is determined; the communication topology parameter set includes at least one of the following: maximum communication distance of a single node, maximum number of node connections, routing redundancy level, heartbeat cycle and retransmission strategy.

[0037] As mentioned above, the driving environment information includes: road condition information; the road condition information characterizes the road environment of the current road segment where the vehicle platoon is located; the road condition information includes at least one of the following: signal obstruction status, speed limit, and vehicle spacing. Therefore, based on this road condition information, the signal attenuation level and vehicle spacing parameters indicated by the driving environment information can be obtained. For example, the signal obstruction status characterizes the degree of signal obstruction on the current road segment; for instance, the signal obstruction level is less severe on normal road segments compared to mountain road segments, and less severe on mountain road segments compared to tunnel segments. Therefore, the signal attenuation level can be determined based on the signal obstruction status in the road condition information; the more severe the signal obstruction, the higher the signal attenuation level. The speed limit and vehicle spacing in the road condition information limit the vehicle spacing of the vehicle platoon traveling on that road segment; for example, the vehicle spacing when the vehicle platoon is traveling is less than the speed limit, and the vehicle speed of the vehicle platoon is less than the speed limit. Under these conditions, the vehicle spacing between vehicles when the vehicle platoon is traveling can be obtained.

[0038] In some embodiments, the driving environment information also includes: driving weather information; the driving weather information indicates the weather conditions of the road segment where the vehicle convoy is currently located. Different weather conditions have different degrees of impact on the signal. For example, light rain and light snow have almost no impact on the signal, but heavy rain, heavy snow, and thunderstorms have a greater impact on the signal. Therefore, different weather conditions can be divided into different levels of impact on the signal. For example, light rain and light snow are level one, moderate rain and moderate snow are level two, heavy rain and heavy snow are level three, and heavy rain, heavy snow, thunderstorms, and thunderstorms are level four. These signal impact levels are also known as signal attenuation levels. In addition, weather conditions also affect the setting of vehicle spacing. For example, light rain and light snow have little impact on vehicle braking; however, heavy rain, ice, and heavy snow have a greater impact on vehicle braking, so it is necessary to increase the spacing between vehicles in the convoy.

[0039] Based on the above, road condition information and driving weather information can be combined to determine the signal attenuation level and vehicle spacing.

[0040] Different communication modes correspond to different sets of communication topology parameters, which include at least one of the following: maximum communication distance per node, maximum number of node connections, route redundancy level, heartbeat cycle, and retransmission strategy. Specifically, the maximum communication distance per node limits the distance between vehicles in a vehicle platoon to be less than the maximum communication distance of that single node; the maximum number of node connections limits the maximum number of vehicles that can communicate within a preset range for each vehicle in the platoon; the route redundancy level limits the redundancy requirements for communication within the vehicle platoon; and the heartbeat cycle and retransmission strategy limit the period of data transmission between vehicles in the platoon and the method of data retransmission.

[0041] Therefore, based on the signal attenuation level and vehicle spacing in the vehicle platooning under driving conditions, a matching target communication mode can be selected. The specific method is as follows: Based on the signal attenuation level, select the communication mode with the matching route redundancy level from all communication modes. For example, if the signal attenuation level is high, the requirement for route redundancy is high, so a communication mode with a high route redundancy level needs to be selected. After selecting communication modes that match the routing redundancy level, the communication modes with a maximum single-node communication distance greater than or equal to the vehicle spacing in the vehicle platoon under driving conditions are then selected. Then, from the communication modes with a maximum single-node communication distance greater than or equal to the vehicle spacing in the vehicle platoon under driving conditions, the communication modes with a maximum number of node connections greater than the number of vehicles that can communicate with each other at that vehicle spacing and that satisfy the data transmission cycle and data retransmission method between vehicles are selected. The final selected communication mode is used as the target communication mode. If there are multiple target communication modes, one of them can be selected as the target communication mode.

[0042] Step 105: Control the vehicle platoon to switch from the current communication mode to the target communication mode.

