CN107403547A - A kind of platooning's running method and intelligent terminal - Google Patents

A kind of platooning's running method and intelligent terminal Download PDF

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Publication number
CN107403547A
CN107403547A CN201710612194.4A CN201710612194A CN107403547A CN 107403547 A CN107403547 A CN 107403547A CN 201710612194 A CN201710612194 A CN 201710612194A CN 107403547 A CN107403547 A CN 107403547A
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CN
China
Prior art keywords
vehicle
bit stream
mission bit
trip
intelligent terminal
Prior art date
Application number
CN201710612194.4A
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Chinese (zh)
Inventor
朱灿灿
张晨璐
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维沃移动通信有限公司
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Publication date
Application filed by 维沃移动通信有限公司 filed Critical 维沃移动通信有限公司
Priority to CN201710612194.4A priority Critical patent/CN107403547A/en
Publication of CN107403547A publication Critical patent/CN107403547A/en

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Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/22Platooning, i.e. convoy of communicating vehicles
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/12Messaging; Mailboxes; Announcements

Abstract

The present invention, which provides a kind of platooning's running method and intelligent terminal, method, to be included:Receive the trip mission bit stream of the second vehicle transmission;Determine whether the default trip mission bit stream of first vehicle matches with the trip mission bit stream of second vehicle transmission;If the default trip mission bit stream of first vehicle matches with the trip mission bit stream that second vehicle is sent, first vehicle is controlled to follow the target fleet traveling where second vehicle.Platooning's running method provided in an embodiment of the present invention, intelligent terminal can automatically control the first vehicle and follow target fleet to travel, and realize that platooning travels, simple operation and time saving, lift vehicle goes out line efficiency.

Description

A kind of platooning's running method and intelligent terminal

Technical field

The present invention relates to communication technical field, more particularly to a kind of platooning's running method and intelligent terminal.

Background technology

With the improvement of people ' s living standards and automotive engineering development, automobile becomes more popular and turns into people Indispensable instrument in go off daily.At the same time, the situation of platooning's traveling is also more and more, such as:Police car is tieed up Civil order, fire fighting truck rescue fire and self-driving tourism etc. are protected, platooning's traveling can realize at least two cars composition one Linear fleet, and with smaller following distance along identical route, so as to effectively alleviate traffic congestion and improve driving Safety.But at least in the process of moving, each vehicle usually requires to be linked up by modes such as intercommunications two vehicles at present, To be confirmed whether to carry out formation traveling, and the mode communication efficiency such as intercommunication is low, results in the need for taking a substantial amount of time and is linked up It could complete to form into columns, so as to which reduce vehicle goes out line efficiency.

The content of the invention

The embodiment of the present invention provides a kind of platooning's running method and intelligent terminal, is being formed into columns with solving current vehicle During traveling, the problem of time length causes vehicle driving efficiency low is expended because forming into columns.

In a first aspect, the embodiments of the invention provide a kind of platooning's running method, applied to intelligent terminal, the intelligence Energy terminal is arranged on the first vehicle, including:

Receive the trip mission bit stream of the second vehicle transmission;

Determine whether the default trip mission bit stream of first vehicle is believed with the trip task that second vehicle is sent Breath matching;

If the default trip mission bit stream of first vehicle matches with the trip mission bit stream that second vehicle is sent, First vehicle is then controlled to follow the target fleet traveling where second vehicle.

Second aspect, the embodiment of the present invention also provide a kind of intelligent terminal, and the intelligent terminal is arranged on the first vehicle, The intelligent terminal includes:

Information receiving module, the trip mission bit stream sent for receiving the second vehicle;

Matching module, for determine first vehicle default trip mission bit stream whether with second vehicle send Trip mission bit stream matching;

First processing module, if what the default trip mission bit stream for first vehicle was sent with second vehicle Mission bit stream of going on a journey matches, then controls first vehicle to follow the target fleet traveling where second vehicle.

The third aspect, the embodiment of the present invention also provide a kind of intelligent terminal, including processor, memory, are stored in described On memory and the computer program that can run on the processor, the computer program is by real during the computing device The step of existing above-mentioned platooning's running method.

So, in the embodiment of the present invention, the trip mission bit stream that the second vehicle is sent is received;Determine first vehicle Whether the trip mission bit stream sent with second vehicle matches default trip mission bit stream;If first vehicle is default Trip mission bit stream matches with the trip mission bit stream that second vehicle is sent, then controls first vehicle to follow described the Target fleet traveling where two vehicles.Intelligent terminal can automatically control the first vehicle and follow target fleet to travel, and realize car Form into columns traveling, simple operation and time saving, lift vehicle goes out line efficiency.

Brief description of the drawings

In order to illustrate the technical solution of the embodiments of the present invention more clearly, needed for being described below to the embodiment of the present invention The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, For those of ordinary skill in the art, without having to pay creative labor, can also be obtained according to these accompanying drawings Obtain other accompanying drawings.

Fig. 1 is a kind of schematic flow sheet of platooning's running method provided in an embodiment of the present invention;

Fig. 2 is the schematic flow sheet of another platooning's running method provided in an embodiment of the present invention;

Fig. 3 is a kind of structural representation of intelligent terminal provided in an embodiment of the present invention;

Fig. 4 is the structural representation of another intelligent terminal provided in an embodiment of the present invention;

Fig. 5 is the structural representation of detection module in a kind of intelligent terminal provided in an embodiment of the present invention;

Fig. 6 is the structural representation of matching module in a kind of intelligent terminal provided in an embodiment of the present invention;

Fig. 7 is the structural representation of another intelligent terminal provided in an embodiment of the present invention;

Fig. 8 is the structural representation of another intelligent terminal provided in an embodiment of the present invention.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is part of the embodiment of the present invention, rather than whole embodiments.Based on this hair Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made Example, belongs to the scope of protection of the invention.

