Driving control method for vehicle platoon and vehicle platooning system

Abstract

Embodiments of the present application relate to the technical field of automated driving, and provide a driving control method for a vehicle platoon and a vehicle platooning system. The driving control method for the vehicle platoon comprises: during travel of a vehicle platoon, determining whether driving control parameters of the vehicle platoon need to be adjusted; if it is determined that the driving control parameters of the vehicle platoon need to be adjusted, on the basis of driving reference information of the vehicle platoon, determining target driving parameters applicable to the vehicle platoon, the target driving parameters including a target vehicle speed and a target inter-vehicle spacing of the vehicle platoon; and on the basis of the target driving parameters, controlling the vehicle speed and the inter-vehicle spacing of the vehicle platoon. In the present application, automatic adjustment of the vehicle speed and inter-vehicle spacing of the vehicle platoon is realized, so that safe vehicle speed and inter-vehicle spacing can still be maintained even under special geographical scenarios and emergency circumstances, thereby improving the driving safety and driving efficiency of the vehicle platoon.

Description

Vehicle platooning driving control methods and vehicle platooning driving systems

[0001] Cross-referencing related applications

[0002] This patent application claims priority to Chinese Patent Application No. 2025102999738, filed on March 13, 2025, entitled “Driving Control Method and Vehicle Formation Driving System for Vehicle Formation”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of autonomous driving technology, specifically to a vehicle platooning driving control method and a vehicle platooning driving system. Background Technology

[0004] 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.

[0005] When vehicles are traveling in a convoy, they will travel at a fixed speed and distance. For example, the distance between adjacent vehicles in a convoy is generally between ten and twenty meters. However, if the speed and distance are not adjusted in time when encountering emergencies, and the vehicles continue to travel at a fixed speed and distance, it will affect the driving efficiency of the convoy and may even lead to traffic accidents and safety hazards. Summary of the Invention

[0006] The purpose of this application is to provide a vehicle platooning driving control method and a vehicle platooning driving system. During the driving process, the vehicle platooning realizes automatic adjustment of the vehicle speed and driving distance, so that even in special geographical scenarios or emergencies, it can still maintain a relatively safe driving speed and driving distance, thereby improving the driving safety and driving efficiency of the vehicle platooning.

[0007] To achieve the above objectives, this application provides a vehicle platooning driving control method, applied to a vehicle platoon, wherein multiple vehicles are arranged sequentially; the method includes: during the driving of the vehicle platoon, determining whether it is necessary to adjust the driving control parameters of the vehicle platoon; if it is determined that the driving control parameters of the vehicle platoon need to be adjusted, determining target driving parameters applicable to the vehicle platoon based on the driving reference information of the vehicle platoon, wherein the target driving parameters include: the target driving speed and the target driving distance of the vehicle platoon; and controlling the driving speed and driving distance of the vehicle platoon based on the target driving parameters.

[0008] This application also provides 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; the central processing unit is used to execute the above-described vehicle platooning driving control method.

[0009] This application also provides a computer-readable storage medium, which is a non-volatile or non-transient storage medium, on which a computer program is stored, and which, when executed by a processor, performs the steps of the vehicle platooning driving control method described above.

[0010] In one embodiment, determining whether the driving control parameters of the vehicle platoon need to be adjusted includes:

[0011] If the vehicle platoon travels to a designated geographical location, it is determined that the driving control parameters of the vehicle platoon need to be adjusted.

[0012] In one embodiment, the driving reference information includes: the current geographical location of the vehicle platoon;

[0013] Based on the driving reference information of the vehicle formation, target driving parameters applicable to the vehicle formation are determined, including:

[0014] Based on the preset correspondence between geographical location range and driving parameters, the driving parameters corresponding to the geographical location range of the specified geographical location are obtained as the target driving parameters.

[0015] In one embodiment, determining whether the driving control parameters of the vehicle platoon need to be adjusted includes:

[0016] If the driving environment of the vehicle platoon changes too much, it is determined that the driving control parameters of the vehicle platoon need to be adjusted.

