CN114973735A

CN114973735A - Formation method, device, equipment, vehicle and medium for automatic driving vehicle

Info

Publication number: CN114973735A
Application number: CN202210507505.1A
Authority: CN
Inventors: 张健; 李赓; 杨凡; 王鲲; 张雯; 胡茂洋
Original assignee: Apollo Zhilian Beijing Technology Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd
Priority date: 2022-05-10
Filing date: 2022-05-10
Publication date: 2022-08-30

Abstract

The disclosure provides a formation method and device for automatically driven vehicles, electronic equipment, automatically driven vehicles, a storage medium and a program product, and relates to the technical field of computers, in particular to the technical fields of automatic driving, cloud processing and the like. The specific implementation scheme is as follows: determining, in response to receiving the dynamic formation request, travel information for a plurality of autonomous vehicles, resulting in a plurality of travel information; determining an automatic driving vehicle with a space-time overlapping relation according to a space-time overlapping range division strategy and a plurality of driving information to obtain at least one first automatic driving vehicle information set; creating at least one dynamic formation information corresponding to at least one first set of autonomous vehicle information; and sending dynamic formation information corresponding to the plurality of autonomous vehicles so that the plurality of autonomous vehicles perform formation driving according to the dynamic formation information and the global path planning information.

Description

Formation method, device, equipment, vehicle and medium for automatic driving vehicle

Technical Field

The present disclosure relates to the field of computer technology, and more particularly, to the field of automated driving, cloud processing, and the like. And more particularly, to a method, apparatus, electronic device, autonomous vehicle, storage medium, and program product for formation of autonomous vehicles.

Background

Formation (platoning) running, also called formation running or formation running, can be running behaviors that an automatic driving vehicle keeps relatively stable geometric pose and motion state with a plurality of automatic driving vehicles running nearby by adjusting running speed and steering under a complex and variable traffic environment. By adopting a formation driving mode, the traffic capacity of the road and the safety of automatic driving can be improved while the task requirement is met and the surrounding environment constraint is adapted.

Disclosure of Invention

The present disclosure provides a formation method, apparatus, electronic device, autonomous vehicle, storage medium, and program product for an autonomous vehicle.

According to an aspect of the present disclosure, there is provided a formation method of autonomous vehicles, including:

in response to receiving a dynamic formation request, determining driving information of a plurality of autonomous vehicles to obtain a plurality of driving information, wherein the driving information comprises global path planning information and driving period information; determining an automatic driving vehicle with a space-time overlapping relation according to a space-time overlapping range division strategy and the plurality of driving information to obtain at least one first automatic driving vehicle information set; creating at least one dynamic formation information corresponding to at least one first set of autonomous vehicle information; and sending dynamic formation information corresponding to the plurality of autonomous vehicles so that the plurality of autonomous vehicles can perform formation driving according to the dynamic formation information and the global path planning information.

According to another aspect of the present disclosure, there is provided a formation method of autonomous vehicles, including: in response to receiving dynamic formation information from a cloud, performing formation driving according to global path planning information and the dynamic formation information, wherein the dynamic formation information is created by the cloud according to at least one first automatic driving vehicle information set, the at least one first automatic driving vehicle information set is obtained by determining automatic driving vehicles with a space-time overlapping relation according to a space-time overlapping range division strategy and driving information of a plurality of automatic driving vehicles, and the driving information comprises global path planning information and driving period information.

According to another aspect of the present disclosure, there is provided a formation device of an autonomous vehicle, including: the system comprises a first response module, a second response module and a third response module, wherein the first response module is used for responding to the received dynamic formation request, determining the running information of a plurality of automatic driving vehicles and obtaining a plurality of running information, and the running information comprises global path planning information and running time period information; the determining module is used for determining the automatic driving vehicles with the space-time overlapping relation according to a space-time overlapping range division strategy and the plurality of driving information to obtain at least one first automatic driving vehicle information set; a creation module to create at least one dynamic formation corresponding to at least one first set of autonomous vehicle information; and the formation module is used for sending dynamic formation information corresponding to the automatic driving vehicles so that the automatic driving vehicles can conveniently form and run according to the dynamic formation information and the global path planning information.

According to another aspect of the present disclosure, there is provided a formation device of an autonomous vehicle, including: the second response module is used for responding to the fact that dynamic formation information from a cloud end is received, and performing formation driving according to global path planning information and the dynamic formation information, wherein the dynamic formation information is created by the cloud end according to at least one first automatic driving vehicle information set, the at least one first automatic driving vehicle information set is obtained by determining automatic driving vehicles with a space-time overlapping relation according to a space-time overlapping range division strategy and driving information of the automatic driving vehicles, and the driving information comprises global path planning information and driving period information.

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.

According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method as described above.

According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method as described above.

According to another aspect of the present disclosure, an autonomous vehicle is provided, including the electronic device of the present disclosure.