Referring to Fig. 1, Fig. 1 is a kind of schematic flow sheet of platooning's running method provided in an embodiment of the present invention, application In intelligent terminal, the intelligent terminal is arranged on the first vehicle, as shown in figure 1, methods described comprises the following steps:

Step 101, receive the trip mission bit stream that the second vehicle is sent.

In the embodiment of the present invention, the second vehicle can send its default trip to surrounding vehicles by its intelligent terminal and appoint Information of being engaged in and fleet's identification code, travel speed, travel direction, traveling lane, fleet's head position and the fleet of place fleet The information such as position position.If the first vehicle is located at the second vehicle periphery, the intelligent terminal of the first vehicle can receive the second vehicle hair The information sent, get the trip mission bit stream of the second vehicle.Wherein, the trip mission bit stream of second vehicle is to be preset in Trip mission bit stream in the intelligent terminal of second vehicle, and the trip mission bit stream of second vehicle can include with At least one of in the trip task identification and traffic route etc. of the trip task association of second vehicle.

Step 102, determine whether the default trip mission bit stream of first vehicle goes out with what second vehicle was sent Row mission bit stream matches.

In the embodiment of the present invention, if above-mentioned steps 101 receive the trip mission bit stream of the second vehicle transmission, the first vehicle Intelligent terminal can obtain the default trip mission bit stream of the first vehicle pre-set, and determine that the pre- of the first vehicle sets out Whether the trip mission bit stream sent with the second vehicle matches row mission bit stream.

Wherein, whether the default trip mission bit stream of the above-mentioned vehicle of determination first is believed with the trip task that the second vehicle is sent Breath matching, if can be that the trip mission bit stream of default the trip mission bit stream and the second vehicle of the first vehicle includes walking along the street Line, the intelligent terminal of the first vehicle contrast the first vehicle with the route that is not completed in the traffic path of the second vehicle it is whether identical or Person's route coincidence factor reaches predetermined threshold value, if the route not completed in both traffic paths is identical or route coincidence factor reaches Predetermined threshold value, it is determined that the default trip mission bit stream of the first vehicle matches with the trip mission bit stream that the second vehicle is sent.

Such as:If the distance not completed in the traffic path of the first vehicle is 15 kilometers, in the traffic path of the second vehicle Unfinished distance is 20 kilometers, the route not completed in the traffic path of the first vehicle in the traffic path of the second vehicle not A part in the route of completion, and the predetermined threshold value of route coincidence factor is 0.5, then the first vehicle and the second vehicle go out walking along the street The route coincidence factor not completed in line is 15/20, i.e., 0.75, the road not completed in the traffic path of the first vehicle and the second vehicle Line is identical or route coincidence factor reaches predetermined threshold value, it is determined that default trip mission bit stream and the second vehicle hair of the first vehicle The trip mission bit stream matching sent.

If the trip task that the default trip mission bit stream of step 103, first vehicle is sent with second vehicle Information matches, then first vehicle is controlled to follow the target fleet traveling where second vehicle.

In the embodiment of the present invention, if determining default the trip mission bit stream and the second car of the first vehicle in above-mentioned steps 102 Send trip mission bit stream matching, then the intelligent terminal of the first vehicle is held consultation with the vehicle in target fleet, and is pressed Target fleet is followed to travel according to the vehicle of output control first of negotiation, so that the first vehicle turns into the member of target fleet.Wherein, The target fleet comprises at least the second vehicle, and each vehicle in target fleet and the second vehicle are preset with identical trip Mission bit stream.

Wherein, the intelligent terminal of above-mentioned first vehicle is held consultation with the vehicle in target fleet, can be the first vehicle Vehicle from intelligent terminal to target fleet send request message, such as:To the second vehicle, fleet's head of target fleet, fleet At least one transmission request message in tail or other vehicles, target fleet is after request message is received, vehicle therein Feedback message is sent to second vehicle, the feedback message can include the travel speed, travel direction, traveling lane of fleet And first position of the vehicle in target fleet etc., the intelligent terminal for reception of the first vehicle to the feedback message, control first Vehicle is inserted into the position consulted in fleet, and controls the first vehicle to be travelled according to the travel speed following fleet of negotiation.

In addition, above-mentioned first vehicle can also be any vehicle being different from the fleet of target fleet, i.e. the first vehicle The fleet at place has different fleet's identification codes from target fleet, and each vehicle in the fleet where the first vehicle is preset There is identical trip mission bit stream, can be above-mentioned by repeating for each vehicle in the fleet where the first vehicle For step 101 to step 103, each vehicle follows target fleet to travel in the fleet where realization the first vehicle of control, that is, realizes The merging of fleet and target fleet where first vehicle;It is of course also possible to be a vehicle in fleet where the first vehicle with A vehicle in target fleet is communicated, that is, above-mentioned steps 101 is performed to step 103, when the trip for meeting two fleets is appointed During information matches of being engaged in, fleet where the first vehicle is incorporated into target fleet.

Certainly, if above-mentioned steps 102 determine that the default trip mission bit stream of first vehicle and second vehicle are sent out The trip mission bit stream that send mismatches, and intelligent terminal can not perform any operation, without the first vehicle and the second vehicle Form into columns, i.e. the first vehicle does not follow target fleet to travel.

