CN109799827A - Vehicle cluster planing method, device, equipment and computer-readable medium - Google Patents
Vehicle cluster planing method, device, equipment and computer-readable medium Download PDFInfo
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Abstract
The present invention proposes a kind of vehicle cluster planing method, device, equipment and computer-readable medium, which comprises obtains the running data of the multiple vehicles travelled on each lane of same road；Navigator's vehicle is set by least one vehicle in the multiple vehicle, sets vehicle of jumping the queue for other vehicles other than navigator's vehicle；Control the rear that each vehicle of jumping the queue successively is inserted into navigator's vehicle.Further, the embodiment of the present invention also plans the lateral choosing lane of vehicle and longitudinal follow.The embodiment of the present invention is planned by running route, the formation etc. to group's vehicle, can reduce windage, so as to reduce the comprehensive energy consumption when operation of automatic driving vehicle group.
Description
Technical field
The present invention relates to automatic Pilot technical field more particularly to a kind of vehicle cluster method and device for planning, equipment and
Computer-readable medium.
Background technique
With the development of unmanned technology, more and more automatic driving vehicles can travel on road later.In mesh
In the operation of preceding automatic driving vehicle, energy consumption is an important Measure Indexes.When more automatic driving vehicles are run simultaneously
When, how to carry out the planning of route to group's automatic driving vehicle to reduce whole energy consumption is a major issue.
Summary of the invention
The embodiment of the present invention provides a kind of vehicle cluster planing method, device, equipment and computer-readable medium, to solve
Or alleviate one or more technical problems in the prior art.
In a first aspect, the embodiment of the invention provides a kind of vehicle cluster planing methods, comprising:
Obtain the running data of the multiple vehicles travelled on each lane of same road；
Navigator's vehicle is set by least one vehicle in the multiple vehicle, it will be other than navigator's vehicle
Other vehicles are set as vehicle of jumping the queue；
Control the rear that each vehicle of jumping the queue successively is inserted into navigator's vehicle.
In one embodiment, described that other vehicles vehicle that is set as jumping the queue successively is inserted into navigator's vehicle
Rear, comprising:
When there are more navigator's vehicles, risk factor of the vehicle relative to the lane of each navigator's vehicle of jumping the queue is calculated；
The minimum lane of risk of selection coefficient carries out lane change and jumps the queue.
In one embodiment, the risk factor in the lane for calculating each navigator's vehicle, is counted in the following manner
It calculates:
Wherein, cost is risk factor；
sobsFor the minimum range of jump the queue vehicle and forecasting-obstacle track；
sadcFor vehicle and the navigator's longitudinal direction of car minimum range of jumping the queue；
Other is constraint condition needed for choosing lane.
In one embodiment, this method further include:
According to the speed of vehicle with the distance of front vehicles, longitudinal speed of vehicle is planned.
In one embodiment, it is described according to the speed of vehicle with the distance of front vehicles, to longitudinal speed of vehicle
It is planned, is optimized by following formula:
Wherein,
Cost is optimization aim；
Δ s is front vehicles minimum range in vehicle and fleet；
For vehicle with fleet's front vehicles it is desirable to keep that distance；
vadcFor the current average speed of fleet；
α is it is expected coefficient of keeping at a distance；
Other is that longitudinal follow plans windage and cut vehicle constraint condition.
Second aspect, the embodiment of the invention provides a kind of vehicle cluster device for planning, comprising:
Module is obtained, for obtaining the running data of the multiple vehicles travelled on each lane of same road；
Setup module will be in addition to described for setting navigator's vehicle at least one vehicle in the multiple vehicle
Other vehicles except navigator's vehicle are set as vehicle of jumping the queue；
Control module, the rear for being successively inserted into navigator's vehicle for controlling each vehicle of jumping the queue.
In one embodiment, the control module includes:
Computational submodule, for calculating vehicle of the vehicle relative to each navigator's vehicle of jumping the queue when there is more navigator's vehicles
The risk factor in road；
Lane change submodule, the lane minimum for risk of selection coefficient carry out lane change and jump the queue.
In one embodiment, the computational submodule calculates in the following manner:
Wherein, cost is risk factor；
sobsFor the minimum range of jump the queue vehicle and forecasting-obstacle track；
sadcFor vehicle and the navigator's longitudinal direction of car minimum range of jumping the queue；
Other is constraint condition needed for choosing lane.
In one embodiment, the device further include:
Apart from planning module, for the distance of front vehicles, being carried out according to the speed of vehicle to longitudinal speed of vehicle
Planning.
In one embodiment, described to be optimized apart from planning module by following formula:
Wherein,
Cost is optimization aim；
Δ s is front vehicles minimum range in vehicle and fleet；
For vehicle with fleet's front vehicles it is desirable to keep that distance；
vadcFor the current average speed of fleet；
α is it is expected coefficient of keeping at a distance；
Other is that longitudinal follow plans windage and cut vehicle constraint condition.
The third aspect, the embodiment of the present invention provide a kind of vehicle cluster planning apparatus, and the equipment includes:
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of places
Reason device realizes vehicle cluster planing method described in above-mentioned first aspect.
It is described to deposit including processor and memory in the structure of vehicle cluster planning apparatus in a possible design
Reservoir is used to store the program for supporting vehicle cluster planning apparatus to execute vehicle cluster planing method in above-mentioned first aspect, described
Processor is configurable for executing the program stored in the memory.The vehicle cluster planning apparatus can also include logical
Interface is believed, for vehicle cluster planning apparatus and other equipment or communication.