[0017] In one embodiment, the driving reference information includes: climate information of the current location of the vehicle platoon;

[0018] Based on the driving reference information of the vehicle formation, target driving parameters applicable to the vehicle formation are determined, including:

[0019] Based on the climate information of the current location of the vehicle formation, target driving parameters suitable for the vehicle formation are obtained.

[0020] In one embodiment, the driving reference information includes: road condition information of the current travel segment of the vehicle platoon;

[0021] After obtaining the target driving parameters suitable for the vehicle formation based on the climate information of the current location of the vehicle formation, the method further includes:

[0022] If the road condition information of the current travel segment of the vehicle formation indicates that the road affects the braking of the vehicles in the vehicle formation, then the target vehicle in the vehicle formation is controlled to perform a braking test and the braking data of the target vehicle is obtained.

[0023] The target driving parameters are adjusted based on the braking data.

[0024] In one embodiment, the driving reference information is acquired by a sensing device located on the roadside; or by a sensing device mounted on a vehicle in the platoon. Attached Figure Description

[0025] Figure 1 is a detailed flowchart of the vehicle platooning driving control method according to the first embodiment of this application;

[0026] Figure 2 is a schematic diagram of the vehicle platooning spacing and speed on uphill and downhill sections according to the first embodiment of this application;

[0027] Figure 3 is a schematic diagram of the signal interaction between the cloud server, roadside equipment and vehicle when the cloud server is the central processing unit according to the first embodiment of this application.

[0028] Figure 4 is a schematic diagram of signal interaction between vehicles in a vehicle platoon when the lead vehicle acts as the central processing unit according to the first embodiment of this application. Specific Implementation

[0029] The embodiments of this application will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of this application. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of this application, but are merely for illustrating the essential spirit of the technical solution of this application.

[0030] 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.

[0031] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0032] 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.

[0033] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to include the meaning of “or / and” unless otherwise expressly stated herein.

[0034] In the following description, in order to clearly demonstrate the structure and working method of this application, 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.

[0035] The first embodiment of this application relates to a vehicle platooning driving control method, applied to a vehicle platoon comprising multiple vehicles, wherein the vehicles in the platoon are arranged sequentially and drive 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.

[0036] In addition, the vehicle platooning system architecture may also include a cloud server, 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.

[0037] Vehicles in a platoon include a lead vehicle and following vehicles. The lead vehicle is generally the vehicle at the very front of the platoon, while the following vehicles are the other vehicles following the lead vehicle. During operation, a following vehicle can be switched to become the lead vehicle as needed. The lead vehicle is the decision-maker for all platooning actions (including creating and disbanding the platoon, vehicles joining and leaving the platoon, etc.), and it manages and makes decisions regarding platooning behavior. For example, a vehicle in a platoon might be a van consisting of a tractor unit and a cargo box.

[0038] The specific flow of the vehicle platooning driving control method in this embodiment is shown in Figure 1. The vehicle platooning 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 (e.g., the controller of the lead vehicle) or the processor of a cloud server.

[0039] Step 101: During the platooning process, determine whether it is necessary to adjust the driving control parameters of the vehicle platoon.

[0040] Step 102: If it is determined that the driving control parameters of the vehicle formation need to be adjusted, based on the driving reference information of the vehicle formation, the target driving parameters applicable to the vehicle formation are determined. The target driving parameters include: the target driving speed and the target driving distance of the vehicle formation.

[0041] Specifically, in a vehicle convoy, the lead vehicle guides the entire convoy along a pre-defined route. This route can be a navigation path from the starting point to the destination. During convoy travel, vehicles maintain a set speed, and adjacent vehicles in the convoy maintain a set distance. In other words, following vehicles, as all other vehicles in the convoy located behind the lead vehicle, have the ability to maintain a safe distance from the vehicle in front. "Maintaining a set speed" means that each vehicle uses a set speed as an intermediate value, slightly increasing or decreasing its speed based on the distance to the vehicle in front to maintain the set distance.

[0042] During the platooning process, the central processing unit will determine in real time whether the driving control parameters of the platoon need to be adjusted.