It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 schematically illustrates an exemplary system architecture to which the formation method and apparatus of autonomous vehicles may be applied, according to an embodiment of the disclosure;

FIG. 2 schematically illustrates a flow chart of a formation method of autonomous vehicles according to an embodiment of the disclosure;

FIG. 3 schematically illustrates a scenario diagram of determining at least one first set of autonomous vehicle information in accordance with an embodiment of the present disclosure;

FIG. 4 schematically illustrates a scenario for determining a platooning travel speed according to an embodiment of the disclosure;

FIG. 5 schematically illustrates a flow chart of a formation method of autonomous vehicles according to another embodiment of the disclosure;

FIG. 6A schematically illustrates a scenario for joining dynamic formations, in accordance with an embodiment of the present disclosure;

FIG. 6B schematically illustrates a scene diagram for formation driving according to an embodiment of the disclosure;

FIG. 6C schematically illustrates a scene diagram of disengaging dynamic formations, in accordance with an embodiment of the present disclosure;

FIG. 7 schematically illustrates a block diagram of a formation device of an autonomous vehicle, according to an embodiment of the disclosure;

FIG. 8 schematically illustrates a block diagram of a formation device of an autonomous vehicle, according to an embodiment of the disclosure; and

FIG. 9 schematically illustrates a block diagram of an electronic device suitable for implementing a formation method for autonomous vehicles, in accordance with an embodiment of the disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Fig. 1 schematically illustrates an exemplary system architecture to which the formation method and apparatus of an autonomous vehicle may be applied, according to an embodiment of the present disclosure.

It should be noted that fig. 1 is only an example of a system architecture to which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, and does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios. The system architecture of the embodiment of the present disclosure may also be implemented in other ways according to implementation needs.

As shown in fig. 1, the system architecture 100 according to the embodiment may be a vehicle-road-cloud integrated system architecture. The vehicle-road-cloud integrated system architecture may include a vehicle end 101, a cloud end 102, and a road end 103. The vehicle end 101, the cloud end 102 and the road end 103 can be in communication connection with each other through various communication connection types. For example, the communication connection type may include at least one of: wired communication and wireless communication. For example, the wireless communication may include Vehicle to X (V2X). For example, the vehicular wireless communication may include at least one of: a Dedicated Short Range Communication (DSRC) based vehicular wireless Communication and a Cellular mobile Communication based vehicular wireless Communication (Cellular V2X, C-V2X). The vehicular wireless communication based on cellular mobile communication may include at least one of: vehicle wireless communication based on LTE-V2X (Long Term Evolution V2X) and fourth generation mobile communication (The 4) ^th Generation Mobile Communication Technology, 4G) and fifth-Generation Mobile Communication based (The 5) ^th Generation Mobile Communication Technology, 5G).

The vehicle end 101 may include N autonomous vehicles, which may refer to vehicles configured in an autonomous mode. The autonomous vehicle may comprise a four-wheel sedan or a three-wheel vehicle. The autonomous vehicle may include a vehicle-end sensor unit, a vehicle-end sensing unit, a vehicle-end positioning unit, and a vehicle-end decision unit. For example, the vehicle end sensor unit may include at least one of: vehicle-end vision sensor, vehicle-end laser radar and vehicle-end radar. The vision sensor may include a camera. The vehicle-end radar may include at least one of: vehicle-end millisecond wave radar and vehicle-end ultrasonic radar. The vehicle-end sensing unit may include a hardware subunit and a software subunit. The hardware subunits may include a processor and a memory. The software subunit may include an operating system and planning and routing threads. The vehicle-end locating unit may include at least one of: global Positioning System (GPS), BeiDou Satellite Navigation System (BDS), Global Navigation Satellite System (GNSS), GLONASS (GLONASS), Inertial Measurement Unit (IMU), vision sensor, vehicle-end lidar and vehicle-end radar. Additionally, the autonomous vehicle may also include a software application. The software application may include at least one of: navigation type applications, entertainment type applications, and instant messaging type applications.

The cloud 102 may include at least one of: cloud control platform and third party's platform. The cloud-controlled platform may include at least one of: the system comprises an edge cloud control platform, a region cloud control platform and a center cloud control platform. The cloud control platform can be a cloud server and a cloud server cluster. The cloud Server is a host product in a cloud computing service system, and solves the problem that the management difficulty is high in a traditional physical host and a Virtual Private Server (VPS), and a third-party platform can comprise at least one of the following: a traffic management platform, a map platform, a travel service platform, a vehicle management platform and an Original Equipment Manufacturer (OEM) platform.

The route end 103 may include Road Side equipment (RSC) and various types of application service systems. The roadside apparatus may include a roadside sensor Unit, a roadside sensing Unit, and a roadside Computing Unit (RSCU). The roadside computing unit can be a small server which is improved to meet extreme conditions of low voltage, high temperature, high humidity and the like of a roadside lamp post. Furthermore, the roadside computing unit may be replaced with an edge technology unit. The deployment mode of the road side equipment can be determined according to actual service requirements. For example, the roadside sensor may include at least one of: roadside vision sensors, roadside radars, and roadside lidar. The roadside sensing unit may include a processor and a memory. In another system architecture, the roadside sensing unit itself may include computational functionality.

It should be noted that the formation method for autonomous vehicles provided by the embodiments of the present disclosure may be executed by the cloud end 102. Accordingly, the formation device for the autonomous vehicles provided by the embodiment of the present disclosure may also be disposed in the cloud end 102.

Alternatively, the formation method of the autonomous vehicles provided by the embodiment of the present disclosure may also be executed by the vehicle end 101. Accordingly, the formation device of the autonomous vehicle provided by the embodiment of the present disclosure may be disposed in the vehicle end 101.

It should be noted that the sequence numbers of the respective operations in the following methods are merely used as representations of the operations for description, and should not be construed as representing the execution order of the respective operations. The method need not be performed in the exact order shown, unless explicitly stated.

FIG. 2 schematically illustrates a flow chart of a formation method of autonomous vehicles according to an embodiment of the disclosure.

As shown in fig. 2, the method is applied to the cloud, and includes operations S210 to S240.

In operation S210, in response to receiving the dynamic formation request, the travel information of the plurality of autonomous vehicles is determined, resulting in a plurality of travel information. The travel information includes global path plan information and travel period information.