It should be noted that above-mentioned intelligent terminal can be any terminal that platooning can be controlled to travel, such as:Hand Machine either mobile terminal, drive recorder or the vehicle intelligent terminal such as tablet personal computer (Tablet Personal Computer) Deng.

In the embodiment of the present invention, the trip mission bit stream that the second vehicle is sent is received;Determine the default of first vehicle Whether the trip mission bit stream sent with second vehicle matches trip mission bit stream;If the default trip of first vehicle The trip mission bit stream that mission bit stream is sent with second vehicle matches, then controls first vehicle to follow second car Target fleet traveling where.Intelligent terminal can automatically control the first vehicle and follow target fleet to travel, and realize vehicle Form into columns traveling, simple operation and time saving, lift vehicle goes out line efficiency.

Refer to Fig. 2, Fig. 2 is a kind of schematic flow sheet of platooning's traveling provided in an embodiment of the present invention, real in Fig. 2 The main distinction for applying example and embodiment in Fig. 1 is, in the case where the first vehicle follows the second vehicle to travel, if detecting described first Vehicle is unsatisfactory for following the condition of the target fleet traveling, then controls target fleet described in first vehicle derailing to travel, As shown in Fig. 2 methods described comprises the following steps:

Step 201, receive the trip mission bit stream that the second vehicle is sent.

Step 202, determine whether the default trip mission bit stream of first vehicle goes out with what second vehicle was sent Row mission bit stream matches.

In the embodiment of the present invention, if above-mentioned steps 201 receive the trip mission bit stream of the second vehicle transmission, the first vehicle Intelligent terminal can obtain the default trip mission bit stream of the first vehicle pre-set, and determine that the pre- of the first vehicle sets out Whether the trip mission bit stream sent with the second vehicle matches row mission bit stream.

Wherein, whether the default trip mission bit stream of the above-mentioned vehicle of determination first is believed with the trip task that the second vehicle is sent Breath matching, if can be that the trip mission bit stream of default the trip mission bit stream and the second vehicle of the first vehicle includes walking along the street Line, the intelligent terminal of the first vehicle contrast the first vehicle with the route that is not completed in the traffic path of the second vehicle it is whether identical or Person's route coincidence factor reaches predetermined threshold value, if the route not completed in both traffic paths is identical or route coincidence factor reaches Predetermined threshold value, it is determined that the default trip mission bit stream of the first vehicle matches with the trip mission bit stream that the second vehicle is sent.

Or optionally, the trip mission bit stream includes trip task identification;Above-mentioned steps 202, it can include:Than Whether the trip task identification of first vehicle is identical with the trip task identification that second vehicle is sent;If described The trip task identification of one vehicle is identical with the trip task identification that second vehicle is sent, it is determined that first vehicle Default trip mission bit stream matches with the trip mission bit stream that second vehicle is sent.

In the embodiment, before the first vehicle and the second vehicle driving, can the first vehicle intelligent terminal it is pre- The trip task identification that is associated with the trip task of the first vehicle is first set, pre-set and the in the intelligent terminal of the second vehicle Two vehicles trip task association trip task identification, by compare the first vehicle task identification whether with the second vehicle Task identification is identical, can quickly and accurately confirm that the default trip mission bit stream of the first vehicle goes out with what the second vehicle was sent Whether row mission bit stream matches, and so as to improve the efficiency of platooning, that further improves vehicle goes out line efficiency.

If the trip task that the default trip mission bit stream of step 203, first vehicle is sent with second vehicle Information matches, then first vehicle is controlled to follow the target fleet traveling where second vehicle.

In the embodiment of the present invention, if determining default the trip mission bit stream and the second car of the first vehicle in above-mentioned steps 202 The trip mission bit stream sent matching, the then vehicle in the intelligent terminal of the first vehicle and target fleet where the second vehicle Hold consultation, and follow target fleet to travel according to the vehicle of output control first of negotiation, so that the first vehicle turns into target carriage The member of team.

Whether step 204, detection first vehicle meet the condition for following the target fleet traveling.

In the embodiment of the present invention, if controlling the first vehicle to follow target fleet to travel in above-mentioned steps 203, the first vehicle As the member of target fleet, during the first vehicle following fleet traveling, the first vehicle can detect whether it meets to follow The condition of target fleet traveling.

Wherein, optionally, above-mentioned steps 204, can include:Detect whether first vehicle receives the 3rd vehicle hair The communication information sent, wherein, the 3rd vehicle is any vehicle in addition to the first vehicle in the target fleet;If detection Do not receive the communication information of the 3rd vehicle to first vehicle, it is determined that detect first vehicle be unsatisfactory for The condition travelled with the target fleet.

In the embodiment, if the first vehicle receiver less than the communication information that the 3rd vehicle is sent, wherein the 3rd vehicle is Any vehicle in target fleet in addition to the first vehicle, the intelligent terminal of the first vehicle can determine that the first vehicle falls Team, then control the first vehicle not continue to follow target vehicle to travel, can be that intelligent terminal redistributes fleet for the first vehicle Identification code, the first vehicle is travelled as the fleet for being different from target fleet, formation fleet is torn open so as to realize in time Point, platooning's traveling is become more flexible.

Further alternative, whether detection first vehicle receives the step of the communication information of the 3rd vehicle Suddenly, can include:If detecting between first vehicle and the 4th vehicle the 5th vehicle be present, first vehicle is detected Whether the communication information of threeth vehicle is received;If or detect that the speed of first vehicle is less than the 4th car Speed, then detect the communication information whether first vehicle receives the 3rd vehicle;Wherein, the 4th vehicle To be in the vehicle of the first vehicle prior location in the target fleet;5th vehicle is to be not belonging to the target carriage The vehicle of team.