[0043] In one example, at least one vehicle in the convoy is equipped with a positioning device, such as a positioning sensor. The current geographical location of the convoy can be obtained using a GPS satellite positioning system or a Beidou satellite positioning system, and the real-time geographical location of the convoy is sent to a central processing unit. The central processing unit has multiple preset geographical location ranges, which include special geographical conditions, such as long uphill roads, long downhill roads, or sharp turns. As the convoy travels along the set driving path, the central processing unit obtains the geographical location ranges included in the driving path from the multiple preset geographical location ranges, which can be recorded as the target geographical location range. Then, it can select points in the target geographical location range that do not reach the special geographical conditions as designated geographical locations, such as the starting point of the target geographical location range. In this way, the central processing unit can obtain all the designated address locations included in the set driving path.

[0044] The central processing unit will compare the real-time geographical location of the vehicle platoon with the designated geographical location. When the obtained geographical location of the vehicle platoon matches the designated address, it means that the vehicle platoon has reached the designated geographical location. Continuing to drive forward will encounter special geographical conditions. At this time, it is determined that the driving control parameters of the vehicle platoon need to be adjusted.

[0045] The central processing unit also pre-defines the correspondence between geographical location ranges and driving parameters. The driving parameters corresponding to each geographical location range are associated with its specific geographical conditions, such as long uphill or downhill slopes. For these special geographical conditions, the corresponding driving parameters can be set based on the slope and the length of the slope. Driving parameters include, for example, vehicle spacing and driving speed. The corresponding vehicle spacing and driving speed are set for different uphill and downhill slopes. For example, the steeper the slope, the larger the vehicle spacing and the smaller the driving speed; the longer the slope, the larger the vehicle spacing and the smaller the driving speed. The same slope may have both uphill and downhill sections. Based on a similar principle, the vehicle spacing and driving speed can be set. As shown in Figure 2, in the first uphill section, the vehicle spacing is 10 meters and the driving speed is 40 km / h; in the first downhill section, the vehicle spacing is 20 meters and the driving speed is 60 km / h; and in the second uphill section, the vehicle spacing is 10 meters and the driving speed is 40 km / h. Furthermore, driving parameters can also include acceleration and deceleration, so different uphill and downhill slopes can correspond to different acceleration and deceleration; thus, energy economy and driving safety can be ensured when vehicles are traveling in platoons.

[0046] For example, in special geographical situations such as sharp bends, the corresponding driving parameters can be set based on the angle and length of the bend. The larger the bend angle, the greater the following distance and the lower the driving speed; the longer the bend, the greater the following distance and the lower the driving speed.

[0047] Therefore, when the vehicle convoy travels to a designated geographical location, the central processing unit can obtain the geographical location range to which the vehicle convoy is currently located, and record it as the target geographical location range. Then, the driving parameters corresponding to the target geographical location range are used as the target driving parameters. The target driving parameters include the target driving speed and target driving distance of the vehicle convoy, which are the driving speed and driving distance applicable to the special geographical conditions that will be encountered.

[0048] In another example, if the central processing unit (CPU) detects significant changes in the driving environment of the vehicle platoon, it determines that the driving control parameters of the vehicle platoon need to be adjusted. Specifically, the CPU can acquire real-time driving environment information for the vehicle platoon, including climate and road condition information. Both climate and road conditions affect the driving of the vehicle platoon. For example, foggy, rainy, snowy, or dusty weather, or icy or snowy roads, all affect the driving safety of the vehicle platoon. Therefore, when the CPU detects significant changes in climate or road conditions, it determines that the driving environment of the vehicle platoon has changed too much and therefore needs to adjust the driving control parameters of the vehicle platoon. Adjusting the driving control parameters involves two directions: for example, if the weather changes from sunny to foggy, the following distance needs to be increased and the driving speed reduced; if the weather changes from foggy to sunny, the following distance needs to be decreased and the driving speed increased. For example, when driving from a normal road onto an icy road, it is necessary to increase the following distance and reduce the driving speed. When driving from an icy road onto a normal road (a normal section of road without ice), it is possible to reduce the following distance and increase the driving speed.