In operation S220, autonomous vehicles having a spatiotemporal overlapping relationship are determined according to the spatiotemporal overlapping range division strategy and the plurality of driving information, resulting in at least one first autonomous vehicle information set.

At operation S230, at least one dynamic formation information corresponding to at least one first set of autonomous vehicle information is created.

In operation S240, dynamic formation information corresponding to the plurality of autonomous vehicles is transmitted to the plurality of autonomous vehicles so that the plurality of autonomous vehicles perform formation driving according to the dynamic formation information and the global path plan information.

In accordance with embodiments of the present disclosure, formation driving may refer to a coordinated driving of a plurality of autonomous vehicles. For example, the inter-vehicle distance between any two of the plurality of autonomous vehicles is the same, and the information such as the traveling speed, acceleration, and direction of the plurality of autonomous vehicles is the same.

According to an embodiment of the present disclosure, a formation method of autonomous vehicles may be applied to a cloud. The cloud may generate a dynamic formation request based on one or more of road information, environmental information, and traffic condition information. Travel information for a plurality of autonomous vehicles may be determined in response to receiving a dynamic formation request. The plurality of autonomous vehicles may correspond one-to-one to the plurality of travel information. The travel information may include global path plan information and travel period information. The global path planning information may include global passable path information from a start point to an end point, and the travel period information may include travel time information from the start point to the end point.

According to embodiments of the present disclosure, the spatiotemporal overlapping range partitioning strategy may refer to a strategy for controlling formation of autonomous vehicles. The spatial-temporal overlap may mean that there is an overlap both in time and in the travel path. Whether the plurality of autonomous vehicles are in a time-space overlapping relationship with each other may be determined based on a time-space overlapping range division policy and the plurality of travel information. Determining autonomous vehicles having a spatiotemporal overlapping relationship as the at least one first set of autonomous vehicles. At least one first set of autonomous vehicle information is derived based on the at least one first set of autonomous vehicles. For example, at road segment a, the first set of autonomous vehicles having a spatiotemporal overlapping relationship may include vehicle V1, vehicle V2, and vehicle V3. At road segment B, the first set of autonomous vehicles having a spatiotemporal overlapping relationship may include vehicle V1, vehicle V2, and vehicle V4.

According to an embodiment of the present disclosure, the dynamic formation information may include one or more of at least one set of autonomous vehicle information, information related to a driving state of the vehicle, global path planning information, driving period information.

According to embodiments of the present disclosure, dynamic formation information about autonomous vehicles may be generated using a cloud. And sending the dynamic formation information to the automatic driving vehicle so that the automatic driving vehicle performs formation driving based on the dynamic formation information and the global planning information.

By utilizing the formation method of the automatic driving vehicles, provided by the embodiment of the disclosure, the running information of a plurality of automatic driving vehicles can be subjected to space-time clustering through the cloud end, and dynamic formation information is generated for the plurality of automatic driving vehicles with space-time overlapping relation, so that the traffic capacity of roads is improved, the congestion is relieved, the running safety of the vehicles is improved, the oil consumption is reduced, and the like.

Fig. 3 schematically illustrates a scenario diagram for determining at least one first set of autonomous vehicle information according to an embodiment of the present disclosure.

As shown in fig. 3, the cloud may determine at least one predetermined travel region of a predetermined travel period as at least one spatiotemporal overlap range, such as a first spatiotemporal overlap range M1 and a second spatiotemporal overlap range M2. The at least one spatio-temporal overlap range may be determined based on a spatio-temporal overlap range partitioning strategy. The space-time overlapping range division strategy may be determined according to type information of roads, traffic congestion information, weather information, and the like.

As shown in fig. 3, the arrows are used to characterize the direction of travel of the autonomous vehicle as determined from the global planned path information. The cloud end can determine respective driving areas of the plurality of autonomous vehicles according to respective global path planning information of the plurality of autonomous vehicles. And determining the space-time overlapping range to which each of the plurality of autonomous vehicles belongs according to the at least one space-time overlapping range and the respective driving area and driving time period of the plurality of autonomous vehicles. The autonomous vehicle VM1_1, the autonomous vehicle VM1_2, the autonomous vehicle VM1_3, and the autonomous vehicle VM1_4 all belong to the first space-time overlap range M1. The autonomous vehicle VM2_1, the autonomous vehicle VM2_2, and the autonomous vehicle VM2_3 all belong to the second spatiotemporal overlap range M2. And determining the automatic driving vehicles belonging to the same space-time overlapping range as the automatic driving vehicles with space-time overlapping relation, and obtaining at least one first automatic driving vehicle information set. That is, autonomous vehicle VM1_1, autonomous vehicle VM1_2, autonomous vehicle VM1_3, and autonomous vehicle VM1_4 are determined to be a first set of autonomous vehicles. Autonomous vehicle VM2_1, autonomous vehicle VM2_2, and autonomous vehicle VM2_3 are another first set of autonomous vehicles.

According to an embodiment of the present disclosure, for operation S230, creating at least one dynamic formation information corresponding to the at least one first set of autonomous vehicle information may include the following operations.

For example, formation driving information corresponding to the at least one first automatic driving vehicle information set is determined according to the road driving influence information and global path planning information of automatic driving vehicles in the at least one first automatic driving vehicle information set, and at least one formation driving information is obtained. Dynamic formation information corresponding to the at least one first set of autonomous vehicle information is created from the at least one first set of autonomous vehicle information and formation travel information corresponding to the at least one first set of autonomous vehicle information.