[0043] Specifically, the vehicle platoon switches from its current communication mode to a target communication mode, allowing it to adopt a communication mode more suitable for the current driving environment during operation. This switching can be initiated collaboratively by the lead vehicle or multiple vehicles within the platoon based on a preset consistency determination mechanism. For example, if all vehicles in the platoon determine that a communication mode switch is necessary, a switching time is agreed upon, and the switch is performed at the agreed-upon time.

[0044] In some embodiments, please refer to Figure 2 Step 105 includes the following sub-steps: Sub-step 1051: Establish communication of the target communication mode between the vehicle formations.

[0045] Sub-step 1052: After the communication stability of the target communication mode meets the requirements, disconnect the communication of the vehicle formation in the current communication mode.

[0046] Specifically, communication based on a target communication mode is first established between vehicle formations, and vehicles use this target communication mode to conduct preset data communication; at the same time, the current communication mode is maintained within the vehicle formation, and the data that needs to be transmitted between vehicles is exchanged based on the current communication mode; thus, the current communication mode and the target communication mode are simultaneously implemented in parallel between vehicle formations. Simultaneously, based on the communication link status information of the vehicles exchanging preset data according to the target communication mode, the communication quality assessment value under the target communication mode can be calculated. If the communication quality assessment value is greater than the communication quality threshold of the target communication mode for a preset duration, it is determined that the communication stability of the target communication mode meets the requirements. At this time, the communication of the vehicle formation under the current communication mode can be disconnected, and the data exchange between vehicles that needs to be transmitted can be carried out based on the target communication mode. Thus, the communication jitter problem caused by frequent switching of communication modes can be avoided.

[0047] In some embodiments, before switching communication modes, the number of consecutive communication failures of the vehicle platoon in the current communication mode is detected. If the number of consecutive communication failures reaches a preset threshold, it is determined that a communication mode switch is required, and the communication mode switch is started immediately. If the number of consecutive communication failures does not reach the preset threshold, the communication mode switch is not performed temporarily, and the current communication mode is maintained.

[0048] In this embodiment, during the driving of the vehicle platoon, the current driving environment information and the communication link status information of the vehicle platoon in the current communication mode can be obtained; then, based on the communication link status information, the communication quality assessment value of the vehicle platoon in the current communication mode can be obtained; when the communication quality assessment value in the current communication mode is less than the communication quality threshold corresponding to the current communication mode, it is determined that the communication mode needs to be switched. At this time, based on the adaptation relationship between the driving environment information and multiple preset communication modes, the target communication mode is determined from the multiple communication modes, and then the vehicle platoon is controlled to switch from the current communication mode to the target communication mode.

[0049] In other words, by introducing a quantitative assessment of communication quality and an adaptive switching mechanism for communication modes based on the state of the communication link, vehicle platoons can automatically switch to a communication mode that is suitable for the current driving environment. Through the switching of various communication modes, vehicle platoons can adopt communication modes that are more suitable for different driving environments during driving, so that the communication effectiveness of any vehicle in the platoon remains above the communication quality threshold, thereby improving the stability and robustness of communication during vehicle platoon driving and thus ensuring the communication quality of vehicle platoons in complex driving environments to a certain extent.

[0050] A second embodiment of the present invention relates to a vehicle platooning system, comprising: multiple vehicles communicating with each other, and a central processing unit, wherein the multiple vehicles are arranged in sequence to form a vehicle platoon.

[0051] The central processing unit is used to execute the platooning vehicle communication control method in the first embodiment.

[0052] In one example, the central processing unit is the control unit of either of the vehicles described.

[0053] In another example, the vehicle platooning system further includes a cloud server, and the central processing unit is the cloud server.

[0054] Since the first embodiment corresponds to this embodiment, this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment remain valid in this embodiment, and the technical effects achievable in the first embodiment can also be achieved in this embodiment. To reduce repetition, they will not be repeated here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the first embodiment.

[0055] The third embodiment of the present invention relates to a computer-readable storage medium, which is a non-volatile or non-transient storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the platooning vehicle communication control method in the first embodiment.

