CN112277942A

CN112277942A - Queue control method for automatically driving vehicle, vehicle-mounted device and system

Info

Publication number: CN112277942A
Application number: CN201910628733.2A
Authority: CN
Inventors: 李文锐; 吴楠; 毕青鑫; 温博轩; 徐勇
Original assignee: Beijing Tusimple Technology Co Ltd
Current assignee: Beijing Tusimple Technology Co Ltd
Priority date: 2019-07-12
Filing date: 2019-07-12
Publication date: 2021-01-29

Abstract

The application provides a queue control method of an automatic driving vehicle, a vehicle-mounted device and a system, and relates to the technical field of automatic driving. The system comprises a first vehicle-mounted device of one to a plurality of pilot vehicles and a second vehicle-mounted device of one to a plurality of following vehicles; the second vehicle-mounted device acquires the target fleet information and sends the enqueue request information to the first vehicle-mounted device of the pilot vehicle of the target fleet; the first vehicle-mounted device authenticates the enqueuing request information and sends the enqueuing permission information to the second vehicle-mounted device after the authentication is successful; the second vehicle-mounted device controls the following vehicle to reach the cut-in position point, the following vehicle enters a target vehicle team, and the following vehicle is controlled to run by adopting a first planned path of a pilot vehicle after reaching the cut-in position point; the first vehicle-mounted device sends the departure instruction information to the second vehicle-mounted device; and the second vehicle-mounted device controls the following vehicle to leave the target fleet according to the departure instruction information, and controls the following vehicle to run by adopting a second planned path of the following vehicle.

Description

Queue control method for automatically driving vehicle, vehicle-mounted device and system

Technical Field

The present disclosure relates to the field of automatic driving technologies, and in particular, to a queue control method, a vehicle-mounted device, and a system for an automatic driving vehicle.

Background

Currently, a cooperative autonomous Vehicle fleet (hereinafter referred to as autonomous Vehicle fleet) refers to a formation state in which a plurality of vehicles run with a very small Vehicle distance in the trail based on autonomous driving technology and V2V (Vehicle-to-Vehicle) Vehicle networking technology. In formation, the distance is far lower than the safe driving distance in the general sense, and is only 20 meters or even smaller, the airflow broken by the pilot vehicle can be directly received by the second vehicle at the tail of the vehicle by the extremely small distance, and a low-pressure vortex area can not be formed, so that the total air resistance value of the whole motorcade in the driving process is effectively reduced. The reduced resistance of the vehicle running under the state of the coordinated automatic driving motorcade can save about 10 percent of oil consumption. This short interval can be maintained in coordination with the autonomous vehicle fleet, primarily because V2V can achieve communication within 100ms from end-to-end, benefiting from the low latency communication of V2V communication. Therefore, based on the V2V technology, information interaction can be carried out between vehicles, and a group of vehicles in a formation can follow a pilot vehicle and carry out self-operation along with the operation of the pilot vehicle. For example, the pilot vehicle is operated by stepping on an accelerator, a brake or a steering, and the vehicles in the rear row can be operated in the same way in a short time.

Currently, in an environment of an automatic driving fleet, if an automatic driving vehicle needs to join the fleet or leave the fleet, manual driving in the automatic driving vehicle is generally needed to trigger an enqueue application or an dequeue application, and then whether the vehicle is allowed to enqueue or dequeue is confirmed by manual work on a pilot vehicle. Therefore, the automatic vehicle cannot be automatically queued and dequeued at present, and cannot meet the requirement of queuing and dequeuing of the automatic vehicle without human interference.

Disclosure of Invention

The embodiment of the application provides a queue control method of an automatic driving vehicle, a vehicle-mounted device and a system, so that the automation of enqueuing and dequeuing is realized, and the enqueuing and dequeuing requirements of the automatic driving vehicle without manual interference are met.

In order to achieve the above purpose, the embodiment of the present application adopts the following technical solutions:

in a first aspect of an embodiment of the present application, a queue control method for an autonomous vehicle is provided, including:

obtaining target fleet information, and sending the enqueue request information to a first vehicle-mounted device of a pilot vehicle of the target fleet so that the first vehicle-mounted device of the pilot vehicle of the target fleet authenticates the enqueue request information;

receiving admission allowing information sent by a first vehicle-mounted device; the admission information comprises a cut-in position point determined according to the driving condition of the pilot vehicle;

controlling the following vehicle to reach the cut-in position point, finishing the following vehicle entering a target fleet, and controlling the following vehicle to run by adopting a first planned path of a pilot vehicle after reaching the cut-in position point;

receiving dequeue instruction information sent by a first vehicle-mounted device;

and controlling the following vehicle to leave the target fleet according to the departure instruction information, and controlling the following vehicle to run by adopting a second planned path of the following vehicle.

In a second aspect of the embodiments of the present application, there is provided a queue control method for an autonomous vehicle, including:

receiving enqueue request information sent by a second vehicle-mounted device following a vehicle;

the method comprises the steps that the enqueue request information is authenticated, and enqueue allowing information is sent to a second vehicle-mounted device after the enqueue request information is successfully authenticated, wherein the enqueue allowing information comprises a cut-in position point determined according to the driving condition of a pilot vehicle, so that the second vehicle-mounted device controls a follow-up vehicle to reach the cut-in position point, the follow-up vehicle enters a target vehicle fleet, and the follow-up vehicle is controlled to drive by adopting a first planned path of the pilot vehicle after the follow-up vehicle reaches the cut-in position point;

and sending the departure instruction information to a second vehicle-mounted device, so that the second vehicle-mounted device controls the following vehicle to leave the target fleet according to the departure instruction information, and controls the following vehicle to run by adopting a second planned path of the following vehicle.

In a third aspect of the embodiments of the present application, there is provided a second in-vehicle apparatus including:

the device comprises a sending unit, a receiving unit and a processing unit, wherein the sending unit is used for obtaining target fleet information and sending the enqueue request information to a first vehicle-mounted device of a pilot vehicle of the target fleet so that the first vehicle-mounted device of the pilot vehicle of the target fleet authenticates the enqueue request information;

the receiving unit is used for receiving the queuing allowing information sent by the first vehicle-mounted device; the admission information comprises a cut-in position point determined according to the driving condition of the pilot vehicle;

the control unit is used for controlling the following vehicle to reach the cut-in position point, completing the purpose that the following vehicle enters a target vehicle team, and controlling the following vehicle to run by adopting a first planned path of a pilot vehicle after reaching the cut-in position point;

the receiving unit is also used for receiving the dequeuing instruction information sent by the first vehicle-mounted device;

and the control unit is also used for controlling the following vehicle to leave the target motorcade according to the departure instruction information and controlling the following vehicle to run by adopting a second planned path of the following vehicle.

In a fourth aspect of the embodiments of the present application, there is provided a first vehicle-mounted device, including:

a receiving unit, configured to receive enqueue request information sent by a second onboard device following a vehicle;

the authentication unit is used for authenticating the enqueue request information;

the transmitting unit is used for transmitting the queuing allowing information to the second vehicle-mounted device after the authentication unit successfully authenticates, wherein the queuing allowing information comprises a cut-in position point determined according to the driving condition of the pilot vehicle, so that the second vehicle-mounted device controls the follow-up vehicle to reach the cut-in position point, the follow-up vehicle enters a target vehicle fleet, and the follow-up vehicle is controlled to drive by adopting a first planned path of the pilot vehicle after reaching the cut-in position point;

and the sending unit is also used for sending the departure instruction information to the second vehicle-mounted device, so that the second vehicle-mounted device controls the following vehicle to leave the target fleet according to the departure instruction information, and controls the following vehicle to run by adopting a second planned path of the following vehicle.

In a fifth aspect of the embodiments of the present application, a queue control system for an autonomous vehicle is provided, including a plurality of vehicle-mounted devices for autonomous vehicles, where the plurality of vehicle-mounted devices for autonomous vehicles include a first vehicle-mounted device for one to a plurality of lead vehicles and a second vehicle-mounted device for one to a plurality of following vehicles; the vehicle-mounted devices of the automatic driving vehicles can be in communication connection;

the second vehicle-mounted device is used for acquiring target fleet information and sending the queuing request information to the first vehicle-mounted device of the pilot vehicle of the target fleet;

the first vehicle-mounted device is used for authenticating the enqueuing request information and sending the enqueuing permission information to the second vehicle-mounted device after the authentication is successful; the admission information comprises a cut-in position point determined according to the driving condition of the pilot vehicle;

the second vehicle-mounted device is also used for controlling the following vehicle to reach the cut-in position point, finishing the following vehicle entering a target fleet, and controlling the following vehicle to run by adopting the first planned path of the pilot vehicle after reaching the cut-in position point;

the first vehicle-mounted device is also used for sending the departure instruction information to the second vehicle-mounted device;

the second vehicle-mounted device is also used for controlling the following vehicle to leave the target fleet of vehicles according to the departure instruction information and controlling the following vehicle to run by adopting a second planned path of the following vehicle.

In a sixth aspect of the embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the queue control method for an autonomous vehicle of the first aspect described above.

In a seventh aspect of the embodiments of the present application, there is provided a computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the queue control method for an autonomous vehicle of the second aspect described above.

In an eighth aspect of the embodiments of the present application, there is provided a computer device, comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor executes the computer program to implement the queue control method for an autonomous vehicle according to the first aspect.

In a ninth aspect of the embodiments of the present application, there is provided a computer device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the queue control method for an autonomous vehicle according to the second aspect when executing the program.

The queue control method, the vehicle-mounted device and the system of the automatic driving vehicle can realize automatic enqueuing and dequeuing of the automatic driving vehicle without manual interference, but are not limited to the method.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

FIG. 1 is a schematic structural diagram of an autonomous vehicle fleet control system according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of a pilot vehicle, a follower vehicle and a fleet of vehicles within a predetermined range according to an embodiment of the present disclosure;

FIG. 3 is an interactive flow chart of the operation of the fleet control system for autonomous vehicles in one embodiment of the present application;

FIG. 4 is a first interaction flow diagram of an enqueue application phase in an embodiment of the present application;

FIG. 5 is a flow chart illustrating an interaction in an enqueue application phase according to an embodiment of the present application;

FIG. 6 is a third interaction flow chart in an enqueue application phase according to an embodiment of the present application;

FIG. 7 is a fourth interaction flow diagram of an enqueue application phase in an embodiment of the present application;

FIG. 8 is a first interaction flow diagram of an enqueue control phase according to an embodiment of the present application;

FIG. 9 is a first schematic view of a pilot vehicle, a follower vehicle and a fleet of vehicles in an enqueue control stage according to an embodiment of the present disclosure;

FIG. 10 is a flow chart illustrating the interaction during the enqueue control phase according to an embodiment of the present application;

fig. 11 is a schematic view illustrating a second scenario of a pilot vehicle, a follower vehicle and a fleet vehicle in an enqueue control stage according to an embodiment of the present application;

FIG. 12 is a first interaction flow diagram of a dequeue phase in an embodiment of the present application;

FIG. 13 is a schematic view of a pilot vehicle, a follower vehicle, and a fleet of vehicles at a departure stage in an embodiment of the present application;

FIG. 14 is a flow chart illustrating interaction during the dequeue phase in an embodiment of the present application;

FIG. 15 is a third interaction flow diagram of the dequeue stage in an embodiment of the present application;

FIG. 16 is a flow chart illustrating the interaction of the dequeue phase in an embodiment of the present application;

FIG. 17 is a first flowchart of a fleet control method for an autonomous vehicle according to an embodiment of the present application;

FIG. 18 is a flowchart of a second method for queue control for autonomous vehicles according to an embodiment of the present disclosure;

fig. 19 is a flowchart of a third method for controlling a fleet of autonomous vehicles according to an embodiment of the present disclosure;

FIG. 20 is a first flowchart of an enqueue application phase in an embodiment of the present application;

FIG. 21 is a flow chart of an enqueue application phase in an embodiment of the present application;

FIG. 22 is a flow chart of an enqueue application phase in an embodiment of the present application;

FIG. 23 is a fourth flowchart of an enqueue application phase in an embodiment of the present application;

FIG. 24 is a first flowchart of an enqueue control phase in an embodiment of the present application;

FIG. 25 is a flow chart of an enqueue control phase in an embodiment of the present application;

FIG. 26 is a first flowchart of a dequeue phase in an embodiment of the present application;

FIG. 27 is a flow chart of the dequeue phase in an embodiment of the present application;

FIG. 28 is a flow chart three of the dequeue stage in an embodiment of the present application;

FIG. 29 is a fourth flowchart of the dequeue stage in an embodiment of the present application;

fig. 30 is a schematic structural diagram of a second vehicle-mounted device according to an embodiment of the present disclosure;

fig. 31 is a schematic structural diagram of a first vehicle-mounted device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In order to make the present application better understood by those skilled in the art, some technical terms appearing in the embodiments of the present application are explained below:

V2V: Vehicle-to-Vehicle, V2V communication technology is a communication technology that is not limited to fixed base stations and provides direct end-to-end wireless communication for moving vehicles.