According to an embodiment of the present disclosure, the dynamic formation information may include at least one formation travel information in one-to-one correspondence with the at least one first set of autonomous vehicle information. Each of the at least one formation travel information may include information related to a travel state of the autonomous vehicle, such as formation travel distance, formation travel speed, formation travel acceleration, and the like.

According to an embodiment of the present disclosure, each of the formation travel information may be determined based on the road travel impact information and the global path plan information of each of the plurality of autonomous vehicles in the first set of autonomous vehicle information corresponding to the formation travel information. For example, the cloud may perform space-time clustering according to global path planning information of each of the plurality of autonomous vehicles, determine at least one first autonomous vehicle information set, and determine information such as a formation driving distance and a formation driving speed in formation driving information based on road driving influence information such as road speed limit information or weather information.

According to the embodiment of the disclosure, the space-time clustering is carried out on the automatic driving vehicles through the cloud based on the respective global path planning information of the automatic driving vehicles, the formation driving information is determined based on the road driving influence information, and the traffic ordering degree and the vehicle running efficiency can be improved while the road utilization rate is improved.

According to an embodiment of the present disclosure, the road traveling influence information may include road type information and road environment information. The road environment information may include weather information such as fog, rain, snow, etc., climate information, humidity information, etc., but is not limited thereto, and may also include travel time information such as at night. The road type information may refer to high-speed or non-high-speed road type information, and may also refer to road type information on whether people and vehicles are mixed, or road type information on whether the road type information is a one-way road.

According to an embodiment of the present disclosure, the formation travel information includes a formation travel speed.

According to an embodiment of the present disclosure, for a first set of autonomous vehicle information of the at least one first set of autonomous vehicle information, for example each first set of autonomous vehicles. Aggregate path planning information for the first set of autonomous vehicle information may be determined based on global path planning information for autonomous vehicles in the first set of autonomous vehicle information. The aggregate path plan information may refer to formation path plan information for a dynamic formation corresponding to the first set of autonomous vehicle information.

Fig. 4 schematically illustrates a scenario of determining a platooning travel speed according to an embodiment of the present disclosure.

As shown in fig. 4, the cloud may obtain the location information of the autonomous vehicle and the road environment information in real time. In the event that a plurality of autonomous vehicles in the first set of autonomous vehicles are determined to be traveling through a target road area, such as a highway segment HW, based on the set planned path information, the platooned travel speed corresponding to the first set of autonomous vehicle information is determined to be the expected platooned travel speed V1.

According to an embodiment of the present disclosure, the target road region may be a road region in which the road type information is predetermined road type information and the road environment information satisfies predetermined road environment conditions. The predetermined road type information includes expressway type information, and the predetermined road environmental condition may include a road environmental condition having visibility less than or equal to a predetermined visibility threshold. The expected platooning travel speed may be a safe travel speed of the autonomous vehicle in a case of traveling on the target road area. For example, the expected formation traveling speed is a traveling speed of 60 km/h.

As shown in fig. 4, when it is determined that the autonomous driving set does not pass through the target road region, for example, the ordinary link NW, based on the set planned path information, the formation travel speed corresponding to the first autonomous driving vehicle information set is determined as the other formation travel speed V2.

Other formation travel speeds may refer to reasonable formation travel speeds in accordance with embodiments of the present disclosure. For example, a speed within a travel speed range defined on the lane.

According to the embodiment of the disclosure, the cloud can calculate reasonable dynamic formation information of dynamic formation in real time, and conduct lane-level guidance to keep the continuous traffic capacity of roads. So that the vehicle can safely run on the expressway in the road environment with low visibility and wet and slippery road surface such as foggy days, rainy days and the like, and the availability of traffic resources is improved.

According to other embodiments of the present disclosure, the cloud may dynamically issue formation instructions for forming a dynamic formation to a plurality of autonomous vehicles having a spatiotemporal overlapping relationship. The autonomous vehicle receives the formation command. In response to the formation instruction, incorporating the formation according to the dynamic formation information. The cloud guides the automatic driving vehicles in real time, so that the automatic driving vehicles run in a low-speed formation running mode according to the dynamic formation information. The autonomous vehicles may disengage from the dynamic formation when the globally planned path information of the autonomous vehicles is inconsistent with the dynamic formation information.

According to other embodiments of the present disclosure, dynamic formation of the autonomous vehicles is controlled through the cloud, taking a traffic scene of high speed foggy as an example, under the condition that road environment information is, for example, foggy days and the autonomous vehicles are driving in a single vehicle, the reaction time and the braking distance of the autonomous vehicles are both prolonged under the influence of the road environment, and the autonomous vehicles may not be able to drive in a high-speed road section, thereby reducing available traffic resources. In this case, the cloud may enable forced low speed formation of multiple autonomous vehicles via the same highway segment in a dynamic formation manner, so that the highway segment is changed from an off state to an available state under severe road environment conditions. Before entering the high-speed entrance, the autonomous vehicle can be self-checked to ensure that the autonomous vehicle has lane-level positioning and millisecond communication capabilities. The cloud-controlled high-speed entrance allows the qualified autonomous vehicles to enter the high-speed road section. The cloud guides the autonomous vehicles to join in a low-speed dynamic formation. The cloud end monitors the event information of the full-high-speed road section in real time, issues the lane information of the fault event to the automatic driving vehicle in real time, and guides the automatic driving vehicle to carry out lane-level navigation so as to change lanes in advance. After safely passing through the cloud area, the cloud can be used for disassembling low-speed dynamic formation.