[0049] The central processing unit acquires driving environment information in two ways: First, according to the climate conditions, roads with similar climate conditions are divided into road segments, and roadside devices that can detect road surface conditions and climate conditions are installed on the roadside of each road segment. For example, cameras and weather sensors are installed on the roadside. The roadside devices send the driving environment information (including road surface images and weather information) collected for the corresponding road segment to the cloud server, which then sends it to the central processing unit, as shown in Figure 3. The cloud server acts as the central processing unit. The roadside devices send the collected climate information and road condition information to the cloud server, which then obtains the target driving parameters based on the climate information and road condition information and sends them to the lead vehicle. The lead vehicle then sends the target driving parameters to each following vehicle based on V2V communication. The second method involves a lead vehicle in the convoy equipped with a camera. This lead vehicle sends road surface images captured by the camera to a central processing unit. The central processing unit also obtains the real-time geographical location of the convoy and then queries the internet for climate information about that location. As shown in Figure 4, the controller inside the lead vehicle acts as the central processing unit. The lead vehicle collects road condition information through its camera, obtains the real-time geographical location of the convoy through a positioning device, and queries the internet for climate information about that location. Based on the climate and road condition information, it then derives the target driving parameters and sends these parameters to each following vehicle via V2V communication. Figures 3 and 4 only schematically show the number of following vehicles; no actual limit is imposed.

[0050] The driving reference information for the vehicle platoon includes: climate information of the current location of the vehicle platoon, and / or road condition information of the current route traveled by the vehicle platoon. Based on the driving reference information of the vehicle platoon, the central processing unit determines the specific methods for determining the target driving parameters applicable to the vehicle platoon, including any one or any combination of the following:

[0051] When the climate information indicating the current location of the vehicle platoon suggests a significant change in the driving environment, target driving parameters applicable to the vehicle platoon can be derived based on this climate information. Specifically, different climate states can correspond to different driving parameters. For example, climate states can be categorized as normal driving climate (sunny, cloudy, etc.), mildly affecting driving climate (light rain, light snow), moderately affecting driving climate (moderate rain, moderate snow, light fog), and severely affecting driving climate (moderate fog, heavy rain, heavy snow). Specific examples are as follows:

[0052] When driving in convoys under normal weather conditions, the current road type can be used to set the driving speed. For example, if the speed limit on the current highway is 60-120 km / h, then the current driving speed should be within the range of 60-120 km / h. The following distance can be set based on the current speed, for example, by adding 10 meters to the distance traveled per second. For instance, if the current speed is 100 km / h (approximately 27.8 meters per second), then the current following distance would be 37.8 + 10 = 37.8 meters.

[0053] When driving in weather conditions that slightly affect driving, you can reduce your initial speed (e.g., by 5-10 km / h) to adapt to slippery road conditions, provided the speed limit applies to the current road type. For example, if the speed limit on the highway is 60-120 km / h, reducing the speed by 10 km / h would mean a current speed of 50-110 km / h. The following distance can be set based on the current speed, for example, by using the distance traveled per 1.5 seconds + 10 meters as the following distance. For instance, if the current speed is 90 km / h (approximately 25 meters per second), the following distance would be 37.5 + 10 = 47.5 meters.

[0054] When driving in convoys under moderately inclement weather conditions, vehicles can reduce their second speed (greater than the first, for example, by 10-20 km / h) to the speed limit corresponding to the current road type to ensure safety. For example, if the current highway speed limit is 60-120 km / h, a 20 km / h reduction would mean a current speed of 40-100 km / h. Distance can be set based on the current speed, for example, by adding 10 meters to the distance traveled per 2 seconds. For instance, if the current speed is 80 km / h (approximately 22.2 meters per second), the distance would be 44.4 + 10 = 54.4 meters.

[0055] When vehicles are traveling in convoys under conditions severely affecting driving, they can reduce their speed to a third speed (greater than the second speed, for example, a reduction of 20-40 km / h) based on the speed limit corresponding to the current road type. The specific reduction depends on the severity of the weather. For example, if the current highway speed limit is 60-120 km / h, a reduction of 40 km / h would result in a current speed between 20-80 km / h. The following distance can be set based on the current speed, for example, by using the distance traveled per 3 seconds + 10 meters as the following distance; for instance, if the current speed is 60 km / h (approximately 16.7 meters per second), the current following distance would be 50.1 + 10 = 60.1 meters.