V2X: vehicle to X is a key technology of a future intelligent transportation system. It enables communication between cars, between cars and base stations, and between base stations. Therefore, a series of traffic information such as real-time road conditions, road information, pedestrian information and the like is obtained, so that the driving safety is improved, the congestion is reduced, the traffic efficiency is improved, and the vehicle-mounted entertainment information is provided.

RSU: the Road Side Unit in the embodiment of the present application refers to a Road Side Unit device capable of performing V2X communication with a vehicle.

4G: fourth generation mobile communication technology.

5G: fifth generation mobile communication technology.

SAE: SAE, a technical standard in the locomotive industry, is the society of automotive Engineers in America.

L4: level4, highly autonomous, is done by the vehicle, human driver does not need to keep attention, but defines road and environmental conditions.

L5: level5, full autopilot, all driving operations are done by the vehicle, without the human driver needing to keep attention.

In some embodiments of the present application, the term "vehicle" is to be broadly interpreted to include any moving object, including, for example, an aircraft, a watercraft, a spacecraft, an automobile, a truck, a van, a semi-trailer, a motorcycle, a golf cart, an off-road vehicle, a warehouse transport vehicle or a farm vehicle, and a vehicle traveling on a track, such as a tram or train, and other rail vehicles. The "vehicle" in the present application may generally include: power systems, sensor systems, control systems, peripheral devices, and computer systems. In other embodiments, the vehicle may include more, fewer, or different systems.

Wherein, the driving system is the system for providing power motion for the vehicle, includes: engine/motor, transmission and wheels/tires, power unit.

The control system may comprise a combination of devices controlling the vehicle and its components, such as a steering unit, a throttle, a brake unit.

The peripheral devices may be devices that allow the vehicle to interact with external sensors, other vehicles, external computing devices, and/or users, such as wireless communication systems, touch screens, microphones, and/or speakers.

Based on the vehicle described above, the unmanned vehicle is also provided with a sensor system and an unmanned control device.

The sensor system may comprise a plurality of sensors for sensing information of the environment in which the vehicle is located, and means for changing the position and/or orientation of the sensorsOne or more actuators. The sensor system may include any combination of sensors such as global positioning system sensors, inertial measurement units, radio detection and ranging (RADAR) units, cameras, laser rangefinders, light detection and ranging (LIDAR) units, and/or acoustic sensors; the sensor system may also include sensors (e.g., O) that monitor the vehicle interior systems₂Monitors, fuel gauges, engine thermometers, etc.).

The drone controlling device may include a processor and a memory, the memory having stored therein at least one machine executable instruction, the processor executing the at least one machine executable instruction to implement functions including a map engine, a positioning module, a perception module, a navigation or routing module, and an automatic control module, among others. The map engine and the positioning module are used for providing map information and positioning information. The sensing module is used for sensing things in the environment where the vehicle is located according to the information acquired by the sensor system and the map information provided by the map engine. And the navigation or path module is used for planning a driving path for the vehicle according to the processing results of the map engine, the positioning module and the sensing module. The automatic control module inputs and analyzes decision information of modules such as a navigation module or a path module and the like and converts the decision information into a control command output to a vehicle control system, and sends the control command to a corresponding component in the vehicle control system through a vehicle-mounted network (for example, an electronic network system in the vehicle, which is realized by CAN (controller area network) bus, local area internet, multimedia directional system transmission and the like), so as to realize automatic control of the vehicle; the automatic control module can also acquire information of each component in the vehicle through a vehicle-mounted network.

Considering that some operations of the existing automatic driving vehicles are difficult to completely break away from manual interference, especially in an automatic driving vehicle fleet, if the automatic driving vehicle fleet is formed or a new following vehicle needs to enter the automatic driving vehicle fleet, a person on the vehicle is generally required to manually operate a vehicle-mounted computer and the like to complete communication connection between the automatic driving vehicles, so that the process is very inconvenient, and the development of running of the automatic driving vehicle fleet is restricted.

Therefore, as shown in fig. 1, the present embodiment provides an autonomous vehicle queuing control system 10, which is applied in a queuing environment of autonomous vehicles, the queuing environment of autonomous vehicles generally includes a pilot vehicle 11 and a follower vehicle 12, and a plurality of follower vehicles 12 can be followed behind the pilot vehicle 11 to form a queue. When not forming a queue, either autonomous vehicle may be considered a lead vehicle 11 or a follower vehicle 12. The queue control system 10 of the autonomous vehicle includes a plurality of onboard devices of the autonomous vehicle, including a first onboard device 111 of one to a plurality of pilot vehicles 11 and a second onboard device 121 of one to a plurality of follower vehicles 12; here, the first in-vehicle device 111 and the second in-vehicle device 121 may have the same or different structures and functions, and the first in-vehicle device 111 and the second in-vehicle device 121 may be devices having computing and processing capabilities on an autonomous vehicle, including but not limited to an in-vehicle computer, an in-vehicle server, and the like. In addition, the vehicle-mounted devices of the automatic driving vehicles can be in communication connection by adopting one or more modes of 4G, 5G, V2V and the like. The queue control system 10 of the autonomous vehicle may further include a cloud server 13, and the cloud server 13 may be in communication connection with each of the first onboard device 111 and the second onboard device 121, for example, in a communication manner such as 4G or 5G. Fig. 1 shows only one communication connection, but not limited to this.

In an embodiment of the present application, as shown in fig. 2, within a predetermined range 20 (for example, a predetermined geographic area range, such as but not limited to a certain park, a certain road section or a certain port), one to a plurality of pilots 11 and one to a plurality of follower vehicles 12 may be included, and wherein a part of the pilots 11 and the follower vehicles 12 may constitute one to a plurality of fleets 21 within the predetermined range 20.

In one embodiment of the present application, as shown in fig. 3, the operation of the queue control system 10 for autonomous vehicles is described by taking as an example that a following vehicle 12 needs to join the fleet and leave the fleet after entering the fleet: wherein, according to the working process, can be divided into three stages with whole working process: the method comprises (a) an enqueue application stage, (b) an enqueue control stage, and (c) a dequeue stage.

The enqueue application stage:

the second in-vehicle device 121 of the following vehicle 12 obtains the target vehicle group information, and transmits the enqueue request information to the first in-vehicle device 111 of the lead vehicle 11 of the target vehicle group 211.

The first in-vehicle device 111 of the pilot vehicle 11 authenticates the enqueue request information, and transmits the enqueue permission information to the second in-vehicle device 121 after the authentication is successful. The enqueue permission information includes a cut-in position point 212 determined according to the driving condition of the pilot vehicle 11.

Therefore, the enqueue application stage can realize automatic enqueue request and enqueue authentication.

(II) enqueue control stage:

the second onboard device 121 controls the following vehicle 12 to reach the cut-in position point 212, completes the entry of the following vehicle 12 into the target vehicle group 211, and controls the following vehicle 12 to travel by using the first planned route of the pilot vehicle 11 after reaching the cut-in position point 212.

Therefore, the enqueue control stage can realize the automatic control of the following vehicles according to the cut-in position points so as to enable the following vehicles to enter the motorcade.

(III) a dequeue stage:

the first in-vehicle device 111 transmits the dequeue instruction information to the second in-vehicle device 121.

The second onboard apparatus 121 controls the following vehicle 12 to leave the target vehicle fleet 211 according to the departure instruction information, and controls the following vehicle 12 to travel by using the second planned route of the following vehicle 12.

Therefore, the dequeue stage can realize automatic dequeue instruction sending and trigger the following vehicle to leave the target fleet.

Through the enqueue application stage, the enqueue control stage and the dequeue stage, the enqueue and the dequeue of the automatic driving fleet without human interference can be realized in one embodiment of the application, and the requirements of automatic driving, such as the automatic driving requirements of the level L4 and the level L5 in SAE standards, are met.

The above three-stage process is described in detail below in order to enable those skilled in the art to better understand the embodiments of the present application.

For the enqueue application phase, as shown in fig. 4, the process of an embodiment of the present application may be as follows:

the cloud server 13 obtains and stores fleet parameter information of each fleet, such as the total number of current vehicles of the fleet and the first planned path of the lead vehicle of the fleet in advance. Here, the cloud server 13 may manage and maintain fleet parameter information for each fleet, facilitating applications when the fleet is automatically driven.

The second onboard device 121 of the following vehicle 12 communicates with a preset cloud server 13, transmits vehicle fleet parameter information request information to the cloud server 13, and obtains vehicle fleet parameter information of one or more vehicle fleets from the cloud server 13. I.e. for example obtaining the current total number of vehicles of the platoon and a first planned path of the lead vehicle of the platoon. Here, the cloud server 13 may provide the second onboard device 121 with the fleet parameter information of the fleet within a preset distance range of the geographic location according to the geographic location of the following vehicle 12, and avoid sending the fleet parameter information of all the fleets managed and maintained on the cloud server 13 to the second onboard device 121, thereby avoiding channel occupation by useless information.

The second vehicle-mounted device 121 of the following vehicle 12 determines a target vehicle fleet 211 from one to a plurality of vehicle fleets according to the parameter information of the vehicle fleets, obtains the target vehicle fleet information, and sends the queuing request information to the first vehicle-mounted device 111 of the pilot vehicle 11 of the target vehicle fleet 211; the enqueue request information includes follower identification information, follower type, and follower kinematics information. Here, the second onboard device 121 may determine the target vehicle group 211 to which it needs to enter from the vehicle groups, and the determination conditions are: firstly, the total number of the current vehicles of the target vehicle group 211 is less than or equal to a preset vehicle upper limit value (namely the current number of the vehicles of the vehicle group is not saturated); and the length of a first superposed path of a first planned path of the pilot vehicle 11 of the target fleet 211 and a second planned path of the follower vehicle 12 is greater than or equal to a preset length threshold value and is greater than the length of a second superposed path, and the length of the second superposed path is the length of a superposed path of the first planned path of the pilot vehicle 11 of other fleets except the target fleet 211 and the second planned path of the follower vehicle 12 in each fleet (namely, the superposed degree of the planned path of the follower vehicle 12 and the planned path of the pilot vehicle 11 of the target fleet 211 is the highest, and the distance capable of being jointly traveled is the longest).

The first onboard device 111 of the navigator vehicle 11 authenticates the following vehicle identity information, the following vehicle type, and the following vehicle kinematics information, and determines whether the following vehicle is suitable for entering a fleet corresponding to the navigator vehicle.

Wherein, follow-up vehicle identity information can include: the number plate of the following vehicle, the number of the electronic tag of the following vehicle and the like. The electronic tag can be an electronic license plate issued by an official organization such as a government, wherein the electronic license plate can store the identity information of the vehicle, the identity information is readable and writable, and each vehicle corresponds to one vehicle electronic tag. The first onboard device 111 of the navigator car 11 can obtain a legal identity list from its own storage unit, so as to determine whether the following car corresponding to the following car license plate number and the following car electronic tag number is a legal car according to the legal identity list. In addition, the first onboard device 111 of the navigator car 11 may also communicate with another server (e.g., a public security system server for managing and maintaining legal vehicle information, such as forming a legal identity list from the legal vehicle information), upload the following license plate number and the following car electronic tag number to the other server, and determine whether the following car corresponding to the following license plate number and the following car electronic tag number is a legal vehicle according to the legal identity list by the other server. The legal identity list can record the information of the legal vehicle such as the number plate, the electronic tag number and the like of the following vehicle.