According to embodiments of the present disclosure, the global path planning information for the autonomous vehicle may be generated from the dynamic map information and the travel demand information of the second set of autonomous vehicle information. The dynamic map information is generated according to historical vehicle-end sensing information and historical road-end sensing information.

According to the embodiment of the disclosure, global path planning information of the autonomous vehicle can be generated through the cloud according to the driving demand information according to the dynamic map information and the second autonomous vehicle information set. The dynamic map information can be generated according to the historical vehicle-side perception information and the historical road-side perception information through the cloud.

According to the embodiment of the disclosure, the cloud end can fuse historical vehicle end perception information and historical road end perception information to obtain fused perception information. Dynamic map information is generated based on the fused perceptual information. The cloud may generate global path planning information for the autonomous vehicle that has avoided the fault event road segment according to the dynamic map information. But is not limited thereto. The cloud may also generate global path planning information from the dynamic map information and from a second set of autonomous vehicle information having the same or similar driving needs as the autonomous vehicle. The generated global path planning information reasonably occupies traffic resources while guiding the automatic driving vehicle to avoid the fault event road section, and avoids the situation that the automatic driving vehicle and the automatic driving vehicle in the second automatic driving vehicle set converge to the same road section at the same time period to cause congestion. In addition, the dynamic map information is generated according to the historical vehicle-end sensing information and the historical road-end sensing information, so that the beyond-the-horizon sensing of the automatic driving vehicle is realized, the beyond-the-horizon keeping of the vehicle distance can be realized in the process of joining the dynamic formation, and the driving safety is improved.

FIG. 5 schematically illustrates a flow chart of a formation method of autonomous vehicles according to another embodiment of the disclosure.

As shown in fig. 5, the method is applied to an autonomous vehicle, including operations S510 to S520.

In operation S510, dynamic queuing information from the cloud is received.

In operation S520, in response to receiving the dynamic formation information from the cloud, formation driving is performed according to the global path planning information and the dynamic formation information.

According to an embodiment of the present disclosure, the queuing information processing method may include operations S510 and S520, but is not limited thereto and may further include operation S520.

According to an embodiment of the disclosure, the dynamic formation information is created by the cloud according to at least one first autonomous vehicle information set, the at least one first autonomous vehicle information set is obtained by determining autonomous vehicles having a space-time overlapping relationship according to a space-time overlapping range division strategy and driving information of a plurality of autonomous vehicles, and the driving information includes global path planning information and driving period information.

By utilizing the formation method of the automatic driving vehicles provided by the embodiment of the disclosure, the safe driving capability of the automatic driving vehicles can be improved while the automatic driving vehicles are guided at a lane level, and the continuous traffic capability of roads can be effectively kept.

Fig. 6A schematically illustrates a scene diagram for joining dynamic formation according to an embodiment of the present disclosure.

As shown in fig. 6A, the dynamic formation information of the dynamic formation 610 may include formation path planning information, for example, driving to a predetermined road segment M during a predetermined driving period.

Autonomous vehicle 611 receives formation path planning information from the cloud regarding dynamic formation 610. The path overlap information is determined based on the global path planning information of the autonomous vehicle 611 and the received formation path planning information from the cloud. The travel segments of the autonomous vehicle 611 may be determined to include segment S, segment M, and segment E based on the global path plan information of the autonomous vehicle 611. It is thus possible to determine that the path overlapping portion is the section M. The route overlap information includes overlap route information of the section M and travel period information on the section M. The autonomous vehicles may join the dynamic formation 610 corresponding to the dynamic formation information to perform formation driving in a case of driving to a driving area, for example, a section M, corresponding to the overlapped path information according to the global path plan information.

According to an embodiment of the present disclosure, the dynamic formation information may further include identification information of the dynamic formation, a driving speed, and a distance between two adjacent vehicles.

Fig. 6B schematically illustrates a scene diagram of formation driving according to an embodiment of the present disclosure.

As shown in fig. 6B, prior to formation, the autonomous vehicles 611 may re-plan a path based on the following object location information and the spacing information, calculate and control a speed to incorporate the dynamic formation until joining the dynamic formation 610. And in the case of determining that dynamic formation is added, performing formation driving according to dynamic formation information, such as formation speed, formation vehicle distance, formation lane and the like.

Fig. 6C schematically illustrates a scene diagram of dynamic dequeuing according to an embodiment of the present disclosure.

As shown in fig. 6C, the autonomous vehicle 611 may also determine non-overlapping path information in the path overlapping information based on the global path planning information and the received formation path planning information from the cloud. When the vehicle travels from the travel area corresponding to the overlapped path information to the travel area corresponding to the non-overlapped path information, for example, the link E, according to the global path plan information, the dynamic formation 610 corresponding to the dynamic formation information is exited. The autonomous vehicle 611 may drive to the destination according to the global path plan information.

According to other embodiments of the present disclosure, the dynamic formation may also receive a decombined message from the cloud for characterizing the decommissioning of the dynamic formation. And each automatic driving vehicle in the dynamic formation automatically leaves the dynamic formation in response to receiving the de-formation message from the cloud, and drives to the original destination again according to the global path planning information.

By using the formation method of the automatic driving vehicles provided by the embodiment of the disclosure, whether to join in the dynamic formation or leave the dynamic formation can be automatically determined according to the dynamic formation information and the global path planning information in a scene that the automatic driving vehicles perform formation driving according to the dynamic formation information, so that the formation driving of the automatic driving vehicles is more flexible and intelligent.

Fig. 7 schematically shows a block diagram of a formation device of an autonomous vehicle according to an embodiment of the disclosure.

As shown in fig. 7, the formation device 700 for autonomous vehicles is applied to the cloud, and includes: a first response module 710, a determination module 720, a creation module 730, and a enqueue module 740.