[0056] The preferred embodiments of the present invention have been described in detail above. However, it should be understood that after reading the above teachings, those skilled in the art can make various alterations or modifications to the present invention. These equivalent forms also fall within the scope defined by the appended claims.

Claims

1. A communication control method for platooned vehicles, characterized in that, Applied to vehicle platooning, wherein multiple vehicles in the platoon travel in sequence; the method includes: Obtain the current driving environment information of the vehicle formation and the communication link status information between vehicles in the vehicle formation; Based on the communication link status information, obtain the communication quality assessment value of the vehicle formation in the current communication mode; Based on the communication quality assessment value and the communication quality threshold corresponding to the current communication mode, determine whether it is necessary to switch the communication mode; If it is determined that a communication mode needs to be switched, the target communication mode is determined from the multiple communication modes based on the adaptation relationship between the driving environment information and the preset multiple communication modes. Control the vehicle platoon to switch from the current communication mode to the target communication mode.

2. The platooning vehicle communication control method as described in claim 1, characterized in that, The communication link status information includes: communication link packet loss rate, communication round-trip time, number of consecutive communication failures, and number of valid neighbor nodes. Based on the communication link status information, obtain the communication quality assessment value of the vehicle formation in the current communication mode, including: Based on the parameters in the communication link status information and the preset weights of each parameter, the communication quality assessment value of the vehicle formation in the current communication mode is calculated.

3. The platooning vehicle communication control method as described in claim 1, characterized in that, The driving environment information includes at least one of the following: signal obstruction status, limited driving speed, and vehicle spacing. Based on the compatibility relationship between the driving environment information and multiple preset communication modes, a target communication mode is determined from the multiple communication modes, including: Obtain the signal attenuation level and vehicle distance parameters indicated by the driving environment information; Based on the signal attenuation level and vehicle spacing parameters, a target communication mode that matches the driving environment information in the communication topology parameter set is determined from among the multiple communication modes. The communication topology parameter set includes at least one of the following: maximum communication distance per node, maximum number of node connections, routing redundancy level, heartbeat cycle, and retransmission strategy.

4. The platooning vehicle communication control method as described in claim 1, characterized in that, Before controlling the vehicle platoon to switch from the current communication mode to the target communication mode, the method further includes: Determine whether the duration of the communication quality assessment value and the communication quality threshold corresponding to the current communication mode is greater than a preset time threshold; If the value is greater than the target value, then proceed to the step of controlling the vehicle formation to switch from the current communication mode to the target communication mode.

5. The platooning vehicle communication control method as described in claim 1, characterized in that, Controlling the vehicle platoon to switch from the current communication mode to the target communication mode includes: Establish communication of the target communication mode between the vehicle formations; Once the communication stability requirements of the target communication mode are met, the communication of the vehicle platoon in the current communication mode is disconnected.

6. The platooning vehicle communication control method as described in claim 1, characterized in that, When the number of consecutive communication failures of the vehicle formation in the current communication mode reaches a preset threshold, the step of controlling the vehicle formation to switch from the current communication mode to the target communication mode is initiated.

7. The platooning vehicle communication control method as described in claim 1, characterized in that, The communication mode switch is initiated collaboratively by the lead vehicle or multiple vehicles in the vehicle formation based on a preset consistency determination mechanism.

8. The platooning vehicle communication control method as described in claim 1, characterized in that, The communication modes supported by the vehicle platoon include: serial communication mode, star communication mode, hybrid communication mode, and mesh communication mode.

9. A vehicle platooning system, characterized in that, include: Multiple vehicles that communicate with each other, and a central processing unit, wherein the multiple vehicles are arranged in sequence to form a vehicle platoon; The central processing unit is used to execute the platooning vehicle communication control method according to any one of claims 1 to 8.

10. A computer-readable storage medium, wherein the computer-readable storage medium is a non-volatile storage medium or a non-transient storage medium, and a computer program is stored thereon, characterized in that, The computer program is executed by the processor to perform the steps of the platooning vehicle communication control method as described in any one of claims 1-8.

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