Types of follower and pilot vehicles may include passenger cars (e.g., sedans), taxis, vans, passenger buses, container trucks, heavy duty trucks, and the like. Specifically, in the present embodiment, the vehicle type may be divided into a plurality of vehicle classes according to the vehicle volume and weight, wherein the higher the vehicle class is, the larger the vehicle volume and weight is, or the lower the vehicle class is, the larger the vehicle volume and weight is. For example, passenger cars and taxis (small vehicles) may be classified into class 1, vans and passenger buses (medium vehicles) into class 2, and container trucks and heavy trucks (heavy vehicles) into class 3; in addition, it is also possible to divide passenger cars and taxies (small vehicles) into class 3, van cars and passenger buses (medium vehicles) into class 2, and container trucks and heavy trucks (heavy vehicles) into class 1; the specific manner of ranking is not described herein. In this way, the first in-vehicle device 111 of the navigator vehicle 11 can respectively determine the vehicle levels of the following vehicle to be enqueued and the vehicle type of the vehicle at the end of the team in the fleet (the vehicle at the end of the team can be one following vehicle or the navigator vehicle itself). And if the grade of the follow-up vehicle to be enqueued is less than or equal to the grade of the vehicle at the tail of the fleet in the fleet, determining that the follow-up vehicle to be enqueued is suitable for entering the fleet corresponding to the pilot vehicle. And when the volume and the weight of the vehicle are larger as the vehicle grade is lower, if the grade of the follow-up vehicle to be enqueued is larger than or equal to that of the vehicle at the tail of the fleet in the fleet, determining that the follow-up vehicle to be enqueued is suitable for entering the fleet corresponding to the pilot vehicle. The reason for judging whether the following vehicle is suitable for enqueuing according to the vehicle type is that the vehicle with larger vehicle volume and weight is not allowed to follow the vehicle with smaller vehicle volume and weight, for example, a heavy truck cannot follow a passenger vehicle.

The vehicle dynamics information may include a minimum turning radius of the vehicle, a brake preparation period, and the like. The first onboard device 111 of the lead vehicle 11 may compare the minimum turning radius of the to-be-enqueued following vehicle with the minimum turning radius of the vehicle at the end of the line in the platoon, and determine that the to-be-enqueued following vehicle is suitable for entering the platoon corresponding to the lead vehicle when the minimum turning radius of the to-be-enqueued following vehicle is less than or equal to the minimum turning radius of the vehicle at the end of the line in the platoon. The first on-board device 111 of the pilot vehicle 11 may further compare the brake preparation duration of the to-be-enqueued following vehicle with the brake preparation duration of the rear vehicles in the fleet, and determine that the to-be-enqueued following vehicle is suitable for entering the fleet corresponding to the pilot vehicle when the brake preparation duration of the to-be-enqueued following vehicle is less than or equal to the brake preparation duration of the rear vehicles in the fleet.

It can be seen that, by comprehensively authenticating the following vehicle identity information, the following vehicle type, and the following vehicle kinematics information, it can be determined whether the following vehicle 12 is suitable for entering the fleet corresponding to the navigator vehicle 11, and when the first vehicle-mounted device 111 determines that the following vehicle 12 is suitable for entering the fleet corresponding to the navigator vehicle 11, the admission allowing information is sent to the second vehicle-mounted device 121 of the following vehicle 12.

For the enqueue application phase, as shown in fig. 5, the process of an embodiment of the present application may further be as follows:

the second onboard device 121 of the following vehicle 12 transmits the queuing requirement information to the first onboard devices 111 of the pilots 11 of one or more fleets within a preset range. Wherein the enqueue demand information comprises follow-up vehicle identity information, follow-up vehicle type and follow-up vehicle kinematics information. When the queuing requirement information is transmitted to the first onboard devices 111 of the pilots 11 of one or more fleets within the preset range, the queuing requirement information may be directly transmitted to the first onboard devices 111 within the range around the following vehicles 12 by using V2V communication, or the queuing requirement information may be broadcasted to the preset range by using the roadside RSU by using a V2X communication method, but the present invention is not limited thereto. The preset range may be a one-piece area range in which the following vehicle 12 is the center and the preset distance is the radius, or may be a geographical area range such as a certain park, a certain port, or a certain road section.

The first onboard device 111 of the navigator car 11 authenticates the following car identity information, the following car type, and the following car kinematics information, and determines whether the following car 12 is suitable for entering the fleet corresponding to the navigator car itself.

Wherein, follow-up vehicle identity information can include: the number plate of the following vehicle, the number of the electronic tag of the following vehicle and the like. The electronic tag can be an electronic license plate issued by an official organization such as a government, wherein the electronic license plate can store the identity information of the vehicle, the identity information is readable and writable, and each vehicle corresponds to one vehicle electronic tag. The first onboard device 111 of the navigator car 11 can obtain a legal identity list from its own storage unit, so as to determine whether the following car corresponding to the following car license plate number and the following car electronic tag number is a legal car according to the legal identity list. In addition, the first onboard device 111 of the navigator car 11 may communicate with another server (e.g., a public security system server), upload the following license plate number and the following car electronic tag number to the other server, and the other server may determine whether the following car corresponding to the following license plate number and the following car electronic tag number is a legal car according to the legal identity list. The legal identity list can record the information of the legal vehicle such as the number plate, the electronic tag number and the like of the following vehicle.

Thus, by comprehensively authenticating the following vehicle identity information, the following vehicle type and the following vehicle kinematics information, it can be determined whether the following vehicle 12 is suitable for entering the fleet corresponding to the navigator vehicle 11. When the first onboard device 111 of the pilot vehicle 11 judges that the following vehicle 12 is suitable for entering the fleet corresponding to the pilot vehicle 11, the fleet parameter information is sent to the second onboard device 121 of the following vehicle 12; the fleet parameter information includes a fleet current total number of vehicles and a first planned path of a lead vehicle of the fleet.

The second onboard device 121 of the following vehicle 12 determines a target vehicle group 211 from one or more vehicle groups according to the vehicle group parameter information of each vehicle group, obtains the target vehicle group information, and transmits the enqueue request information to the first onboard device 111 of the pilot vehicle 11 of the target vehicle group 211. Here, the second onboard device 121 may determine the target vehicle group 211 to which it needs to enter from the vehicle groups, and the determination conditions are: firstly, the total number of the current vehicles of the target vehicle group 211 is less than or equal to a preset vehicle upper limit value (namely the current number of the vehicles of the vehicle group is not saturated); and the length of a first superposed path of a first planned path of the pilot vehicle 11 of the target fleet 211 and a second planned path of the follower vehicle 12 is greater than or equal to a preset length threshold value and is greater than the length of a second superposed path, and the length of the second superposed path is the length of a superposed path of the first planned path of the pilot vehicle 11 of other fleets except the target fleet 211 and the second planned path of the follower vehicle 12 in each fleet (namely, the superposed degree of the planned path of the follower vehicle 12 and the planned path of the pilot vehicle 11 of the target fleet 211 is the highest, and the distance capable of being jointly traveled is the longest).

Here, the enqueue request information may include follower identification information. The first onboard device 111 can authenticate the identity information of the following vehicle and judge whether the following vehicle has the authority to enter the fleet corresponding to the pilot vehicle; and when judging that the following vehicle has the authority to enter the fleet corresponding to the piloting vehicle, sending the admission information to a second vehicle-mounted device of the following vehicle. In the process of determining whether the following vehicle has the right to enter the fleet corresponding to the navigator vehicle, reference is made to the process of authenticating the identity information of the following vehicle by the first vehicle-mounted device 111, which is not described herein again.

For the enqueue application phase, as shown in fig. 6, the process of an embodiment of the present application may further be as follows:

the first in-vehicle device 111 of the lead vehicle 11 transmits the band capability information to the second in-vehicle device 121 of the following vehicle 12 within a predetermined range. The concrete mode is as follows: the first onboard device 111 of the pilot vehicle 11 may directly transmit the band capability information to the second onboard device 121 within the peripheral range of the pilot vehicle 11 by using V2V communication, or may broadcast the band capability information to a predetermined range by using a roadside RSU by using a V2X communication method, but is not limited thereto. The band capability information indicates that the lead vehicle 11 can travel with the fleet. The preset range may be a regional range in which the preset distance is a radius with the pilot vehicle 11 as a center, or a geographical regional range such as a certain park, a certain port, or a certain road section.

After that, the second in-vehicle device 121 transmits the enqueue demand information to the first in-vehicle device 111 of the lead vehicle 11 of each fleet in response to the fleet capability information. Wherein the enqueue demand information comprises following vehicle identity information, following vehicle type and following vehicle kinematics information.

Then, the first onboard device 111 authenticates the following vehicle identity information, the following vehicle type, and the following vehicle kinematics information, and determines whether the following vehicle is suitable for entering the fleet corresponding to the lead vehicle.

Thus, by comprehensively authenticating the following vehicle identity information, the following vehicle type and the following vehicle kinematics information, it can be determined whether the following vehicle 12 is suitable for entering the fleet corresponding to the navigator vehicle 11. And transmits the vehicle fleet parameter information to the second onboard device 121 of the following vehicle 12 when it is determined that the following vehicle 12 is suitable for entering the vehicle fleet corresponding to the navigator vehicle 11 itself. The fleet parameter information comprises the current total number of vehicles of the fleet and a first planned path of a pilot vehicle of the fleet.

Then, the second onboard device 121 of the following vehicle 12 determines the target vehicle group 211 from one or more vehicle groups according to the vehicle group parameter information of each vehicle group, obtains the target vehicle group information, and transmits the queuing request information to the first onboard device 111 of the lead vehicle 11 of the target vehicle group 211. Here, the second onboard device 121 may determine the target vehicle group 211 to which it needs to enter from the vehicle groups, and the determination conditions are: firstly, the total number of the current vehicles of the target vehicle group 211 is less than or equal to a preset vehicle upper limit value (namely the current number of the vehicles of the vehicle group is not saturated); and the length of a first superposed path of a first planned path of the pilot vehicle 11 of the target fleet 211 and a second planned path of the follower vehicle 12 is greater than or equal to a preset length threshold value and is greater than the length of a second superposed path, and the length of the second superposed path is the length of a superposed path of the first planned path of the pilot vehicle 11 of other fleets except the target fleet 211 and the second planned path of the follower vehicle 12 in each fleet (namely, the superposed degree of the planned path of the follower vehicle 12 and the planned path of the pilot vehicle 11 of the target fleet 211 is the highest, and the distance capable of being jointly traveled is the longest).

For the enqueue application phase, as shown in fig. 7, the process of an embodiment of the present application may further be as follows:

The cloud server 13 determines a target fleet 211 from one or more fleets for the following vehicles 12 to be enqueued according to the fleet parameter information of each fleet, and obtains the target fleet information. For example, if a certain follower 12 needs to join in the fleet driving, the second onboard device 121 of the follower 12 sends the enqueue registration information to the cloud server 13, so that the cloud server 13 can find the target fleet for the follower 12 that has been enqueued and registered. Here, the cloud server 13 may determine, from the respective fleets, a target fleet 211 to which the following vehicle 12 to be enqueued needs to enter, according to the following determination conditions: firstly, the total number of the current vehicles of the target vehicle group 211 is less than or equal to a preset vehicle upper limit value (namely the current number of the vehicles of the vehicle group is not saturated); and the length of a first superposed path of a first planned path of the pilot vehicle 11 of the target fleet 211 and a second planned path of the follower vehicle 12 is greater than or equal to a preset length threshold value and is greater than the length of a second superposed path, and the length of the second superposed path is the length of a superposed path of the first planned path of the pilot vehicle 11 of other fleets except the target fleet 211 and the second planned path of the follower vehicle 12 in each fleet (namely, the superposed degree of the planned path of the follower vehicle 12 and the planned path of the pilot vehicle 11 of the target fleet 211 is the highest, and the distance capable of being jointly traveled is the longest).

Thereafter, the cloud server 13 may transmit the obtained target fleet information to the second onboard device 121 of the follower 12.

The second in-vehicle device 121 of the following vehicle 12 transmits the enqueue request information to the first in-vehicle device 111 of the lead vehicle 11 of the target fleet 211; the enqueue request information includes follower identification information, follower type, and follower kinematics information.

For the enqueue control phase, as shown in fig. 8 and 9, the process of an embodiment of the present application may be as follows:

wherein, the driving condition of the pilot vehicle is a vehicle static state, namely, for example, the pilot vehicle stops at the roadside or in the middle of the road, and the speed is zero; the cut-in location point is a static cut-in location point 2111 a predetermined distance behind the trailing vehicle of the target fleet 211. Here, when only the lead vehicle is present in the target vehicle group 211, the tail vehicle is the lead vehicle itself.