The first response module 710 is configured to determine, in response to receiving the dynamic formation request, driving information of the plurality of autonomous vehicles, and obtain a plurality of driving information, where the driving information includes global path planning information and driving period information.

A determining module 720, configured to determine an autonomous vehicle having a spatio-temporal overlapping relationship according to the spatio-temporal overlapping range division policy and the plurality of driving information, to obtain at least one first autonomous vehicle information set.

A creation module 730 for creating at least one dynamic formation corresponding to the at least one first set of autonomous vehicle information.

The formation module 740 is configured to send dynamic formation information corresponding to the plurality of autonomous vehicles, so that the plurality of autonomous vehicles perform formation driving according to the dynamic formation information and the global path planning information.

According to an embodiment of the present disclosure, the creating module includes: a first determination submodule, and a creation submodule.

The first determining submodule is used for determining formation driving information corresponding to the at least one first automatic driving vehicle information set according to the road driving influence information and global path planning information of automatic driving vehicles in the at least one first automatic driving vehicle information set to obtain at least one formation driving information.

The creating submodule is used for creating dynamic formation information corresponding to the at least one first automatic driving vehicle information set according to the at least one first automatic driving vehicle information set and the formation driving information corresponding to the at least one first automatic driving vehicle information set.

According to an embodiment of the present disclosure, the road traveling influence information includes road type information and road environment information, and the formation traveling information includes a formation traveling speed.

According to an embodiment of the present disclosure, the first determination submodule includes: a first determination unit, a second determination unit, and a third determination unit.

For a first set of autonomous vehicle information of the at least one first set of autonomous vehicle information,

a first determining unit, configured to determine collective path planning information of the first autonomous vehicle information set according to global path planning information of autonomous vehicles in the first autonomous vehicle information set.

A second determination unit configured to determine a formation travel speed corresponding to the first set of autonomous vehicle information as an expected formation travel speed in a case where it is determined that the plurality of autonomous vehicles in the first set of autonomous vehicle information pass through a target road area according to the set planned path information, wherein the target road area is a road area where the road type information is predetermined road type information and the road environment information satisfies predetermined road environment conditions.

And a third determination unit configured to determine the formation travel speed corresponding to the first set of autonomous vehicle information as the other formation travel speed, in a case where it is determined that the plurality of autonomous vehicles in the first set of autonomous vehicle information do not pass through the target road area according to the set planned path information.

According to an embodiment of the present disclosure, the predetermined road type information includes expressway type information, and the predetermined road environmental condition includes a road environmental condition in which visibility is less than or equal to a predetermined visibility threshold.

According to an embodiment of the present disclosure, the determination module includes a second determination submodule, a third determination submodule, a fourth determination submodule, and a fifth determination submodule.

And the second determining submodule is used for determining at least one space-time overlapping range according to the space-time overlapping range dividing strategy, wherein the space-time overlapping range comprises a preset driving time period and a preset driving area.

And the third determining submodule is used for determining the respective driving areas of the automatic driving vehicles according to the respective global path plans of the automatic driving vehicles.

And the fourth determining submodule is used for determining the space-time overlapping range to which the plurality of automatic driving vehicles belong according to the at least one space-time overlapping range and the respective driving areas and driving periods of the plurality of automatic driving vehicles.

And the fifth determining submodule is used for determining the automatic driving vehicles belonging to the same space-time overlapping range as the automatic driving vehicles with space-time overlapping relation to obtain at least one first automatic driving vehicle information set.

According to an embodiment of the disclosure, a global path plan for the autonomous vehicle is generated from the dynamic map information and the travel demand information of the second set of autonomous vehicle information. The dynamic map information is generated according to historical vehicle-end sensing information and historical road-end sensing information.

Fig. 8 schematically shows a block diagram of a formation device of an autonomous vehicle according to an embodiment of the disclosure.

As shown in fig. 8, the formation device 800 of an autonomous vehicle is applied to an autonomous vehicle, and includes: a receiving module 810, and a second responding module 820.

A receiving module 810, configured to receive dynamic queuing information from the cloud.

And a second response module 820, configured to perform formation driving according to the global path planning information and the dynamic formation information in response to receiving the dynamic formation information from the cloud. The dynamic formation information is created by the cloud according to at least one first automatic driving vehicle information set, the at least one first automatic driving vehicle information set is obtained by determining automatic driving vehicles with a space-time overlapping relation according to a space-time overlapping range division strategy and the driving information of the automatic driving vehicles, and the driving information comprises global path planning information and driving time period information.

According to an embodiment of the present disclosure, the formation device 800 of the autonomous vehicle may include a receiving module 810 and a second response module 820, but is not limited thereto and may further include the second response module 820.

According to an embodiment of the present disclosure, the dynamic formation information includes formation path planning information.

According to an embodiment of the disclosure, the second response module includes: a seventh determination submodule, and a join submodule.

And the seventh determining submodule is used for determining path overlapping information according to the global path planning information and the formation path planning information, wherein the path overlapping information comprises overlapping path information.

And the adding submodule is used for adding the dynamic formation corresponding to the dynamic formation information to perform formation driving under the condition of driving to a driving area corresponding to the overlapped path information according to the global path planning information.

According to an embodiment of the present disclosure, the path overlapping information includes non-overlapping path information.

According to an embodiment of the present disclosure, the formation device of an autonomous vehicle further includes: and exiting the module.

And the quitting module is used for quitting the dynamic formation corresponding to the dynamic formation information under the condition that the running area corresponding to the overlapped path information runs to the running area corresponding to the non-overlapped path information according to the global path planning information.