In the embodiment, during platooning travels, if the first vehicle is run into beyond the fleet of the first vehicle place Vehicle be inserted into position before the first vehicle, or the first vehicle causes speed to drop because of emergency situations such as vehicle trouble lamp When low, the first vehicle can detect its condition for whether meeting to follow target fleet to travel in time, so that fleet tears open Divide more timely.

Optionally, above-mentioned steps 204, can include:If receiving the formation that the 3rd vehicle is sent splits message, Determine that first vehicle is unsatisfactory for following the condition of the target fleet traveling, wherein, the 3rd vehicle is the target Any vehicle in fleet in addition to first vehicle.

In the embodiment, during platooning travels, message can be mutually sent between the vehicle in fleet, if When the formation that other vehicles are sent into fleet of first vehicle receiver splits message, it is determined that other vehicles need first in fleet Vehicle departs from from fleet, so that fleet can actively realize the fractionation of fleet as needed, splits fleet more flexible.

If step 205, detect that first vehicle is unsatisfactory for following the condition fleet traveling of the target fleet traveling Condition, then control described in first vehicle derailing target fleet to travel.

In the embodiment of the present invention, if above-mentioned steps 204 detect that the first vehicle is unsatisfactory for fleet's traveling where following it The first vehicle derailing target fleet of intelligent terminal control traveling of condition, then the first vehicle, realizes and the fleet currently formed into columns is entered Row is split.Wherein, when the first vehicle derailing target fleet travels, the first vehicle can be given to distribute new fleet's identification code, made First vehicle splits into the fleet for being different from target fleet.

It should be noted that above-mentioned first vehicle, which can be a single vehicle or at least two, has phase With any vehicle in the fleet of the vehicle composition of trip mission bit stream, if for each vehicle in the fleet, repeat Above-mentioned steps 201 to step 204, then can realize fleet and fleet merge and that a fleet is split into multiple fleets is small Group.

If in addition, above-mentioned steps 204 detect the first vehicle meet follow target fleet travel condition, the first vehicle Intelligent terminal can not perform any operation, i.e. the first vehicle continues holding and follows target fleet to travel.

In the embodiment of the present invention, the bar that whether meets to follow the target fleet to travel by detecting first vehicle Part;If detecting, first vehicle is unsatisfactory for following the condition of the target fleet traveling, controls first vehicle to take off Travelled from the target fleet, so as to realize the fractionation of fleet automatically, make platooning's traveling more flexible, further carry Rise vehicle goes out line efficiency.

Fig. 3 is referred to, Fig. 3 is a kind of intelligent terminal provided in an embodiment of the present invention, and the intelligent terminal 300 is arranged at On one vehicle, as shown in figure 3, the intelligent terminal 300 includes:

Information receiving module 301, the trip mission bit stream sent for receiving the second vehicle;

Matching module 302, for determine first vehicle default trip mission bit stream whether with second vehicle The trip mission bit stream matching of transmission;

First processing module 303, if the default trip mission bit stream for first vehicle is sent out with second vehicle The trip mission bit stream matching sent, then first vehicle is controlled to follow the target fleet traveling where second vehicle.

Optionally, as shown in figure 4, the intelligent terminal 300 can also include:

Detection module 304, the condition for following the target fleet traveling for detecting first vehicle whether to meet;

Second processing module 305, if for detecting that first vehicle is unsatisfactory for following the target fleet traveling Condition, then target fleet described in first vehicle derailing is controlled to travel.

Optionally, as shown in figure 5, the detection module 304 can include:

Detection unit 3041, the communication information of the 3rd vehicle transmission whether is received for detecting first vehicle, its In, the 3rd vehicle is any vehicle in addition to the first vehicle in the target fleet;

Determining unit 3042, if for detecting that first vehicle does not receive the communication information of the 3rd vehicle, Then determine to detect the condition that first vehicle is unsatisfactory for following the target fleet traveling.

Optionally, deposited if the detection unit 3041 can be also used for detecting between first vehicle and the 4th vehicle In the 5th vehicle, then the communication information whether first vehicle receives the 3rd vehicle is detected;Or

If detecting, the speed of first vehicle is less than the speed of the 4th vehicle, and detecting first vehicle is The no communication information for receiving the 3rd vehicle;

Wherein, the 4th vehicle is the vehicle that the first vehicle prior location is in the target fleet;It is described 5th vehicle is the vehicle for being not belonging to the target fleet.

Optionally, if the formation that the detection module 304 can be also used for receiving the transmission of the 3rd vehicle splits message, Determine that first vehicle is unsatisfactory for following the condition of the target fleet traveling, wherein, the 3rd vehicle is the target Any vehicle in fleet in addition to first vehicle.

Optionally, as shown in fig. 6, the matching module 302 can include:

Identify comparing unit 3021, for first vehicle trip task identification whether with second vehicle The trip task identification of transmission is identical;

Determining unit 3022 is matched, if what the trip task identification for first vehicle was sent with second vehicle Task identification of going on a journey is identical, it is determined that the trip that the default trip mission bit stream of first vehicle is sent with second vehicle Mission bit stream matches.

Intelligent terminal 300 can realize each process that intelligent terminal is realized in embodiment in Fig. 1 and Fig. 2, to avoid weight It is multiple, repeat no more here.