The second onboard device 121 of the follower 12 obtains the follower self-position point 122, and then determines the motion planning curve 123 according to the follower self-position point 122 and the static cut-in position point 2111; determining a first steering wheel rotation angle control quantity (not shown in the figure) of the following vehicle according to the motion planning curve 123; sending the first steering wheel angle control quantity to a steering motor controller of the follower vehicle, so that the steering motor controller controls a steering motor of the follower vehicle to perform transverse control according to the first steering wheel angle control quantity, and the follower vehicle 12 enters a target vehicle fleet 211 after reaching a static cut-in position 2111; after reaching the static cut-in position point 2111, obtaining a first driving speed and a first planned path of the pilot vehicle 11 in real time; determining the longitudinal control quantity of the following vehicle 12 according to the first running speed of the pilot vehicle 11; sending the longitudinal control quantity to a longitudinal controller of the follower 12, so that the longitudinal controller controls a longitudinal actuator of the follower 12 to perform longitudinal control according to the longitudinal control quantity; determining a second steering wheel turning angle control quantity of the following vehicle 12 according to the first planned path of the pilot vehicle 11; and sending the second steering wheel angle control quantity to a steering motor controller of the follower vehicle 11, so that the steering motor controller controls a steering motor of the follower vehicle 12 to perform transverse control by the second steering wheel angle control quantity. Therefore, when the driving condition of the pilot vehicle is the vehicle static state, the following vehicle 12 can complete the enqueue control more conveniently.

It should be noted that, in the embodiments of the present application, the longitudinal control includes, but is not limited to, control of longitudinal actuators such as a throttle, a gear, and a brake pedal of a vehicle. Longitudinal controllers include, but are not limited to, throttle controllers, gear controllers, and brake pedal controllers.

For the enqueue control phase, as shown in fig. 10 and fig. 11, the process of an embodiment of the present application may further be as follows:

wherein, the driving condition of the pilot vehicle is the driving state of the vehicle, that is, for example, the pilot vehicle 11 drives the target fleet 211 on the road, and the speed is greater than zero; the cut-in position point is a dynamic cut-in position point 2112 of a preset distance at the rear side of the tail vehicle of the target fleet 211; the dynamic plunge position point 2112 varies in real time according to the travel of the target fleet 211. For example, if the pilot vehicle 11 leads the target vehicle fleet 211 at a constant velocity v, the dynamic cut-in position point 2112 also changes forward at the constant velocity v.

The first onboard device 111 of the lead vehicle 11 can transmit the first traveling speed of the lead vehicle 11 to the second onboard device 121 of the following vehicle 12 in real time by using a communication method such as V2V.

The second onboard apparatus 121 of the following vehicle 12 determines the following travel speed of the following vehicle 12 (here, the following travel speed v to follow the target vehicle group) based on the first travel speed of the pilot vehicle 11_PursuingMay be greater than the first traveling speed v to complete the enqueue control as soon as possible); obtaining a following vehicle self position point 122, and determining a motion planning curve 123 according to the following vehicle self position point 122 and the dynamic cut-in position point 2112; determining a first longitudinal control quantity of the following vehicle according to the chasing running speed, and determining a first steering wheel rotation angle control quantity (not shown in the figure) of the following vehicle according to the motion planning curve 123; sending the first longitudinal control quantity to a longitudinal controller of the follower vehicle, so that the longitudinal controller controls a longitudinal actuating mechanism of the follower vehicle to perform longitudinal control according to the first longitudinal control quantity; sending the first steering wheel turning angle control quantity to a steering motor controller of the follower vehicle, so that the steering motor controller controls a steering motor of the follower vehicle to perform transverse control according to the first steering wheel turning angle control quantity, and the dynamic cut-in position point 2112 is reached, and the follower vehicle enters a target vehicle fleet 211; after reaching the dynamic cut-in position point 2112, obtaining a second running speed and a first planned path of the pilot vehicle 11 in real time; determining a second longitudinal control quantity of the following vehicle according to a second running speed of the pilot vehicle 11; sending the second longitudinal control quantity to a longitudinal controller of the follower vehicle, so that the longitudinal controller controls a longitudinal actuating mechanism of the follower vehicle to perform longitudinal control according to the second longitudinal control quantity; determining a second steering wheel turning angle control quantity of the following vehicle according to the first planned path of the pilot vehicle 11; sending the second steering wheel angle control quantity to a steering motor controller of the follower vehicle so as to enable the steering motor to be electrically turnedThe controller controls a steering motor of the following vehicle to perform transverse control according to the second steering wheel rotation angle control quantity.

For the above dequeue phase, as shown in fig. 12 and 13, the process of an embodiment of the present application may be as follows:

the second onboard device 121 of the follower 12 determines the departure position P of the follower 12 according to the first planned path L1 of the pilot vehicle 11 and the second planned path L2 of the follower 12 itself_{Separation device}(ii) a The second onboard device 121 of the follower 12 can monitor its own position in real time, reaching the departure position point P_{Separation device}A predetermined distance position, for example, P 'in FIG. 13'_{Separation device}The departure request information is transmitted to the first in-vehicle device 111 of the lead vehicle 11 of the target vehicle fleet 211.

The first in-vehicle device 111 of the navigator car 11 may transmit the departure instruction information to the second in-vehicle device 121 when receiving the departure request information.

The second onboard device 121 may control the following vehicle 12 to decelerate according to the departure instruction information, and determine the steering wheel angle control amount of the following vehicle itself by using the second planned path L2 of the following vehicle 12 when the following vehicle 12 reaches the departure position point; the steering wheel angle control quantity is sent to the steering motor controller of the follower vehicle itself, so that the steering motor controller controls the steering motor of the follower vehicle itself to perform lateral control with the steering wheel angle control quantity, so as to control the follower vehicle 12 to leave the target vehicle fleet 211.

For the above dequeue phase, as shown in fig. 14 and 13, the process of an embodiment of the present application may also be as follows:

the first on-board device 111 of the pilot vehicle 11 obtains the second planned path L2 of the following vehicle 12, and determines the departure position P of the following vehicle 12 according to the first planned path L1 of the pilot vehicle 11 and the second planned path L2 of the following vehicle 12_{Separation device}(ii) a The first onboard device 111 of the lead vehicle 11 may monitor the position of each follower in the target fleet 211 so that the follower 12 reaches the departure location point P_{Separation device}A predetermined distance position, for example, P 'in FIG. 13'_{Separation device}The dequeue instruction information is transmitted to the second onboard device 121.

For the above dequeue phase, as shown in fig. 15 and 13, the process of an embodiment of the present application may also be as follows:

the cloud server 13 may obtain the first planned path L1 of the pilot vehicle 11 and the second planned path L2 of the follower vehicle 12 in advance, so that the cloud server 13 may determine the departure location point P of the follower vehicle 12 according to the first planned path L1 and the second planned path L2_{Separation device}. Also, the cloud server 13 may monitor the positions of the lead vehicle 11 and the follower vehicle 12 in the target fleet 211 in real time, so as to monitor the arrival of the follower vehicle 12 at the departure position point P_{Separation device}A predetermined distance position, for example, P 'in FIG. 13'_{Separation device}And sending the departure reminding information to the first vehicle-mounted device 111 of the pilot vehicle 11.

The first onboard device 111 of the navigator vehicle 11 may transmit the departure instruction information to the second onboard device 121 when receiving the departure warning information.

For the above dequeue phase, as shown in fig. 16 and 13, the process of an embodiment of the present application may also be as follows:

the cloud server 13 may obtain the first planned path of the pilot vehicle 11 in advanceL1 and a second planned path L2 of the follower 12, so that the cloud server 13 can determine the departure location point P of the follower 12 from the first planned path L1 and the second planned path L2_{Separation device}. Also, the cloud server 13 may monitor the positions of the lead vehicle 11 and the follower vehicle 12 in the target fleet 211 in real time, so as to monitor the arrival of the follower vehicle 12 at the departure position point P_{Separation device}A predetermined distance position, for example, P 'in FIG. 13'_{Separation device}And sends the departure warning message to the second onboard device 121 of the following vehicle 12.

The second in-vehicle device 121 transmits the departure request information to the first in-vehicle device 111 of the lead vehicle 11 of the target fleet 211.

It should be noted that, in the embodiment of the present application, the communication between each vehicle-mounted device and the cloud server may be implemented by symmetric encryption, asymmetric encryption, CA (Certificate Authority) authentication, and the like, so as to ensure the security of the communication, but the present application is not limited thereto.

As shown in fig. 17, an embodiment of the present application further provides a queue control method for an autonomous vehicle, which is described with a second vehicle-mounted device following a vehicle as an execution subject, and the method includes:

step 301, obtaining target fleet information, and sending the enqueue request information to the first vehicle-mounted device of the pilot vehicle of the target fleet, so that the first vehicle-mounted device of the pilot vehicle of the target fleet authenticates the enqueue request information.

Step 302, receiving admission allowing information sent by a first vehicle-mounted device; the admission information includes a cut-in position point determined according to the driving condition of the pilot vehicle.

And 303, controlling the following vehicle to reach the cut-in position point, finishing the following vehicle entering a target vehicle team, and controlling the following vehicle to run by adopting a first planned path of the pilot vehicle after the following vehicle reaches the cut-in position point.

And step 304, receiving the dequeue instruction information sent by the first vehicle-mounted device.

And 305, controlling the following vehicle to leave the target fleet according to the departure instruction information, and controlling the following vehicle to run by adopting a second planned path of the following vehicle.

It should be noted that, as shown in fig. 17, a specific implementation manner of the fleet control method for an autonomous vehicle according to an embodiment of the present application may refer to a specific implementation manner of the fleet control system for an autonomous vehicle corresponding to fig. 1 to 16, and details are not repeated herein.

As shown in fig. 18, an embodiment of the present application further provides a queue control method for an autonomous vehicle, which is described with a first vehicle-mounted device of a pilot vehicle as an execution subject, and the method includes:

step 401, receiving enqueue request information sent by a second onboard device following a vehicle.

And 402, authenticating the enqueuing request information, and sending enqueuing allowing information to the second vehicle-mounted device after the authentication is successful, wherein the enqueuing allowing information comprises a cut-in position point determined according to the running condition of the pilot vehicle, so that the second vehicle-mounted device controls the follow-up vehicle to reach the cut-in position point, the follow-up vehicle enters a target vehicle fleet, and the first planned path of the pilot vehicle is adopted to control the follow-up vehicle to run after the follow-up vehicle reaches the cut-in position point.

And step 403, sending the departure instruction information to the second onboard device, so that the second onboard device controls the following vehicle to leave the target fleet according to the departure instruction information, and controls the following vehicle to run by adopting a second planned path of the following vehicle.

It should be noted that, as shown in fig. 18, a specific implementation manner of the fleet control method for an autonomous vehicle according to an embodiment of the present application may refer to a specific implementation manner of the fleet control system for an autonomous vehicle corresponding to fig. 1 to 16, and details are not repeated herein.

As shown in fig. 19, an embodiment of the present application further provides a fleet control method for an autonomous vehicle, including:

the enqueue application stage:

step 501, a second vehicle-mounted device of a following vehicle obtains target fleet information and sends enqueue request information to a first vehicle-mounted device of a pilot vehicle of the target fleet.

Step 502, the first vehicle-mounted device of the pilot vehicle authenticates the enqueue request information, and sends the enqueue permission information to the second vehicle-mounted device after the authentication is successful.

Wherein the admission allowing information comprises a cut-in position point determined according to the driving condition of the pilot vehicle.

(II) enqueue control stage:

and 503, controlling the following vehicle to reach the cut-in position point by the second vehicle-mounted device of the following vehicle, completing the following vehicle entering the target fleet, and controlling the following vehicle to run by adopting the first planned path of the pilot vehicle after the following vehicle reaches the cut-in position point.

(III) a dequeue stage:

and step 504, the first vehicle-mounted device of the pilot vehicle sends the departure instruction information to the second vehicle-mounted device.

And 505, controlling the following vehicle to leave the target fleet by the second vehicle-mounted device of the following vehicle according to the departure instruction information, and controlling the following vehicle to run by adopting a second planned path of the following vehicle.

For the enqueue application phase described above, as shown in fig. 20, the process of an embodiment of the present application may be as follows, i.e. the enqueue application phase may be triggered by the second vehicle-mounted device following the vehicle:

step A1, the cloud server obtains and stores fleet parameter information of each fleet in advance.