The present disclosure also provides an electronic device, an autonomous vehicle, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

According to an embodiment of the present disclosure, an electronic device includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.

According to an embodiment of the present disclosure, a non-transitory computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the method as described above.

According to an embodiment of the disclosure, a computer program product comprising a computer program which, when executed by a processor, implements the method as described above.

According to an embodiment of the present disclosure, an autonomous vehicle is configured with the electronic device, and the configured electronic device can realize the formation method of the autonomous vehicle described in the above embodiment when the processor of the electronic device is executed.

FIG. 9 schematically illustrates a block diagram of an electronic device suitable for implementing a formation method for autonomous vehicles, in accordance with an embodiment of the disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 9, the apparatus 900 includes a computing unit 901, which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The calculation unit 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.

A number of components in the device 900 are connected to the I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, and the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, optical disk, or the like; and a communication unit 909 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 901 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The computing unit 901 performs the respective methods and processes described above, such as the formation method of the autonomous vehicle. For example, in some embodiments, the formation method of autonomous vehicles may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of a computer program may be loaded onto and/or installed onto device 900 via ROM 902 and/or communications unit 909. When the computer program is loaded into RAM 903 and executed by computing unit 901, one or more steps of the above described convoy method of autonomous vehicles may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the formation method of the autonomous vehicle by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server combining a blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A method of formation of autonomous vehicles, comprising:

in response to receiving a dynamic formation request, determining driving information of a plurality of autonomous vehicles to obtain a plurality of driving information, wherein the driving information comprises global path planning information and driving period information;

determining an automatic driving vehicle with a space-time overlapping relation according to a space-time overlapping range division strategy and the plurality of driving information to obtain at least one first automatic driving vehicle information set;

creating at least one dynamic formation information corresponding to at least one first set of autonomous vehicle information; and

and sending dynamic formation information corresponding to the automatic driving vehicles so that the automatic driving vehicles can carry out formation driving according to the dynamic formation information and the global path planning information.

2. The method of claim 1, wherein the creating at least one dynamic formation information corresponding to at least one first set of autonomous vehicle information comprises:

determining formation driving information corresponding to at least one first automatic driving vehicle information set according to road driving influence information and global path planning information of automatic driving vehicles in the at least one first automatic driving vehicle information set to obtain at least one formation driving information; and

creating dynamic formation information corresponding to the at least one first set of autonomous vehicle information based on the at least one first set of autonomous vehicle information and formation travel information corresponding to the at least one first set of autonomous vehicle information.

3. The method of claim 2, wherein the road driving impact information includes road type information and road environment information, and the convoy driving information includes convoy driving speed;

wherein the determining formation driving information corresponding to the at least one first autonomous vehicle information set according to the road driving influence information and the global path planning information of the autonomous vehicles in the at least one first autonomous vehicle information set to obtain the at least one formation driving information includes:

determining collective path planning information of the first autonomous vehicle information collection according to global path planning information of the autonomous vehicles in the first autonomous vehicle information collection;

determining a formation travel speed corresponding to the first set of autonomous vehicle information as an expected formation travel speed in a case where a plurality of autonomous vehicles in the first set of autonomous vehicle information are determined to pass through a target road area according to the set planned path information, wherein the target road area is a road area where the road type information is predetermined road type information and the road environment information satisfies predetermined road environment conditions; and

determining a formation travel speed corresponding to the first set of autonomous vehicle information to be another formation travel speed if it is determined that the plurality of autonomous vehicles in the first set of autonomous vehicle information do not pass through the target road area according to the set planned path information.

4. The method of claim 3, wherein the predetermined road type information comprises highway type information and the predetermined road environmental conditions comprise road environmental conditions having visibility less than or equal to a predetermined visibility threshold.

5. The method according to any one of claims 1-4, wherein the determining autonomous vehicles having a spatiotemporal overlapping relationship according to a spatiotemporal overlapping range partitioning strategy and a plurality of the driving information, resulting in at least one first autonomous vehicle information set, comprises:

determining at least one space-time overlapping range according to a space-time overlapping range division strategy, wherein the space-time overlapping range comprises a preset driving time period and a preset driving area;

determining respective driving areas of the plurality of autonomous vehicles according to respective global path plans of the plurality of autonomous vehicles;

determining a space-time overlapping range to which each of the plurality of autonomous vehicles belongs according to the at least one space-time overlapping range and a driving area and a driving time period of each of the plurality of autonomous vehicles; and

and determining the automatic driving vehicles belonging to the same space-time overlapping range as the automatic driving vehicles with space-time overlapping relation, and obtaining the at least one first automatic driving vehicle information set.

6. A method according to any of claims 1-5, wherein the global path plan for the autonomous vehicle is generated from dynamic map information and travel demand information for a second set of autonomous vehicle information, wherein the dynamic map information is generated from historical vehicle-end awareness information and historical road-end awareness information.

7. A method of formation of autonomous vehicles, comprising:

in response to receiving dynamic formation information from a cloud, performing formation driving according to global path planning information and the dynamic formation information, wherein the dynamic formation information is created by the cloud according to at least one first automatic driving vehicle information set, the at least one first automatic driving vehicle information set is obtained by determining automatic driving vehicles with a space-time overlapping relation according to a space-time overlapping range division strategy and driving information of a plurality of automatic driving vehicles, and the driving information comprises global path planning information and driving period information.