The intelligent terminal 300 of the embodiment of the present invention, receive the trip mission bit stream that the second vehicle is sent;Determine described first Whether the trip mission bit stream sent with second vehicle matches the default trip mission bit stream of vehicle;If first vehicle Default trip mission bit stream matched with the trip mission bit stream that second vehicle is sent, then control first vehicle to follow Target fleet traveling where second vehicle.Intelligent terminal can automatically control the first vehicle and follow target fleet to travel, Realize that platooning travels, simple operation and time saving, lift vehicle goes out line efficiency.

The embodiment of the present invention also provides a kind of intelligent terminal, including processor, memory, is stored on the memory simultaneously The computer program that can be run on the processor, above-mentioned vehicle is realized when the computer program is by the computing device Each process of formation running method embodiment, and identical technique effect can be reached, to avoid repeating, repeat no more here.

Referring to Fig. 7, Fig. 7 is a kind of structural representation for intelligent terminal that the present invention implements offer, as shown in fig. 7, intelligence Terminal 700 includes:At least one processor 701, memory 702, at least one network interface 704 and user interface 703.Intelligence Each component in terminal 700 is coupled by bus system 705.It is understood that bus system 705 is used to realize these groups Connection communication between part.Bus system 705 is in addition to including data/address bus, in addition to power bus, controlling bus and state Signal bus.But for the sake of clear explanation, various buses are all designated as bus system 705 in the figure 7.

Wherein, user interface 703 can include display, keyboard or pointing device (for example, mouse, trace ball (trackball), touch-sensitive plate or touch-screen etc..

It is appreciated that the memory 702 in the embodiment of the present invention can be volatile memory or nonvolatile memory, Or it may include both volatibility and nonvolatile memory.Wherein, nonvolatile memory can be read-only storage (Read- Only Memory, ROM), programmable read only memory (Programmable ROM, PROM), the read-only storage of erasable programmable Device (Erasable PROM, EPROM), Electrically Erasable Read Only Memory (Electrically EPROM, EEPROM) or Flash memory.Volatile memory can be random access memory (Random Access Memory, RAM), and it is used as outside high Speed caching.By exemplary but be not restricted explanation, the RAM of many forms can use, such as static RAM (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), Synchronous Dynamic Random Access Memory (Synchronous DRAM, SDRAM), double data speed synchronous dynamic RAM (Double Data Rate SDRAM, DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, ESDRAM), synchronized links Dynamic random access memory (Synchlink DRAM, SLDRAM) and direct rambus random access memory (Direct Rambus RAM, DRRAM).The memory 702 of system and method described herein be intended to including but not limited to these and it is any its It is adapted to the memory of type.

In some embodiments, memory 702 stores following element, can perform module or data structure, or Their subset of person, or their superset:Operating system 7021 and application program 7022.

Wherein, operating system 7021, comprising various system programs, such as ccf layer, core library layer, driving layer etc., it is used for Realize various basic businesses and the hardware based task of processing.Application program 7022, include various application programs, such as media Player (Media Player), browser (Browser) etc., for realizing various applied business.Realize the embodiment of the present invention The program of method may be embodied in application program 7022.

In embodiments of the present invention, intelligent terminal 700 also includes:It is stored on memory 702 and can be on processor 701 The computer program of operation, can be the computer program in application program 7022, computer program is by processor specifically 701 realize following steps when performing:Receive the trip mission bit stream of the second vehicle transmission;Determine that the pre- of the first vehicle sets out Whether the trip mission bit stream sent with second vehicle matches row mission bit stream;If the default trip of first vehicle is appointed Business information matches with the trip mission bit stream that second vehicle is sent, then controls first vehicle to follow second vehicle The target fleet traveling at place.

The method that the embodiments of the present invention disclose can apply in processor 701, or be realized by processor 701. Processor 701 is probably a kind of IC chip, has the disposal ability of signal.In implementation process, the above method it is each Step can be completed by the integrated logic circuit of the hardware in processor 701 or the instruction of software form.Above-mentioned processing Device 701 can be general processor, digital signal processor (Digital Signal Processor, DSP), special integrated electricity Road (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field Programmable Gate Array, FPGA) either other PLDs, discrete gate or transistor logic, Discrete hardware components.It can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.It is general Processor can be microprocessor or the processor can also be any conventional processor etc..With reference to institute of the embodiment of the present invention The step of disclosed method, can be embodied directly in hardware decoding processor and perform completion, or with the hardware in decoding processor And software module combination performs completion.Software module can be located at random access memory, flash memory, read-only storage, may be programmed read-only In the ripe computer-readable recording medium in this area such as memory or electrically erasable programmable memory, register.The meter Calculation machine readable storage medium storing program for executing is located at memory 702, and processor 701 reads the information in memory 702, is completed with reference to its hardware The step of stating method.Specifically, computer program is stored with the computer-readable recording medium, computer program is by processor 701 realize each step such as above-mentioned driving safety prompt embodiment of the method when performing.

It is understood that embodiments described herein can use hardware, software, firmware, middleware, microcode or its Combine to realize.Realized for hardware, processing unit can be realized in one or more application specific integrated circuit (Application Specific Integrated Circuits, ASIC), digital signal processor (Digital Signal Processing, DSP), digital signal processing appts (DSP Device, DSPD), programmable logic device (Programmable Logic Device, PLD), field programmable gate array (Field-Programmable Gate Array, FPGA), general processor, In controller, microcontroller, microprocessor, other electronic units for performing herein described function or its combination.

Realize, can be realized herein by performing the module (such as process, function etc.) of function described herein for software Described technology.Software code is storable in memory and passes through computing device.Memory can within a processor or Realized outside processor.