For example, the fleet parameter information may include a current fleet vehicle total and a first planned path of a lead vehicle of the fleet. Here, the cloud server can manage and maintain fleet parameter information of each fleet, and is convenient for applications when the fleet is automatically driven to run.

And step A2, the second vehicle-mounted device following the vehicle communicates with a preset cloud server, and the parameter information of one or more fleets of vehicles is obtained from the cloud server.

I.e. for example obtaining the current total number of vehicles of the platoon and a first planned path of the lead vehicle of the platoon. Here, the cloud server may provide the fleet parameter information of the fleet within a preset distance range of the geographic location for the second onboard device according to the geographic location of the following vehicle, and avoid sending the fleet parameter information of all the fleets managed and maintained on the cloud server to the second onboard device, thereby avoiding channel occupation by useless information.

And step A3, the second vehicle-mounted device of the following vehicle determines a target vehicle fleet from one to a plurality of vehicle fleets according to the parameter information of the vehicle fleets, obtains the information of the target vehicle fleet and sends the queuing request information to the first vehicle-mounted device of the pilot vehicle of the target vehicle fleet.

Wherein the enqueue request information comprises following vehicle identity information, following vehicle type and following vehicle kinematics information. Here, the second onboard device may determine a target fleet that the second onboard device needs to enter from each fleet, and the determination condition may refer to the specific implementation of the system corresponding to fig. 1 to 16, which is not described herein again.

And step A4, the first vehicle-mounted device of the pilot vehicle authenticates the following vehicle identity information, the following vehicle type and the following vehicle kinematics information, and judges whether the following vehicle is suitable for entering a corresponding vehicle team of the pilot vehicle.

For the process of authenticating the following vehicle identity information, the following vehicle type, and the following vehicle kinematics information, reference may be made to the specific embodiments of the systems corresponding to fig. 1 to fig. 16, which are not described herein again.

And step A5, when the first vehicle-mounted device judges that the following vehicle is suitable for entering the fleet corresponding to the pilot vehicle, the first vehicle-mounted device sends the admission information to the second vehicle-mounted device of the following vehicle.

For the enqueue application phase, as shown in fig. 21, the process of an embodiment of the present application may be as follows, that is, the enqueue application phase may be triggered by the second vehicle-mounted device following the vehicle:

and step B1, the second vehicle-mounted device of the following vehicle sends the queuing requirement information to the first vehicle-mounted device of the pilot vehicles of one to a plurality of fleets within a preset range.

Wherein the enqueue demand information comprises follow-up vehicle identity information, follow-up vehicle type and follow-up vehicle kinematics information. When the queuing requirement information is sent to the first vehicle-mounted device of the pilot vehicle of one or more fleet within the preset range, V2V communication may be adopted to directly send the queuing requirement information to the first vehicle-mounted device within the peripheral range of the following vehicle, or a V2X communication mode may be adopted to broadcast the queuing requirement information within the preset range by means of the roadside RSU, but the present invention is not limited thereto. The preset range may be a region range with the following vehicle as the center and the preset distance as the radius, or may be a geographical region range such as a certain park, a certain port, or a certain road section.

And step B2, the first vehicle-mounted device of the pilot vehicle authenticates the following vehicle identity information, the following vehicle type and the following vehicle kinematics information, and judges whether the following vehicle is suitable for entering a corresponding vehicle team of the pilot vehicle.

And step B3, when the first vehicle-mounted device of the pilot vehicle judges that the following vehicle is suitable for entering the corresponding vehicle fleet of the pilot vehicle, the first vehicle-mounted device of the pilot vehicle sends the vehicle fleet parameter information to the second vehicle-mounted device of the following vehicle.

The fleet parameter information comprises the current total number of vehicles of the fleet and a first planned path of a pilot vehicle of the fleet.

And step B4, the second vehicle-mounted device of the following vehicle determines a target vehicle fleet from one to a plurality of vehicle fleets according to the parameter information of the vehicle fleets, obtains the information of the target vehicle fleet and sends the queuing request information to the first vehicle-mounted device of the pilot vehicle of the target vehicle fleet.

Here, the second onboard device may determine a target fleet that the second onboard device needs to enter from each fleet, and the determination condition may refer to the specific implementation of the system corresponding to fig. 1 to 16, which is not described herein again.

Here, the enqueue request information may include follower identification information.

Step B5, the first vehicle-mounted device of the pilot vehicle can authenticate the identity information of the following vehicle and judge whether the following vehicle has the authority to enter the corresponding vehicle team of the pilot vehicle; and when judging that the following vehicle has the authority to enter the fleet corresponding to the piloting vehicle, sending the admission information to a second vehicle-mounted device of the following vehicle.

The process of judging whether the following vehicle has the authority to enter the fleet corresponding to the pilot vehicle can refer to the process of authenticating the identity information of the following vehicle by the first vehicle-mounted device, and is not repeated here.

For the enqueue application phase, as shown in fig. 22, the process of an embodiment of the present application may be as follows, that is, the enqueue application phase may be triggered by the first onboard device of the pilot vehicle:

and step C1, the first vehicle-mounted device of the pilot vehicle sends the band capability information to the second vehicle-mounted device of the following vehicle within a preset range.

The concrete mode is as follows: the first vehicle-mounted device of the pilot vehicle may directly send the band capability information to the second vehicle-mounted device within the peripheral range of the pilot vehicle by using V2V communication, or may broadcast the band capability information to a preset range by using a roadside RSU by using a V2X communication method, but the invention is not limited thereto. The platoon capacity information is used for indicating that the pilot vehicle can drive with the platoon. The preset range may be a regional range with a radius of a preset distance from a pilot vehicle as a center, or a geographical regional range such as a certain park, a certain port, or a certain road section.

And step C2, the second vehicle-mounted device responds to the band capacity information and sends the queuing requirement information to the first vehicle-mounted device of the pilot vehicle of each fleet.

Wherein the enqueue demand information comprises following vehicle identity information, following vehicle type and following vehicle kinematics information.

And step C3, the first vehicle-mounted device authenticates the following vehicle identity information, the following vehicle type and the following vehicle kinematics information, and judges whether the following vehicle is suitable for entering a fleet corresponding to the pilot vehicle.

And step C4, when the first vehicle-mounted device judges that the following vehicle is suitable for entering the vehicle team corresponding to the pilot vehicle, the first vehicle-mounted device sends the vehicle team parameter information to the second vehicle-mounted device of the following vehicle.

And step C5, the second vehicle-mounted device of the following vehicle determines a target vehicle fleet from one to a plurality of vehicle fleets according to the parameter information of the vehicle fleets, obtains the information of the target vehicle fleet and sends the queuing request information to the first vehicle-mounted device of the pilot vehicle of the target vehicle fleet.

Step C6, the first vehicle-mounted device can authenticate the identity information of the following vehicle and judge whether the following vehicle has the authority to enter the corresponding fleet of the pilot vehicle; and when judging that the following vehicle has the authority to enter the fleet corresponding to the piloting vehicle, sending the admission information to a second vehicle-mounted device of the following vehicle.

The process of judging whether the following vehicle has the authority to enter the fleet corresponding to the piloting vehicle is referred to the process of authenticating the identity information of the following vehicle by the first vehicle-mounted device, and is not repeated here.

For the enqueue application phase, as shown in fig. 23, the process of an embodiment of the present application may be as follows, that is, the enqueue application phase may be triggered by the cloud server:

and D1, the cloud server obtains and stores the fleet parameter information of each fleet in advance.

Such as the fleet's current total number of vehicles and the fleet's first planned path of the lead vehicle. Here, the cloud server can manage and maintain fleet parameter information of each fleet, and is convenient for applications when the fleet is automatically driven to run.

And D2, determining a target fleet from one or more fleets for the following vehicles to be enqueued by the cloud server according to the fleet parameter information of each fleet, and acquiring the target fleet information.

For example, if a certain following vehicle needs to join a certain fleet, the second onboard device of the following vehicle sends the enqueue registration information to the cloud server, so that the cloud server searches for a target fleet for the following vehicle. Here, the cloud server may determine, from each fleet of vehicles, a target fleet of vehicles to be enqueued, which the following vehicles need to enter, where the determination condition is: firstly, the total number of the current vehicles of a target vehicle fleet is less than or equal to a preset vehicle upper limit value (namely the current number of the vehicles of the vehicle fleet is not saturated); and secondly, the length of a first superposed path of a first planned path of a pilot vehicle of the target vehicle fleet and a second planned path of the following vehicle is greater than or equal to a preset length threshold value and is greater than the length of a second superposed path, and the length of the second superposed path is the length of the superposed path of the first planned path of the pilot vehicle of other vehicle fleets except the target vehicle fleet and the second planned path of the following vehicle in each vehicle fleet (namely the superposed degree of the planned path of the following vehicle and the planned path of the pilot vehicle of the target vehicle fleet is highest, and the distance capable of being jointly used is longest).

Step D3, the cloud server may send the obtained target fleet information to a second onboard device of the following vehicle.

And D4, the second vehicle-mounted device of the following vehicle sends the enqueue request information to the first vehicle-mounted device of the pilot vehicle of the target vehicle fleet.

Wherein the enqueue request information comprises following vehicle identity information, following vehicle type and following vehicle kinematics information.

Here, the second onboard device may determine a target fleet that the second onboard device needs to enter from each fleet, and the determination condition may refer to the specific implementation of the system corresponding to fig. 1 to 16, which is not described herein again. .

And D5, authenticating the following vehicle identity information, the following vehicle type and the following vehicle kinematics information by the first vehicle-mounted device of the pilot vehicle, and judging whether the following vehicle is suitable for entering a corresponding vehicle team of the pilot vehicle.

And D6, when the first vehicle-mounted device judges that the following vehicle is suitable for entering the fleet corresponding to the pilot vehicle, the first vehicle-mounted device sends the admission information to the second vehicle-mounted device of the following vehicle.

For a specific implementation of the enqueue application stage corresponding to fig. 20 to fig. 23, reference may be made to the specific implementation of the system corresponding to fig. 1 to fig. 16, which is not described herein again.

For the enqueue control phase, as shown in fig. 24, in the process of an embodiment of the present application, the driving condition of the pilot vehicle is a vehicle stationary state; the cut-in position point is a static cut-in position point of a preset distance on the rear side of a tail vehicle of the target fleet.

The enqueue control phase may include:

and E1, the second vehicle-mounted device obtains the self position point of the following vehicle, and determines a motion planning curve according to the self position point of the following vehicle and the static cut-in position point.

And E2, determining the steering angle control quantity of the first steering wheel of the following vehicle by the second vehicle-mounted device according to the motion planning curve.

And E3, the second vehicle-mounted device sends the first steering wheel steering angle control quantity to a steering motor controller of the following vehicle, so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control according to the first steering wheel steering angle control quantity, a static cut-in position point is reached, and the following vehicle enters a target vehicle fleet.

And E4, after the static cut-in position point is reached, the second vehicle-mounted device obtains the first running speed and the first planned path of the pilot vehicle in real time. Step E5 and step E6 are performed after step E4.

E5, the second vehicle-mounted device determines the longitudinal control quantity of the following vehicle according to the first running speed of the pilot vehicle; and sending the longitudinal control quantity to a longitudinal controller of the follower vehicle, so that the longitudinal controller controls a longitudinal actuating mechanism of the follower vehicle to perform longitudinal control according to the longitudinal control quantity.

E6, the second vehicle-mounted device determines a second steering wheel steering angle control quantity of the following vehicle according to the first planned path of the pilot vehicle; and sending the second steering wheel angle control quantity to a steering motor controller of the following vehicle so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control by the second steering wheel angle control quantity.

For the enqueue control phase, as shown in fig. 25, in the process of an embodiment of the present application, the pilot vehicle driving condition is a vehicle driving state; the cut-in position point is a dynamic cut-in position point of a preset distance on the rear side of a tail vehicle of the target fleet; the dynamic cut-in position point changes in real time according to the driving of the target fleet.

The enqueue control phase may include:

and step F1, the first vehicle-mounted device sends the first running speed of the pilot vehicle to the second vehicle-mounted device following the vehicle in real time.

And step F2, the second vehicle-mounted device determines the following running speed of the following vehicle according to the first running speed of the pilot vehicle, obtains the self position point of the following vehicle, and determines the motion planning curve according to the self position point and the dynamic cut-in position point of the following vehicle.

And step F3, the second vehicle-mounted device determines a first longitudinal control quantity of the following vehicle according to the following running speed, and determines a first steering wheel turning angle control quantity of the following vehicle according to the motion planning curve.