8. The method of claim 7, wherein the dynamic formation information includes formation path plan information;

wherein, the formation driving according to the global path planning information and the dynamic formation information comprises:

determining path overlapping information according to the global path planning information and the formation path planning information, wherein the path overlapping information comprises overlapping path information;

and adding a dynamic formation corresponding to the dynamic formation information for formation driving under the condition of driving to a driving area corresponding to the overlapped path information according to the global path planning information.

9. The method of claim 8, wherein the path overlap information comprises non-overlapping path information;

the method further comprises the following steps:

and when the vehicle runs from the running area corresponding to the overlapped path information to the running area corresponding to the non-overlapped path information according to the global path planning information, quitting the dynamic formation corresponding to the dynamic formation information.

10. A formation device for autonomous vehicles, comprising:

the system comprises a first response module, a second response module and a third response module, wherein the first response module is used for responding to the received dynamic formation request, determining the running information of a plurality of automatic driving vehicles and obtaining a plurality of running information, and the running information comprises global path planning information and running time period information;

the determining module is used for determining the automatic driving vehicles with the space-time overlapping relation according to a space-time overlapping range division strategy and the plurality of driving information to obtain at least one first automatic driving vehicle information set;

a creation module to create at least one dynamic formation corresponding to at least one first set of autonomous vehicle information; and

and the formation module is used for sending dynamic formation information corresponding to the automatic driving vehicles so that the automatic driving vehicles can carry out formation driving according to the dynamic formation information and the global path planning information.

11. The apparatus of claim 10, wherein the creation module comprises:

the first determining submodule is used for determining formation driving information corresponding to at least one first automatic driving vehicle information set according to road driving influence information and global path planning information of automatic driving vehicles in the at least one first automatic driving vehicle information set to obtain at least one formation driving information; and

a creating sub-module for creating dynamic formation information corresponding to the at least one first set of autonomous vehicle information based on the at least one first set of autonomous vehicle information and formation travel information corresponding to the at least one first set of autonomous vehicle information.

12. The apparatus of claim 11, wherein the road driving influence information includes road type information and road environment information, and the convoy driving information includes a convoy driving speed;

wherein the first determination submodule includes:

a first determining unit, configured to determine, according to global path planning information of the autonomous vehicles in the first autonomous vehicle information set, set path planning information of the first autonomous vehicle information set;

a second determination unit configured to determine a formation travel speed corresponding to the first set of autonomous vehicle information as an expected formation travel speed in a case where it is determined that a plurality of autonomous vehicles in the first set of autonomous vehicle information pass through a target road area according to the set planned path information, wherein the target road area is a road area in which the road type information is predetermined road type information and the road environment information satisfies a predetermined road environment condition; and

a third determining unit, configured to determine, when it is determined that the plurality of autonomous vehicles in the first autonomous vehicle information set do not pass through the target road region according to the set planned path information, a formation traveling speed corresponding to the first autonomous vehicle information set as another formation traveling speed.

13. The apparatus of claim 12, wherein the predetermined road type information comprises highway type information and the predetermined road environmental conditions comprise road environmental conditions having visibility less than or equal to a predetermined visibility threshold.

14. The apparatus of any of claims 10-13, wherein the means for determining comprises:

the second determining submodule is used for determining at least one space-time overlapping range according to a space-time overlapping range dividing strategy, wherein the space-time overlapping range comprises a preset driving time period and a preset driving area;

a third determining submodule, configured to determine a driving area of each of the plurality of autonomous vehicles according to a global path plan of each of the plurality of autonomous vehicles;

a fourth determination submodule configured to determine a spatiotemporal overlap range to which each of the plurality of autonomous vehicles belongs, based on the at least one spatiotemporal overlap range and a travel region and a travel period of each of the plurality of autonomous vehicles; and

and the fifth determining submodule is used for determining the automatic driving vehicles belonging to the same space-time overlapping range as the automatic driving vehicles with space-time overlapping relation to obtain the at least one first automatic driving vehicle information set.

15. An apparatus according to any one of claims 10 to 14, wherein the global path plan for the autonomous vehicle is generated from dynamic map information and driving demand information for a second set of autonomous vehicle information, wherein the dynamic map information is generated from historical end-of-vehicle awareness information and historical end-of-road awareness information.

16. A formation device for autonomous vehicles, comprising:

the second response module is used for responding to the fact that dynamic formation information from a cloud end is received, and performing formation driving according to global path planning information and the dynamic formation information, wherein the dynamic formation information is created by the cloud end according to at least one first automatic driving vehicle information set, the at least one first automatic driving vehicle information set is obtained by determining automatic driving vehicles with a space-time overlapping relation according to a space-time overlapping range division strategy and driving information of the automatic driving vehicles, and the driving information comprises global path planning information and driving period information.

17. The apparatus of claim 16, wherein the dynamic formation information comprises formation path planning information;

wherein the second response module comprises:

a seventh determining sub-module, configured to determine path overlapping information according to the global path planning information and the formation path planning information, where the path overlapping information includes overlapping path information;

and the adding submodule is used for adding the dynamic formation corresponding to the dynamic formation information to form and drive under the condition of driving to a driving area corresponding to the overlapped path information according to the global path planning information.

18. The apparatus of claim 17, wherein the path overlap information comprises non-overlapping path information;

the device further comprises:

and the quitting module is used for quitting the dynamic formation corresponding to the dynamic formation information under the condition that the vehicle runs from the running area corresponding to the overlapped path information to the running area corresponding to the non-overlapped path information according to the global path planning information.

19. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any of claims 1-9.

21. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-9.

22. An autonomous vehicle comprising: the electronic device of claim 19, comprising the at least one processor capable of performing the method of any of claims 7-9.