Optionally, following steps can be also realized when computer program is performed by processor 701:Detecting first vehicle is No satisfaction follows the condition of the target fleet traveling;If detecting, first vehicle is unsatisfactory for following target fleet row The condition sailed, then target fleet described in first vehicle derailing is controlled to travel.

Optionally, following steps can be also realized when computer program is performed by processor 701:Detecting first vehicle is It is no receive the 3rd vehicle transmission the communication information, wherein, the 3rd vehicle be the target fleet in except the first vehicle it Outer any vehicle;If detecting, first vehicle does not receive the communication information of the 3rd vehicle, it is determined that detects First vehicle is unsatisfactory for following the condition of the target fleet traveling.

Optionally, following steps can be also realized when computer program is performed by processor 701:If detect first car The 5th vehicle between the 4th vehicle be present, then detect the communication letter whether first vehicle receives the 3rd vehicle Breath;If or detect first vehicle speed be less than the 4th vehicle speed, detecting first vehicle is The no communication information for receiving the 3rd vehicle;Wherein, the 4th vehicle is that described first is in the target fleet The vehicle of vehicle prior location;5th vehicle is the vehicle for being not belonging to the target fleet.

Optionally, following steps can be also realized when computer program is performed by processor 701:If receive the 3rd vehicle hair The formation sent splits message, it is determined that and first vehicle is unsatisfactory for following the condition of the target fleet traveling, wherein, it is described 3rd vehicle is any vehicle in addition to first vehicle in the target fleet.

Optionally, the trip mission bit stream includes trip task identification;When computer program is performed by processor 701 also Following steps can be achieved:Compare first vehicle trip task identification whether with second vehicle send trip task Identify identical;If the trip task identification of first vehicle is identical with the trip task identification that second vehicle is sent, Determine that the default trip mission bit stream of first vehicle matches with the trip mission bit stream that second vehicle is sent.

Intelligent terminal 700 can realize each process that intelligent terminal is realized in previous embodiment, to avoid repeating, here Repeat no more.

The intelligent terminal 700 of the embodiment of the present invention, receive the trip mission bit stream that the second vehicle is sent;Determine described first Whether the trip mission bit stream sent with second vehicle matches the default trip mission bit stream of vehicle;If first vehicle Default trip mission bit stream matched with the trip mission bit stream that second vehicle is sent, then control first vehicle to follow Target fleet traveling where second vehicle.Intelligent terminal can automatically control the first vehicle and follow target fleet to travel, Realize that platooning travels, simple operation and time saving, lift vehicle goes out line efficiency.

Referring to Fig. 8, Fig. 8 be the present invention implement provide a kind of intelligent terminal structural representation, can realize Fig. 1 and In Fig. 2 in embodiment platooning's running method details, and reach identical effect.As shown in figure 8, intelligent terminal 800 wraps Include radio frequency (Radio Frequency, RF) circuit 810, memory 820, input block 830, display unit 840, processor 850th, voicefrequency circuit 860, communication module 870 and power supply 880.

Wherein, input block 830 can be used for the numeral or character information for receiving user's input, and generation and intelligent terminal The signal input that 800 user is set and function control is relevant.Specifically, in the embodiment of the present invention, the input block 830 can With including contact panel 831.Contact panel 831, also referred to as touch-screen, collect touch operation of the user on or near it (for example user uses the operations of any suitable object or annex on contact panel 831 such as finger, stylus), and according to advance The corresponding connection intelligent terminal of formula driving of setting.Optionally, contact panel 831 may include touch detection intelligent terminal and touch Touch two parts of controller.Wherein, the touch orientation of touch detection intelligent terminal detection user, and detect what touch operation was brought Signal, transmit a signal to touch controller;Touch controller receives touch information from touch detection intelligent terminal, and by it Contact coordinate is converted into, then gives the processor 850, and the order sent of reception processing device 850 and can be performed.In addition, The polytypes such as resistance-type, condenser type, infrared ray and surface acoustic wave can be used to realize contact panel 831.Except touch surface Plate 831, input block 830 can also include other input equipments 832, and other input equipments 832 can include but is not limited to thing Manage one kind or more in keyboard, function key (such as volume control button, switch key etc.), trace ball, mouse, action bars etc. Kind.

Wherein, display unit 840 can be used for display by the information of user's input or be supplied to the information and intelligence of user The various menu interfaces of terminal 800.Display unit 840 may include display panel 841, optionally, can use LCD or organic hairs The forms such as optical diode (Organic Light-Emitting Diode, OLED) configure display panel 841.

It should be noted that contact panel 831 can cover display panel 841, touch display screen is formed, when the touch display screen is examined After measuring the touch operation on or near it, processor 850 is sent to determine the type of touch event, is followed by subsequent processing device 850 provide corresponding visual output according to the type of touch event in touch display screen.

Touch display screen includes Application Program Interface viewing area and conventional control viewing area.The Application Program Interface viewing area And arrangement mode of the conventional control viewing area does not limit, can be arranged above and below, left-right situs etc. can distinguish two it is aobvious Show the arrangement mode in area.The Application Program Interface viewing area is displayed for the interface of application program.Each interface can be with The interface element such as the icon comprising at least one application program and/or widget desktop controls.The Application Program Interface viewing area It can also be the empty interface not comprising any content.The conventional control viewing area is used to show the higher control of utilization rate, for example, Application icons such as settings button, interface numbering, scroll bar, phone directory icon etc..The touch-screen of the embodiment of the present invention is soft Property screen, organic nesa coating of CNT is posted in two faces of flexible screen.