Step F4, the second onboard device sends the first longitudinal control amount to the longitudinal controller of the following vehicle itself, so that the longitudinal controller controls the longitudinal actuator of the following vehicle itself to perform longitudinal control with the first longitudinal control amount.

And step F5, the second vehicle-mounted device sends the first steering wheel steering angle control quantity to a steering motor controller of the following vehicle, so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control according to the first steering wheel steering angle control quantity, the dynamic cut-in position point is reached, and the following vehicle enters a target vehicle fleet. Step F6 is performed after step F5.

And step F6, after the following vehicle reaches the dynamic cut-in position point, the second vehicle-mounted device obtains the second driving speed and the first planned path of the pilot vehicle in real time. Step F7 and step F8 are performed after step F6.

Step F7, the second vehicle-mounted device determines a second longitudinal control quantity of the following vehicle according to the second running speed of the pilot vehicle; and sending the second longitudinal control quantity to a longitudinal controller of the following vehicle, so that the longitudinal controller controls a longitudinal actuating mechanism of the following vehicle to carry out longitudinal control according to the second longitudinal control quantity.

Step F8, the second vehicle-mounted device determines a second steering wheel turning angle control quantity of the following vehicle according to the first planned path of the pilot vehicle; and sending the second steering wheel angle control quantity to a steering motor controller of the following vehicle so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control by the second steering wheel angle control quantity.

For a specific implementation manner of the enqueue control stage corresponding to fig. 24 to fig. 25, reference may be made to the specific implementation manner of the system corresponding to fig. 1 to fig. 16, which is not described herein again.

For the above-mentioned dequeue phase, as shown in fig. 26, the process of an embodiment of the present application may be as follows, i.e. the dequeue phase may be triggered by the second onboard device following the vehicle:

and G1, the second vehicle-mounted device of the following vehicle determines the departure position point of the following vehicle according to the first planned path of the pilot vehicle and the second planned path of the following vehicle.

And G2, the second vehicle-mounted device of the following vehicle can monitor the position of the following vehicle in real time, and sends the departure request information to the first vehicle-mounted device of the pilot vehicle of the target fleet when the second vehicle-mounted device reaches a preset distance position before the departure position point.

Step G3, when the first onboard device of the pilot vehicle receives the departure request message, the first onboard device may send the departure instruction message to the second onboard device.

And G4, the second vehicle-mounted device can control the follow-up vehicle to decelerate according to the departure instruction information, and when the follow-up vehicle reaches the departure position point, the second planned path of the follow-up vehicle is adopted to determine the steering wheel steering angle control quantity of the follow-up vehicle.

And G5, the second vehicle-mounted device sends the steering wheel steering angle control quantity to a steering motor controller of the following vehicle, so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control according to the steering wheel steering angle control quantity, and the following vehicle is controlled to leave the target vehicle fleet.

For the above-mentioned departure phase, as shown in fig. 27, the process of an embodiment of the present application may also be as follows, i.e. the departure phase may be triggered by the first onboard device of the pilot vehicle:

and step H1, the first vehicle-mounted device of the pilot vehicle obtains a second planned path of the following vehicle, and the departure position point of the following vehicle is determined according to the first planned path of the pilot vehicle and the second planned path of the following vehicle.

Step H2, the first onboard device of the pilot vehicle may monitor the position of each following vehicle in the target fleet, so as to send the departure instruction information to the second onboard device when the following vehicle reaches a preset distance position before the departure position point.

And step H3, the second vehicle-mounted device can control the follow-up vehicle to decelerate according to the departure instruction information, and when the follow-up vehicle reaches the departure position point, the second planned path of the follow-up vehicle is adopted to determine the steering wheel steering angle control quantity of the follow-up vehicle.

And step H4, the second vehicle-mounted device sends the steering wheel steering angle control quantity to the steering motor controller of the following vehicle, so that the steering motor controller controls the steering motor of the following vehicle to perform transverse control according to the steering wheel steering angle control quantity, and the following vehicle is controlled to leave the target vehicle fleet.

For the dequeue phase described above, as shown in fig. 28, the process of an embodiment of the present application may also be as follows, that is, the dequeue phase may be triggered by the cloud server:

step I1, the cloud server may obtain a first planned path of the lead vehicle and a second planned path of the following vehicle in advance, so that the cloud server may determine the departure location point of the following vehicle according to the first planned path and the second planned path.

Step I2, the cloud server can monitor the positions of the pilot vehicle and the following vehicle in the target fleet in real time, so that when the following vehicle is monitored to reach a preset distance position before the departure position point, departure reminding information is sent to the first vehicle-mounted device of the pilot vehicle.

Step I3, when the first onboard device of the navigator receives the departure warning message, it may send a departure instruction message to the second onboard device.

And step I4, the second vehicle-mounted device can control the follow-up vehicle to decelerate according to the departure instruction information, and when the follow-up vehicle reaches the departure position point, the second planned path of the follow-up vehicle is adopted to determine the steering wheel steering angle control quantity of the follow-up vehicle.

And step I5, the second vehicle-mounted device sends the steering wheel steering angle control quantity to a steering motor controller of the following vehicle, so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control according to the steering wheel steering angle control quantity, and the following vehicle is controlled to leave the target vehicle fleet.

For the dequeue phase described above, as shown in fig. 29, the process of an embodiment of the present application may also be as follows, that is, the dequeue phase may be triggered by the cloud server:

step J1, the cloud server may obtain the first planned path of the lead vehicle and the second planned path of the following vehicle in advance, so that the cloud server may determine the departure position point of the following vehicle according to the first planned path and the second planned path.

And step J2, the cloud server can monitor the positions of the pilot vehicle and the following vehicle in the target fleet in real time, so that when the following vehicle is monitored to reach a preset distance position before the departure position point, departure reminding information is sent to a second vehicle-mounted device of the following vehicle.

And step J3, the second vehicle-mounted device sends the departure request information to the first vehicle-mounted device of the pilot vehicle of the target fleet.

In step J4, when the first onboard device of the pilot vehicle receives the departure request message, it may send a departure instruction message to the second onboard device.

And step J5, the second vehicle-mounted device can control the follow-up vehicle to decelerate according to the departure instruction information, and when the follow-up vehicle reaches the departure position point, the second planned path of the follow-up vehicle is adopted to determine the steering wheel steering angle control quantity of the follow-up vehicle.

And step J6, the second vehicle-mounted device sends the steering wheel steering angle control quantity to a steering motor controller of the following vehicle, so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control according to the steering wheel steering angle control quantity, and the following vehicle is controlled to leave the target vehicle fleet.

For a specific implementation of the dequeue stage corresponding to fig. 26 to fig. 29, reference may be made to the specific implementation of the system corresponding to fig. 1 to fig. 16, which is not described herein again.

In addition, as shown in fig. 30, an embodiment of the present application further provides a second vehicle-mounted device, including:

the sending unit 61 is configured to obtain the target fleet information, and send the enqueue request information to the first vehicle-mounted device of the lead vehicle of the target fleet, so that the first vehicle-mounted device of the lead vehicle of the target fleet authenticates the enqueue request information.

A receiving unit 62, configured to receive the enqueue permission information sent by the first in-vehicle device; the admission information includes a cut-in position point determined according to the driving condition of the pilot vehicle.

And the control unit 63 is used for controlling the following vehicle to reach the cut-in position point, finishing the following vehicle entering the target fleet, and controlling the following vehicle to run by adopting the first planned path of the pilot vehicle after reaching the cut-in position point.

The receiving unit 62 is further configured to receive the dequeue instruction information sent by the first vehicle-mounted device.

The control unit 63 is further configured to control the following vehicle to leave the target fleet according to the departure instruction information, and control the following vehicle to travel by using a second planned path of the following vehicle.

For a specific implementation of the second onboard device, reference may be made to the specific implementation of the system corresponding to fig. 1 to 16, which is not described herein again.

In addition, as shown in fig. 31, an embodiment of the present application further provides a first vehicle-mounted device, including:

the receiving unit 71 is configured to receive the enqueue request information sent by the second onboard apparatus following the vehicle.

And an authentication unit 72 for authenticating the enqueue request information.

And the sending unit 73 is used for sending the admission allowing information to the second onboard device after the authentication of the authentication unit 72 is successful, wherein the admission allowing information comprises a cut-in position point determined according to the driving condition of the pilot vehicle, so that the second onboard device controls the following vehicle to reach the cut-in position point, the following vehicle enters the target fleet, and the following vehicle is controlled to drive by adopting the first planned path of the pilot vehicle after reaching the cut-in position point.

The sending unit 73 is further configured to send the departure instruction information to the second onboard device, so that the second onboard device controls the following vehicle to leave the target fleet according to the departure instruction information, and controls the following vehicle to travel by using a second planned path of the following vehicle.

For a specific implementation of the first vehicle-mounted device, reference may be made to the specific implementation of the system corresponding to fig. 1 to 16, which is not described herein again.

In addition, an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements a fleet control method for an autonomous vehicle with a second onboard device as an execution subject. For a specific implementation manner of the system, reference may be made to the specific implementation manner of the system corresponding to fig. 1 to fig. 16, which is not described herein again.

In addition, the embodiment of the application also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the program is executed by a processor to realize the queue control method of the automatic driving vehicle with the first vehicle-mounted device as an execution main body. For a specific implementation manner of the system, reference may be made to the specific implementation manner of the system corresponding to fig. 1 to fig. 16, which is not described herein again.

In addition, the embodiment of the application also provides computer equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the queue control method of the automatic driving vehicle taking the second vehicle-mounted device as an execution main body is realized. For a specific implementation manner of the system, reference may be made to the specific implementation manner of the system corresponding to fig. 1 to fig. 16, which is not described herein again.

In addition, the embodiment of the application also provides computer equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the queue control method of the automatic driving vehicle taking the first vehicle-mounted device as an execution main body. For a specific implementation manner of the system, reference may be made to the specific implementation manner of the system corresponding to fig. 1 to fig. 16, which is not described herein again.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The principle and the implementation mode of the present application are explained by applying specific embodiments in the present application, and the description of the above embodiments is only used to help understanding the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A fleet control method for an autonomous vehicle, comprising:

obtaining target fleet information, and sending enqueue request information to a first vehicle-mounted device of a pilot vehicle of a target fleet so that the first vehicle-mounted device of the pilot vehicle of the target fleet authenticates the enqueue request information;

receiving admission permission information sent by the first vehicle-mounted device; the admission information comprises a cut-in position point determined according to the driving condition of a pilot vehicle;

controlling a following vehicle to reach the cut-in position point, finishing the following vehicle entering the target vehicle fleet, and controlling the following vehicle to run by adopting a first planned path of the pilot vehicle after reaching the cut-in position point;

receiving the dequeue instruction information sent by the first vehicle-mounted device;

and controlling the following vehicle to leave the target motorcade according to the departure instruction information, and controlling the following vehicle to run by adopting a second planned path of the following vehicle.

2. The queue control method of an autonomous vehicle as claimed in claim 1, wherein before the obtaining the target fleet information and sending the enqueue request information to the first onboard device of the lead vehicle of the target fleet, comprising:

the method comprises the steps of communicating with a preset cloud server, and obtaining fleet parameter information of one or more fleets from the cloud server; the fleet parameter information includes: the method comprises the following steps that the total number of current vehicles of a fleet and a first planning path of a pilot vehicle of the fleet are calculated;

the obtaining of the target fleet information and the sending of the enqueuing request information to the first vehicle-mounted device of the pilot vehicle of the target fleet comprise:

determining a target fleet from the one or more fleets according to the fleet parameter information of each fleet, and acquiring target fleet information; the total number of the current vehicles of the target fleet is less than or equal to a preset vehicle upper limit value; the length of a first superposed path of a first planned path of a pilot vehicle and a second planned path of a following vehicle of the target vehicle fleet is greater than or equal to a preset length threshold value and is greater than the length of a second superposed path; the second coincident path length is the coincident path length of a first planned path of a pilot vehicle and a second planned path of a following vehicle of other vehicle fleets except the target vehicle fleet in each vehicle fleet;

and sending the enqueue request information to a first vehicle-mounted device of a pilot vehicle of the target vehicle fleet.