[0056] The central processing unit can determine the corresponding driving parameters as target driving parameters based on the current climate conditions when the climate changes, such as switching from normal driving climate to slightly affected driving climate, or from severely affected driving climate to normal driving climate.

[0057] When the road condition information for the current travel segment of the vehicle convoy indicates a significant change in the driving environment, and this road condition affects the braking of the vehicles in the convoy, the target vehicle in the convoy is controlled to perform a braking test to obtain its braking data. Based on this braking data, target driving parameters suitable for the vehicle convoy are then determined. Specifically, different road conditions have different effects on the braking of the vehicle convoy. For example, icy, snowy, or flooded roads have a significant impact on braking. Therefore, when road conditions that significantly affect braking occur, the target vehicle in the convoy is first controlled to perform a braking test to obtain its braking data. Based on this braking data, target driving parameters suitable for the current road conditions are then determined.

[0058] When both the climate information at the current location of the vehicle convoy and the road condition information of the current route indicate significant changes in the driving environment, target driving parameters suitable for the vehicle convoy can be obtained based on the climate information at the current location. This is similar to the previous content and will not be repeated here. At this time, the road condition information of the current route indicates that the road affects the braking of the vehicles in the convoy. First, the target vehicle in the convoy is controlled to perform a braking test to obtain the braking data of the target vehicle. Specifically, the target vehicle can be any vehicle in the convoy, usually the lead vehicle can be selected as the target vehicle. The braking test of the target vehicle can be performed by controlling the target vehicle to lightly apply the brakes (i.e., decelerate according to a set deceleration) or lightly accelerate (accelerate according to a set acceleration) for a certain period of time, and obtaining the speed change data of the target vehicle within this time period, that is, obtaining the actual acceleration or deceleration of the target vehicle within this time period. The theoretical acceleration (or deceleration) is compared with the actual acceleration (or deceleration) to obtain the braking data of the target vehicle.

[0059] Braking data characterizes the impact of road conditions on vehicle platooning braking, and the target driving parameters can be adjusted based on this data. For example, braking data might indicate that current road markers have a negative impact on the braking of the target vehicle; for instance, icy roads reduce braking effectiveness and increase braking distance, thus requiring increased following distance and / or decreased speed. The magnitude of the increased or decreased following distance and / or decreased or increased speed can be determined based on the braking data. These two values ​​can then be used to adjust the target following distance and target speed in the target driving parameters, resulting in the adjusted target following distance and target speed.

[0060] Step 103: Based on the target driving parameters, control the driving speed and driving distance of the vehicle platoon.

[0061] Specifically, if the cloud server acts as the central processing unit, it can first send the target driving parameters to the lead vehicle, which then transmits them to each following vehicle via V2V communication; alternatively, the cloud server can directly send the target driving parameters to all vehicles in the convoy. If the controller within the lead vehicle acts as the central processing unit, it can directly send the target driving parameters to each following vehicle via V2V communication after acquiring them.

[0062] After receiving the target driving parameters, each vehicle in the convoy can adjust its driving distance from the vehicle in front based on the target driving distance at the agreed time or when it arrives at the same designated location. After the driving distance is adjusted, the driving speed is adjusted to the target driving speed. In this way, the entire vehicle convoy completes the adjustment of driving distance and driving speed.

[0063] Furthermore, when the vehicle platoon leaves the geographical area of ​​its current designated location, it can resume its previous driving speed and spacing, thereby improving the passage efficiency of the vehicle platoon.

[0064] In this embodiment, when the vehicle platoon is in motion and it is determined that the driving control parameters of the vehicle platoon need to be adjusted, the target driving parameters applicable to the vehicle platoon are determined based on the current driving reference information. The target driving parameters include the target driving speed and target driving distance of the vehicle platoon. Then, the driving speed and driving distance of the vehicle platoon can be controlled based on the target driving parameters. The driving reference information represents the current driving conditions of the vehicle platoon. Based on this, more suitable driving parameters can be obtained, realizing the automatic adjustment of the driving speed and driving distance of the vehicle platoon. Thus, even in special geographical scenarios or emergencies, a relatively safe driving speed and driving distance can still be maintained, improving the driving safety and driving efficiency of the vehicle platoon.