Wherein processor 850 is the control centre of intelligent terminal 800, utilizes various interfaces and connection whole mobile phone Various pieces, by running or performing the software program and/or module that are stored in first memory 821, and call storage Data in second memory 822, the various functions and processing data of intelligent terminal 800 are performed, so as to intelligent terminal 800 Carry out integral monitoring.Optionally, processor 850 may include one or more processing units.

In embodiments of the present invention, intelligent terminal 800 also includes:It is stored in first memory 821 and can be in processor The computer program run on 1450, computer program realize following steps when being performed by processor 850:Receive the second vehicle hair The trip mission bit stream sent;Determine whether the default trip mission bit stream of first vehicle goes out with what second vehicle was sent Row mission bit stream matches;If the default trip mission bit stream of first vehicle is believed with the trip task that second vehicle is sent Breath matching, then first vehicle is controlled to follow the target fleet traveling where second vehicle.

Optionally, following steps can be also realized when computer program is performed by processor 850:Detecting first vehicle is No satisfaction follows the condition of the target fleet traveling;If detecting, first vehicle is unsatisfactory for following target fleet row The condition sailed, then target fleet described in first vehicle derailing is controlled to travel.

Optionally, following steps can be also realized when computer program is performed by processor 850:Detecting first vehicle is It is no receive the 3rd vehicle transmission the communication information, wherein, the 3rd vehicle be the target fleet in except the first vehicle it Outer any vehicle;If detecting, first vehicle does not receive the communication information of the 3rd vehicle, it is determined that detects First vehicle is unsatisfactory for following the condition of the target fleet traveling.

Optionally, following steps can be also realized when computer program is performed by processor 850:If detect first car The 5th vehicle between the 4th vehicle be present, then detect the communication letter whether first vehicle receives the 3rd vehicle Breath;If or detect first vehicle speed be less than the 4th vehicle speed, detecting first vehicle is The no communication information for receiving the 3rd vehicle;Wherein, the 4th vehicle is that described first is in the target fleet The vehicle of vehicle prior location;5th vehicle is the vehicle for being not belonging to the target fleet.

Optionally, following steps can be also realized when computer program is performed by processor 850:If receive the 3rd vehicle hair The formation sent splits message, it is determined that and first vehicle is unsatisfactory for following the condition of the target fleet traveling, wherein, it is described 3rd vehicle is any vehicle in addition to first vehicle in the target fleet.

Optionally, the trip mission bit stream includes trip task identification;When computer program is performed by processor 850 also Following steps can be achieved:Compare first vehicle trip task identification whether with second vehicle send trip task Identify identical;If the trip task identification of first vehicle is identical with the trip task identification that second vehicle is sent, Determine that the default trip mission bit stream of first vehicle matches with the trip mission bit stream that second vehicle is sent.

Intelligent terminal 800 can realize each process that intelligent terminal is realized in previous embodiment, to avoid repeating, here Repeat no more.

The intelligent terminal 800 of the embodiment of the present invention, receive the trip mission bit stream that the second vehicle is sent;Determine described first Whether the trip mission bit stream sent with second vehicle matches the default trip mission bit stream of vehicle;If first vehicle Default trip mission bit stream matched with the trip mission bit stream that second vehicle is sent, then control first vehicle to follow Target fleet traveling where second vehicle.Intelligent terminal can automatically control the first vehicle and follow target fleet to travel, Realize that platooning travels, simple operation and time saving, lift vehicle goes out line efficiency.

Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein Member and algorithm steps, it can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually Performed with hardware or software mode, application-specific and design constraint depending on technical scheme.Professional and technical personnel Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed The scope of the present invention.

It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description, The specific work process of intelligent terminal and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.

In embodiment provided herein, it should be understood that disclosed intelligent terminal and method, it can be passed through Its mode is realized.For example, intelligent terminal embodiment described above is only schematical, for example, the division of unit, only Only a kind of division of logic function, there can be other dividing mode when actually realizing, such as multiple units or component can be tied Another system is closed or is desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or discussed Mutual coupling or direct-coupling or communication connection can be the INDIRECT COUPLINGs by some interfaces, intelligent terminal or unit Or communication connection, can be electrical, mechanical or other forms.

The unit illustrated as separating component can be or may not be physically separate, be shown as unit Part can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple networks On unit.Some or all of unit therein can be selected to realize the mesh of scheme of the embodiment of the present invention according to the actual needs 's.

In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also That unit is individually physically present, can also two or more units it is integrated in a unit.

If function is realized in the form of SFU software functional unit and as independent production marketing or in use, can stored In a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words to existing The part for having part that technology contributes or the technical scheme can be embodied in the form of software product, the computer Software product is stored in a storage medium, including some instructions are make it that a computer equipment (can be personal meter Calculation machine, server, or network equipment etc.) perform all or part of step of each embodiment method of the present invention.It is and foregoing Storage medium includes:USB flash disk, mobile hard disk, ROM, RAM, magnetic disc or CD etc. are various can be with the medium of store program codes.

More than, it is only embodiment of the invention, but protection scope of the present invention is not limited thereto, and it is any to be familiar with Those skilled in the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be covered Within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.