3. The queue control method of an autonomous vehicle as claimed in claim 1, wherein before the obtaining the target fleet information and sending the enqueue request information to the first onboard device of the lead vehicle of the target fleet, comprising:

the method comprises the steps that enqueue requirement information is sent to first vehicle-mounted devices of one or more fleet pilot vehicles within a preset range, so that the first vehicle-mounted devices of the pilot vehicles of each fleet authenticate the enqueue requirement information;

the method comprises the steps of receiving fleet parameter information sent by a first vehicle-mounted device of a pilot vehicle of each fleet; the fleet parameter information includes: the method comprises the following steps that the total number of current vehicles of a fleet and a first planning path of a pilot vehicle of the fleet are calculated;

4. The queue control method of an autonomous vehicle as claimed in claim 1, wherein before the obtaining the target fleet information and sending the enqueue request information to the first onboard device of the lead vehicle of the target fleet, comprising:

the method comprises the steps of receiving band capacity information sent by a first vehicle-mounted device of a pilot vehicle of one or more fleets of vehicles;

responding to the band capacity information, and sending queuing requirement information to the first vehicle-mounted device of the pilot vehicle of each fleet so that the first vehicle-mounted device of the pilot vehicle of each fleet authenticates the queuing requirement information;

5. The method of queue control for autonomous vehicles of claim 1 wherein obtaining target fleet information and sending an enqueue request message to a first onboard device of a lead vehicle of the target fleet comprises:

the method comprises the steps of communicating with a preset cloud server, and obtaining target fleet information from the cloud server; the target fleet information is obtained by determining a target fleet from the one or more fleets according to the fleet parameter information of each fleet by the cloud server; the fleet parameter information includes: the method comprises the following steps that the total number of current vehicles of a fleet and a first planning path of a pilot vehicle of the fleet are calculated; the total number of the current vehicles of the target fleet is less than or equal to a preset vehicle upper limit value; the length of a first superposed path of a first planned path of a pilot vehicle and a second planned path of a following vehicle of the target vehicle fleet is greater than or equal to a preset length threshold value and is greater than the length of a second superposed path; the second coincident path length is the coincident path length of a first planned path of a pilot vehicle and a second planned path of a following vehicle of other vehicle fleets except the target vehicle fleet in each vehicle fleet;

6. The queue control method of an autonomous vehicle according to claim 1, wherein the piloted vehicle driving condition is a vehicle stationary state; the cut-in position point is a static cut-in position point of a preset distance at the rear side of a tail vehicle of the target fleet;

the control follower reaches the cut-in position point, finishes the follower entering the target motorcade, and adopts the first planning path of the pilot vehicle to control the follower to run after reaching the cut-in position point, and the control follower comprises the following steps:

acquiring a self position point of a following vehicle, and determining a motion planning curve according to the self position point of the following vehicle and the static cut-in position point;

determining a first steering wheel rotation angle control quantity of the following vehicle according to the motion planning curve;

sending the first steering wheel angle control quantity to a steering motor controller of a following vehicle, so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control according to the first steering wheel angle control quantity, and the following vehicle enters the target vehicle fleet after reaching the static cut-in position point;

after the static cut-in position point is reached, obtaining a first driving speed and a first planned path of a pilot vehicle in real time;

determining the longitudinal control quantity of the following vehicle according to the first driving speed of the pilot vehicle;

sending the longitudinal control quantity to a longitudinal controller of the follower vehicle, so that the longitudinal controller controls a longitudinal actuating mechanism of the follower vehicle to perform longitudinal control according to the longitudinal control quantity;

determining a second steering wheel turning angle control quantity of the following vehicle according to the first planned path of the pilot vehicle;

and sending the second steering wheel rotation angle control quantity to a steering motor controller of the follower vehicle, so that the steering motor controller controls a steering motor of the follower vehicle to perform transverse control according to the second steering wheel rotation angle control quantity.

7. The queue control method of an autonomous vehicle according to claim 1, wherein the pilot vehicle running condition is a vehicle running state; the cut-in position point is a dynamic cut-in position point of a preset distance on the rear side of a tail vehicle of the target fleet; the dynamic cut-in position point changes in real time according to the running of the target fleet;

obtaining a first driving speed of the pilot vehicle, determining a following driving speed of a following vehicle according to the first driving speed of the pilot vehicle, obtaining a position point of the following vehicle, and determining a motion planning curve according to the position point of the following vehicle and the dynamic cut-in position point;

determining a first longitudinal control quantity of the following vehicle according to the chasing running speed, and determining a first steering wheel turning angle control quantity of the following vehicle according to the motion planning curve;

sending the first longitudinal control quantity to a longitudinal controller of the follower vehicle, so that the longitudinal controller controls a longitudinal actuating mechanism of the follower vehicle to perform longitudinal control according to the first longitudinal control quantity; sending the first steering wheel angle control quantity to a steering motor controller of a following vehicle, so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control according to the first steering wheel angle control quantity, and the following vehicle enters the target vehicle fleet after reaching the dynamic cut-in position point;

after the dynamic cut-in position point is reached, obtaining a second running speed and a first planned path of the pilot vehicle in real time;

determining a second longitudinal control quantity of the following vehicle according to the second running speed of the pilot vehicle;

sending the second longitudinal control quantity to a longitudinal controller of the follower vehicle, so that the longitudinal controller controls a longitudinal actuating mechanism of the follower vehicle to perform longitudinal control according to the second longitudinal control quantity;

8. The queue control method for an autonomous vehicle as claimed in claim 1, comprising, before receiving the dequeue instruction information transmitted from the first in-vehicle device:

determining the departure position point of the following vehicle according to the first planned path and the second planned path;

when a preset distance position before the departure position point is reached, departure request information is sent to a first vehicle-mounted device of a pilot vehicle of a target vehicle fleet;

the controlling the following vehicle to leave the target vehicle fleet according to the departure instruction information and controlling the following vehicle to run by adopting a second planned path of the following vehicle comprises the following steps of:

controlling the follow-up vehicle to decelerate according to the departure instruction information, and determining steering wheel turning angle control quantity of the follow-up vehicle by adopting a second planned path of the follow-up vehicle when the follow-up vehicle reaches a departure position point;

and sending the steering wheel steering angle control quantity to a steering motor controller of a following vehicle, so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control according to the steering wheel steering angle control quantity, and the following vehicle is controlled to leave the target fleet.

9. The queue control method of an autonomous vehicle as recited in claim 1, wherein the controlling the follower to leave the target fleet of vehicles according to the departure instruction information and to control the follower to travel using a second planned path of the follower comprises:

10. The queue control method for an autonomous vehicle as claimed in claim 1, comprising, before receiving the dequeue instruction information transmitted from the first in-vehicle device:

receiving departure reminding information sent by a cloud server; the departure reminding information is sent out when the following vehicle reaches a preset distance position before the departure position point according to the first planned path and the second planned path;

sending out-of-team request information to a first vehicle-mounted device of a pilot vehicle of a target vehicle team;

11. A fleet control method for an autonomous vehicle, comprising:

authenticating the enqueuing request information, and sending enqueuing allowing information to the second vehicle-mounted device after the enqueuing request information is successfully authenticated, wherein the enqueuing allowing information comprises a cut-in position point determined according to the running condition of a pilot vehicle, so that the second vehicle-mounted device controls a follow-up vehicle to reach the cut-in position point, the follow-up vehicle enters a target vehicle fleet, and the follow-up vehicle is controlled to run by adopting a first planned path of the pilot vehicle after reaching the cut-in position point;

and sending out the departure instruction information to the second vehicle-mounted device, so that the second vehicle-mounted device controls the following vehicle to leave the target vehicle fleet according to the departure instruction information, and controls the following vehicle to run by adopting a second planned path of the following vehicle.

12. The queue control method of an autonomous vehicle according to claim 11, comprising, before receiving the enqueue request information transmitted from the second onboard device following the vehicle:

receiving the queuing requirement information sent by a second vehicle-mounted device following the vehicle; the enqueue demand information comprises following vehicle identity information, following vehicle type and following vehicle kinematics information;

authenticating the following vehicle identity information, the following vehicle type and the following vehicle kinematics information, and judging whether the following vehicle is suitable for entering a fleet corresponding to a pilot vehicle;

when the following vehicle is judged to be suitable for entering a vehicle team corresponding to the pilot vehicle, transmitting vehicle team parameter information to a second vehicle-mounted device of the following vehicle; the fleet parameter information includes a current fleet vehicle total and a first planned path of a lead vehicle of the fleet.

13. The queue control method of an autonomous vehicle according to claim 11, comprising, before receiving the enqueue request information transmitted from the second onboard device following the vehicle:

sending the band-on capability information to a second vehicle-mounted device of the following vehicle within a preset range;

14. The queue control method of an autonomous vehicle as recited in claim 11, wherein the enqueue request information includes follower identification information, follower type, and follower kinematics information;

the authenticating the enqueue request information and sending the enqueue permission information to the second vehicle-mounted device after the authentication is successful comprises:

and when the following vehicle is judged to be suitable for entering the fleet corresponding to the pilot vehicle, transmitting the admission information to a second vehicle-mounted device of the following vehicle.

15. The queue control method of an autonomous vehicle as claimed in claim 12 or 13, wherein the enqueue request information includes following vehicle identity information;

authenticating the identity information of the following vehicle, and judging whether the following vehicle has the authority to enter a vehicle team corresponding to the pilot vehicle;

and when judging that the following vehicle has the authority to enter the corresponding fleet of the pilot vehicle, sending the admission information to a second vehicle-mounted device of the following vehicle.

16. The queue control method of an autonomous vehicle according to claim 11, wherein the piloted vehicle driving condition is a vehicle stationary state; the cut-in position point is a static cut-in position point of a preset distance at the rear side of a tail vehicle of the target fleet;

the method further comprises the following steps:

and after the following vehicle reaches the static cut-in position point, sending the first running speed and the first planned path of the pilot vehicle to a second vehicle-mounted device of the following vehicle in real time.

17. The queue control method of an autonomous vehicle according to claim 11, wherein the pilot vehicle running condition is a vehicle running state; the cut-in position point is a dynamic cut-in position point of a preset distance on the rear side of a tail vehicle of the target fleet; the dynamic cut-in position point changes in real time according to the running of the target fleet;

after transmitting the enqueue permission information to the second in-vehicle device, the method further includes:

sending the first running speed of the pilot vehicle to a second vehicle-mounted device of the following vehicle in real time;

the method further comprises the following steps:

and after the following vehicle reaches the dynamic cut-in position point, sending the second running speed and the first planned path of the pilot vehicle to a second vehicle-mounted device of the following vehicle in real time.

18. The queue control method of an autonomous vehicle as claimed in claim 11, comprising, before transmitting the dequeue instruction information to the second onboard apparatus:

and receiving the dequeue request information sent by the second vehicle-mounted device following the vehicle.

19. The queue control method of an autonomous vehicle as claimed in claim 11, wherein the sending of the dequeue instruction information to the second onboard device comprises:

obtaining a second planned path of the following vehicle, and determining a departure position point of the following vehicle according to the first planned path and the second planned path;

and when the following vehicle reaches a preset distance position before the departure position point, sending departure instruction information to the second vehicle-mounted device.

20. The queue control method of an autonomous vehicle as claimed in claim 11, comprising, before transmitting the dequeue instruction information to the second onboard apparatus:

receiving departure reminding information sent by a cloud server; the departure reminding information is sent out when the following vehicle reaches a preset distance position before the departure position point according to the first planned path and the second planned path.

21. A second in-vehicle apparatus, comprising:

the device comprises a sending unit, a receiving unit and a processing unit, wherein the sending unit is used for obtaining target fleet information and sending queuing request information to a first vehicle-mounted device of a pilot vehicle of a target fleet so that the first vehicle-mounted device of the pilot vehicle of the target fleet authenticates the queuing request information;

a receiving unit, configured to receive the enqueuing permission information sent by the first in-vehicle device; the admission information comprises a cut-in position point determined according to the driving condition of a pilot vehicle;

the control unit is used for controlling a following vehicle to reach the cut-in position point, finishing the following vehicle entering the target vehicle fleet, and controlling the following vehicle to run by adopting a first planned path of the pilot vehicle after reaching the cut-in position point;

the receiving unit is further configured to receive dequeue instruction information sent by the first vehicle-mounted device;

and the control unit is also used for controlling the following vehicle to leave the target fleet according to the departure instruction information and controlling the following vehicle to run by adopting a second planned path of the following vehicle.