[0065] The second embodiment of this application 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.

[0066] The central processing unit is used to execute the vehicle platooning driving control method in the first embodiment.

[0067] In one example, the central processing unit is the control unit of either of the vehicles described.

[0068] In another example, the vehicle platooning system further includes a cloud server, and the central processing unit is the processor of the cloud server.

[0069] 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.

[0070] The third embodiment of this application 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 vehicle platooning driving control method as described in the first embodiment.

[0071] The preferred embodiments of this application have been described in detail above, but it should be understood that, if necessary, aspects of the embodiments can be modified to utilize aspects, features, and concepts from various patents, applications, and publications to provide other embodiments.

[0072] In light of the detailed description above, these and other changes can be made to the embodiments. Generally, the terminology used in the claims should not be considered limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents enjoyed by these claims.

Claims

1. A method of driving control of a vehicle platoon, characterized by, Applied to vehicle platooning, wherein multiple vehicles in the platoon travel in sequence; the method includes: During the platooning process, determine whether the driving control parameters of the vehicle platoon need to be adjusted. If it is determined that the driving control parameters of the vehicle formation need to be adjusted, the target driving parameters applicable to the vehicle formation are determined based on the driving reference information of the vehicle formation. The target driving parameters include: the target driving speed and the target driving distance of the vehicle formation. Based on the target driving parameters, the driving speed and driving distance of the vehicle platoon are controlled.

2. The travel control method of a vehicle platoon according to claim 1, characterized by, Determining whether the driving control parameters of the vehicle formation need to be adjusted includes: If the vehicle platoon travels to a designated geographical location, it is determined that the driving control parameters of the vehicle platoon need to be adjusted.

3. The travel control method of a vehicle platoon according to claim 2, characterized by, The driving reference information includes: the current geographical location of the vehicle platoon; Based on the driving reference information of the vehicle formation, target driving parameters applicable to the vehicle formation are determined, including: Based on the preset correspondence between geographical location range and driving parameters, the driving parameters corresponding to the geographical location range of the specified geographical location are obtained as the target driving parameters.

4. The travel control method of a vehicle platoon according to claim 1, characterized by, Determining whether the driving control parameters of the vehicle formation need to be adjusted includes: If the driving environment of the vehicle platoon changes too much, it is determined that the driving control parameters of the vehicle platoon need to be adjusted.

5. The travel control method of a vehicle platoon according to claim 4, characterized by, The driving reference information includes: climate information of the current location of the vehicle platoon; Based on the driving reference information of the vehicle formation, target driving parameters applicable to the vehicle formation are determined, including: Based on the climate information of the current location of the vehicle formation, target driving parameters suitable for the vehicle formation are obtained.

6. The travel control method of a vehicle platoon according to claim 5, characterized by, The driving reference information includes: road condition information of the current driving segment of the vehicle platoon; After obtaining the target driving parameters suitable for the vehicle formation based on the climate information of the current location of the vehicle formation, the method further includes: If the road condition information of the current travel segment of the vehicle formation indicates that the road affects the braking of the vehicles in the vehicle formation, then the target vehicle in the vehicle formation is controlled to perform a braking test and the braking data of the target vehicle is obtained. The target driving parameters are adjusted based on the braking data.

7. The travel control method of a vehicle platoon according to claim 5 or 6, characterized by, The driving reference information is obtained by sensing devices installed on the roadside; or by sensing devices installed on vehicles in the vehicle platoon.

8. A vehicle platooning system, characterized by comprising: 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 vehicle platooning driving control method according to any one of claims 1 to 7.

9. The vehicle platooning system of claim 8, wherein, The central processing unit is a control unit for any of the vehicles.

10. The vehicle platooning system of claim 8, wherein, The vehicle platooning system also includes a cloud server, and the central processing unit is the cloud server.

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