Claims (13)

1. a kind of platooning's running method, applied to intelligent terminal, the intelligent terminal is arranged on the first vehicle, its feature It is, including:
Receive the trip mission bit stream of the second vehicle transmission;
Determine first vehicle default trip mission bit stream whether with second vehicle send trip mission bit stream Match somebody with somebody;
If the default trip mission bit stream of first vehicle matches with the trip mission bit stream that second vehicle is sent, control The target fleet where first vehicle follows second vehicle is made to travel.
2. platooning's running method according to claim 1, it is characterised in that control first vehicle follows After the step of target fleet where second vehicle travels, in addition to:
Detect the condition whether first vehicle meets to follow the target fleet traveling;
If detecting, first vehicle is unsatisfactory for following the condition of the target fleet traveling, controls first vehicle to take off Travelled from the target fleet.
3. platooning's running method according to claim 2, it is characterised in that whether detection first vehicle The step of meeting to follow the condition of the target fleet traveling, including:
The communication information whether first vehicle receives the transmission of the 3rd vehicle is detected, wherein, the 3rd vehicle is described Any vehicle in target fleet in addition to the first vehicle;
If detecting, first vehicle does not receive the communication information of the 3rd vehicle, it is determined that detects first car It is unsatisfactory for following the condition of the target fleet traveling.
4. platooning's running method according to claim 3, it is characterised in that whether detection first vehicle The step of receiving the communication information of the 3rd vehicle, including:
If detecting between first vehicle and the 4th vehicle the 5th vehicle be present, detect whether first vehicle receives To the communication information of the 3rd vehicle;Or
If detecting, the speed of first vehicle is less than the speed of the 4th vehicle, detects whether first vehicle connects Receive the communication information of the 3rd vehicle;
Wherein, the 4th vehicle is the vehicle that the first vehicle prior location is in the target fleet;Described 5th Vehicle is the vehicle for being not belonging to the target fleet.
5. platooning's running method according to claim 2, it is characterised in that whether detection first vehicle The step of meeting to follow the condition of the target fleet traveling, including:
If the formation for receiving the transmission of the 3rd vehicle splits message, it is determined that first vehicle is unsatisfactory for following the target carriage The condition of team's traveling, wherein, the 3rd vehicle is any vehicle in addition to first vehicle in the target fleet.
6. platooning's running method according to claim 1, it is characterised in that the trip mission bit stream includes trip Task identification;Whether the default trip mission bit stream for determining first vehicle appoints with the trip that second vehicle is sent The step of information matches of being engaged in, including:
Whether the trip task identification for comparing first vehicle is identical with the trip task identification that second vehicle is sent;
If the trip task identification of first vehicle is identical with the trip task identification that second vehicle is sent, it is determined that institute The default trip mission bit stream for stating the first vehicle matches with the trip mission bit stream that second vehicle is sent.
7. a kind of intelligent terminal, the intelligent terminal is arranged on the first vehicle, it is characterised in that the intelligent terminal includes:
Information receiving module, the trip mission bit stream sent for receiving the second vehicle;
Matching module, for determine first vehicle default trip mission bit stream whether with second vehicle send go out Row mission bit stream matches;
First processing module, if the trip that the default trip mission bit stream for first vehicle is sent with second vehicle Mission bit stream matches, then controls first vehicle to follow the target fleet traveling where second vehicle.
8. intelligent terminal according to claim 7, it is characterised in that the intelligent terminal also includes:
Detection module, the condition for following the target fleet traveling for detecting first vehicle whether to meet;
Second processing module, if for detecting that first vehicle is unsatisfactory for following the condition of the target fleet traveling, Target fleet described in first vehicle derailing is controlled to travel.
9. intelligent terminal according to claim 8, it is characterised in that the detection module includes:
Detection unit, the communication information of the 3rd vehicle transmission whether is received for detecting first vehicle, wherein, described the Three vehicles are any vehicle in addition to the first vehicle in the target fleet;
Determining unit, if for detecting that first vehicle does not receive the communication information of the 3rd vehicle, it is determined that inspection Measure the condition that first vehicle is unsatisfactory for following the target fleet traveling.
10. intelligent terminal according to claim 9, it is characterised in that if the detection unit be additionally operable to detect it is described The 5th vehicle between first vehicle and the 4th vehicle be present, then detect whether first vehicle receives the 3rd vehicle The communication information;Or
If detecting, the speed of first vehicle is less than the speed of the 4th vehicle, detects whether first vehicle connects Receive the communication information of the 3rd vehicle;
Wherein, the 4th vehicle is the vehicle that the first vehicle prior location is in the target fleet;Described 5th Vehicle is the vehicle for being not belonging to the target fleet.
11. intelligent terminal according to claim 8, it is characterised in that if the detection module is additionally operable to receive the 3rd The formation that vehicle is sent splits message, it is determined that and first vehicle is unsatisfactory for following the condition of the target fleet traveling, its In, the 3rd vehicle is any vehicle in addition to first vehicle in the target fleet.
12. intelligent terminal according to claim 7, it is characterised in that the matching module includes:
Identify comparing unit, for first vehicle trip task identification whether with second vehicle transmission go out Row task identification is identical;
Determining unit is matched, if the trip task that the trip task identification for first vehicle is sent with second vehicle Identify identical, it is determined that the trip mission bit stream that the default trip mission bit stream of first vehicle is sent with second vehicle Matching.
13. a kind of intelligent terminal, it is characterised in that including processor, memory is stored on the memory and can be described The computer program run on processor, the computer program are realized during the computing device as in claim 1 to 6 The step of platooning's running method described in any one.
CN201710612194.4A 2017-07-25 2017-07-25 A kind of platooning's running method and intelligent terminal CN107403547A (en)

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Publication number Priority date Publication date Assignee Title
CN101501740A (en) * 2006-08-07 2009-08-05 丰田自动车株式会社 Travel control device
CN101859494A (en) * 2009-04-06 2010-10-13 通用汽车环球科技运作公司 Autonomous vehicle management
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