22. A first vehicle-mounted device, comprising:

the transmitting unit is used for transmitting queuing allowing information to the second vehicle-mounted device after the authentication unit successfully authenticates, wherein the queuing allowing information comprises a cut-in position point determined according to the driving condition of a pilot vehicle, so that the second vehicle-mounted device controls a follow-up vehicle to reach the cut-in position point, the follow-up vehicle enters a target vehicle fleet, and the follow-up vehicle is controlled to drive by adopting a first planned path of the pilot vehicle after reaching the cut-in position point;

the sending unit is further configured to send the departure instruction information to the second onboard device, so that the second onboard device controls the following vehicle to leave the target fleet according to the departure instruction information, and controls the following vehicle to travel by using a second planned path of the following vehicle.

23. The queue control system of the automatic driving vehicle is characterized by comprising a plurality of vehicle-mounted devices of the automatic driving vehicle, wherein the vehicle-mounted devices of the automatic driving vehicle comprise a first vehicle-mounted device of one to a plurality of pilot vehicles and a second vehicle-mounted device of one to a plurality of follow-up vehicles; the vehicle-mounted devices of the automatic driving vehicles can be in communication connection;

the second vehicle-mounted device is used for acquiring target fleet information and sending queuing request information to the first vehicle-mounted device of a pilot vehicle of the target fleet;

the first vehicle-mounted device is used for authenticating the enqueuing request information and sending enqueuing permission information to the second vehicle-mounted device after the authentication is successful; the admission information comprises a cut-in position point determined according to the driving condition of a pilot vehicle;

the second vehicle-mounted device is also used for controlling a following vehicle to reach the cut-in position point, finishing the following vehicle entering the target fleet, and controlling the following vehicle to run by adopting a first planned path of the pilot vehicle after reaching the cut-in position point;

the first vehicle-mounted device is also used for sending out-of-line instruction information to the second vehicle-mounted device;

and the second vehicle-mounted device is also used for controlling the following vehicle to leave the target fleet according to the departure instruction information and controlling the following vehicle to run by adopting a second planned path of the following vehicle.

24. The queue control system of autonomous vehicles according to claim 23, further comprising a cloud server communicably connectable to the on-board devices of the number of autonomous vehicles; fleet parameter information of each fleet is stored in the cloud server;

the second vehicle-mounted device is also used for communicating with a preset cloud server and obtaining fleet parameter information of one or more fleets from the cloud server; the fleet parameter information includes: the method comprises the following steps that the total number of current vehicles of a fleet and a first planning path of a pilot vehicle of the fleet are calculated;

the second vehicle-mounted device is specifically used for determining a target fleet from the one to more fleets according to the fleet parameter information of each fleet, acquiring the target fleet information and sending the queuing request information to the first vehicle-mounted device of the pilot vehicle of the target fleet; the total number of the current vehicles of the target fleet is less than or equal to a preset vehicle upper limit value; the length of a first superposed path of a first planned path of a pilot vehicle and a second planned path of a following vehicle of the target vehicle fleet is greater than or equal to a preset length threshold value and is greater than the length of a second superposed path; and the second coincident path length is the coincident path length of the first planned path of the pilot vehicle and the second planned path of the following vehicle of other vehicle fleets except the target vehicle fleet in each vehicle fleet.

25. The queue control system of autonomous vehicles of claim 23, wherein the second onboard means is further configured to send the enqueue demand information to the first onboard means of the pilots of one or more fleets within a predetermined range; the enqueue demand information comprises following vehicle identity information, following vehicle type and following vehicle kinematics information;

the first vehicle-mounted device is also used for authenticating the following vehicle identity information, the following vehicle type and the following vehicle kinematics information and judging whether the following vehicle is suitable for entering a fleet corresponding to a pilot vehicle or not; when the following vehicle is judged to be suitable for entering a vehicle team corresponding to the pilot vehicle, transmitting vehicle team parameter information to a second vehicle-mounted device of the following vehicle; the fleet parameter information comprises the current total number of the fleet vehicles and a first planning path of a pilot vehicle of the fleet;

26. The autonomous-vehicle fleet control system of claim 23, wherein said first onboard device is further configured to send fleet capability information to a second onboard device following a vehicle within a predetermined range;

the second vehicle-mounted device is also used for responding to the band capacity information and sending queuing requirement information to the first vehicle-mounted device of the pilot vehicle of each fleet; the enqueue demand information comprises following vehicle identity information, following vehicle type and following vehicle kinematics information;

27. The queue control system of autonomous vehicles according to claim 23, further comprising a cloud server communicably connectable to the on-board devices of the number of autonomous vehicles; fleet parameter information of each fleet is stored in the cloud server;

the second vehicle-mounted device is specifically used for communicating with a preset cloud server, acquiring target fleet information from the cloud server, and sending the enqueue request information to the first vehicle-mounted device of a pilot vehicle of a target fleet; the target fleet information is obtained by determining a target fleet from the one or more fleets according to the fleet parameter information of each fleet by the cloud server; the fleet parameter information includes: the method comprises the following steps that the total number of current vehicles of a fleet and a first planning path of a pilot vehicle of the fleet are calculated; the total number of the current vehicles of the target fleet is less than or equal to a preset vehicle upper limit value; the length of a first superposed path of a first planned path of a pilot vehicle and a second planned path of a following vehicle of the target vehicle fleet is greater than or equal to a preset length threshold value and is greater than the length of a second superposed path; and the second coincident path length is the coincident path length of the first planned path of the pilot vehicle and the second planned path of the following vehicle of other vehicle fleets except the target vehicle fleet in each vehicle fleet.

28. The autonomous-vehicle queue control system of claim 23, wherein the enqueue request information includes follower identification information, follower type, and follower kinematics information;

the first vehicle-mounted device is specifically used for authenticating the following vehicle identity information, the following vehicle type and the following vehicle kinematics information and judging whether the following vehicle is suitable for entering a fleet corresponding to a pilot vehicle or not; and when the following vehicle is judged to be suitable for entering the fleet corresponding to the pilot vehicle, transmitting the admission information to a second vehicle-mounted device of the following vehicle.

29. The autonomous vehicle queue control system of claim 25 or 26, wherein the enqueue request information comprises follower identity information;

the first vehicle-mounted device is specifically used for authenticating the identity information of the following vehicle and judging whether the following vehicle has the authority to enter a fleet corresponding to a pilot vehicle; and when judging that the following vehicle has the authority to enter the corresponding fleet of the pilot vehicle, sending the admission information to a second vehicle-mounted device of the following vehicle.

30. The autonomous-vehicle fleet control system of claim 23, wherein said piloted vehicle travel condition is a vehicle stationary condition; the cut-in position point is a static cut-in position point of a preset distance at the rear side of a tail vehicle of the target fleet;

the second vehicle-mounted device is specifically used for obtaining a position point of a following vehicle and determining a motion planning curve according to the position point of the following vehicle and the static cut-in position point; determining a first steering wheel rotation angle control quantity of the following vehicle according to the motion planning curve; sending the first steering wheel angle control quantity to a steering motor controller of a following vehicle, so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control according to the first steering wheel angle control quantity, and the following vehicle enters the target vehicle fleet after reaching the static cut-in position point; after the static cut-in position point is reached, obtaining a first driving speed and a first planned path of a pilot vehicle in real time; determining the longitudinal control quantity of the following vehicle according to the first driving speed of the pilot vehicle; sending the longitudinal control quantity to a longitudinal controller of the follower vehicle, so that the longitudinal controller controls a longitudinal actuating mechanism of the follower vehicle to perform longitudinal control according to the longitudinal control quantity; determining a second steering wheel turning angle control quantity of the following vehicle according to the first planned path of the pilot vehicle; and sending the second steering wheel rotation angle control quantity to a steering motor controller of the follower vehicle, so that the steering motor controller controls a steering motor of the follower vehicle to perform transverse control according to the second steering wheel rotation angle control quantity.

31. The autonomous-vehicle fleet control system according to claim 23, wherein said pilot vehicle driving condition is a vehicle driving state; the cut-in position point is a dynamic cut-in position point of a preset distance on the rear side of a tail vehicle of the target fleet; the dynamic cut-in position point changes in real time according to the running of the target fleet;

the first vehicle-mounted device is also used for sending the first running speed of the pilot vehicle to a second vehicle-mounted device of the following vehicle in real time;

the second vehicle-mounted device is specifically used for determining the following running speed of the following vehicle according to the first running speed of the pilot vehicle, obtaining the position point of the following vehicle, and determining a motion planning curve according to the position point of the following vehicle and the dynamic cut-in position point; determining a first longitudinal control quantity of the following vehicle according to the chasing running speed, and determining a first steering wheel turning angle control quantity of the following vehicle according to the motion planning curve; sending the first longitudinal control quantity to a longitudinal controller of the follower vehicle, so that the longitudinal controller controls a longitudinal actuating mechanism of the follower vehicle to perform longitudinal control according to the first longitudinal control quantity; sending the first steering wheel angle control quantity to a steering motor controller of a following vehicle, so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control according to the first steering wheel angle control quantity, and the following vehicle enters the target vehicle fleet after reaching the dynamic cut-in position point; after the dynamic cut-in position point is reached, obtaining a second running speed and a first planned path of the pilot vehicle in real time; determining a second longitudinal control quantity of the following vehicle according to the second running speed of the pilot vehicle; sending the second longitudinal control quantity to a longitudinal controller of the follower vehicle, so that the longitudinal controller controls a longitudinal actuating mechanism of the follower vehicle to perform longitudinal control according to the second longitudinal control quantity; determining a second steering wheel turning angle control quantity of the following vehicle according to the first planned path of the pilot vehicle; and sending the second steering wheel rotation angle control quantity to a steering motor controller of the follower vehicle, so that the steering motor controller controls a steering motor of the follower vehicle to perform transverse control according to the second steering wheel rotation angle control quantity.

32. The automated guided vehicle queue control system of claim 23, wherein the second onboard means is further configured to determine a departure location for a following vehicle based on the first planned path and the second planned path; when a preset distance position before the departure position point is reached, departure request information is sent to a first vehicle-mounted device of a pilot vehicle of a target vehicle fleet;

the second vehicle-mounted device is specifically used for controlling the follow-up vehicle to decelerate according to the departure instruction information, and determining steering wheel turning angle control quantity of the follow-up vehicle by adopting a second planned path of the follow-up vehicle when the follow-up vehicle reaches a departure position point; and sending the steering wheel steering angle control quantity to a steering motor controller of a following vehicle, so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control according to the steering wheel steering angle control quantity, and the following vehicle is controlled to leave the target fleet.

33. The queue control system of an autonomous vehicle of claim 23, wherein the first onboard means is specifically configured to obtain a second planned path of the following vehicle and determine a departure location point of the following vehicle according to the first planned path and the second planned path; when the following vehicle reaches a preset distance position before the departure position point, sending departure instruction information to the second vehicle-mounted device;

34. The queue control system of autonomous vehicles according to claim 23, further comprising a cloud server communicably connectable to the on-board devices of the number of autonomous vehicles;

the first vehicle-mounted device is also used for receiving the departure reminding information sent by the cloud server; the departure reminding information is sent out when the following vehicle reaches a preset distance position before the departure position point according to the first planned path and the second planned path;

the second onboard apparatus is specifically configured to:

controlling the follow-up vehicle to decelerate according to the departure instruction information, and determining steering wheel turning angle control quantity of the follow-up vehicle by adopting a second planned path of the follow-up vehicle when the follow-up vehicle reaches a departure position point; and sending the steering wheel steering angle control quantity to a steering motor controller of a following vehicle, so that the steering motor controller controls a steering motor of the following vehicle to perform transverse control according to the steering wheel steering angle control quantity, and the following vehicle is controlled to leave the target fleet.

35. The queue control system of autonomous vehicles according to claim 23, further comprising a cloud server communicably connectable to the on-board devices of the number of autonomous vehicles;

the second vehicle-mounted device is also used for receiving the departure reminding information sent by the cloud server and sending departure request information to the first vehicle-mounted device of the pilot vehicle of the target fleet; the departure reminding information is sent out when the following vehicle reaches a preset distance position before the departure position point according to the first planned path and the second planned path;

36. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the queue control method of an autonomous vehicle according to any of claims 1 to 10.

37. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the queue control method of an autonomous vehicle according to any of claims 11 to 20.

38. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of queue control for autonomous vehicles of any of claims 1 to 10.

39. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of queue control for autonomous vehicles of any of claims 11 to 20.