Fourth aspect, the embodiment of the invention provides a kind of computer-readable mediums, for storing vehicle cluster planning dress
Set computer software instructions used comprising for executing journey involved in the vehicle cluster planing method of above-mentioned first aspect
Sequence.
In a kind of above-mentioned scheme, the embodiment of the present invention is planned by running route, the formation etc. to group's vehicle, can
To reduce windage, so as to reduce the comprehensive energy consumption when operation of automatic driving vehicle group.
In above-mentioned another scheme, the embodiment of the present invention is also according to actual road conditions to the lateral lane change of vehicle and longitudinal direction
What is followed plan, the risk that can be jumped the queue with vehicle lane change.
Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to be limited in any way.Except foregoing description
Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the present invention is further
Aspect, embodiment and feature, which will be, to be readily apparent that.
Detailed description of the invention
In the accompanying drawings, unless specified otherwise herein, otherwise indicate the same or similar through the identical appended drawing reference of multiple attached drawings
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings depict only according to the present invention
Disclosed some embodiments, and should not serve to limit the scope of the present invention.
Fig. 1 is the flow chart of the vehicle cluster planing method of one embodiment of the invention；
Fig. 2 is the vehicle lane change schematic diagram of one embodiment of the invention；
Fig. 3 is the specific flow chart of the step S130 of one embodiment of the invention；
Fig. 4 is the flow chart of the vehicle cluster planing method of one embodiment of the invention；
Fig. 5 is the connection block diagram of the vehicle cluster device for planning of one embodiment of the invention；
Fig. 6 is the internal frame diagram of the control module of one embodiment of the invention；
Fig. 7 is the connection block diagram of the vehicle cluster device for planning of one embodiment of the invention；
Fig. 8 is the vehicle cluster planning apparatus block diagram of another embodiment of the present invention.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.The embodiment of the present invention mainly provides one kind
Be open to traffic a community programmed method and device, is described separately below by the expansion that following embodiment carries out technical solution.
The present invention provides a kind of vehicle cluster planning method and device, the vehicles of the embodiment of the present invention described in detail below
The specific process flow and principle of community programmed method and apparatus.
As shown in Figure 1, its flow chart for the vehicle cluster planing method of the embodiment of the present invention.In one embodiment,
The vehicle cluster planing method of the embodiment of the present invention can apply the travel route in group's vehicle such as automatic driving vehicle
In planning, to reduce whole energy consumption.The vehicle cluster planing method the following steps are included:
S110: the running data of the multiple vehicles travelled on each lane of same road is obtained.
In one embodiment, the running data for obtaining each vehicle may include: current car speed, vehicle institute
Lane, the position of vehicle etc..If multiple vehicles starting point having the same and destination, can carry out entirety in advance
The planning of route, for example corresponding vehicle line can be selected according to starting point having the same and the quantity of the vehicle of destination
Deng.Then, identical for the travel route or identical vehicle in part carries out community programmed.
S120: setting navigator's vehicle at least one vehicle in the multiple vehicle, will be in addition to navigator's vehicle
Except other vehicles be set as vehicle of jumping the queue.
In one embodiment, the quantity of navigator's vehicle can be determined according to current vehicle fleet size.Such as, it is assumed that with
5 vehicles are as one group, if the quantity of current vehicle is 10, can set navigator's vehicle for 2 vehicles therein,
Vehicle of jumping the queue is set by other vehicles.Wherein, it when navigator's vehicle is arranged, for example can be carried out according to the relative position of vehicle
Setting, can set navigator's vehicle for the forward vehicle in position.When determined navigator's vehicle and jump the queue vehicle after, then by the letter
In breath broadcast to other vehicles.
In another embodiment, the identity of jump the queue vehicle and navigator's vehicle can also be switched over.Such as Fig. 2 institute
Show, jumps the queue if current vehicle of jumping the queue can slow down to the rear of fleet, can also accelerate to jump the queue to the front of fleet.When slotting
When team's vehicle is jumped the queue to the front of fleet, then become new navigator's vehicle.
S130: each vehicle of jumping the queue of control is successively inserted into the rear of navigator's vehicle.
If only one navigator's vehicle, after completing to jump the queue, the shape of finally formed single fleet can be " 1 " word
Shape fleet.If there is multiple navigator's vehicles, after completing to jump the queue, the shape of finally formed fleet may include multiple " 1 " words
Shape fleet.Such " 1 " font fleet simulation animal behavior for example simulates the flying method of wild goose, in front by navigator's vehicle
Open circuit, can reduce the windage of vehicle below, to reduce the whole energy consumption of fleet.
In one embodiment, as shown in figure 3, in the step S130 by other vehicles be set as jumping the queue vehicle according to
When the secondary rear for being inserted into navigator's vehicle, may include:
S131: when there are more navigator's vehicles, risk system of the vehicle relative to the lane of each navigator's vehicle of jumping the queue is calculated
Number.
In one embodiment, the risk factor in the lane for calculating each navigator's vehicle, is counted in the following manner
It calculates:
Wherein, cost is risk factor；
sobsFor the minimum range of jump the queue vehicle and forecasting-obstacle track；The barrier may include in vehicle driving
Pedestrian, vehicle, animal or road construction partition for occurring on track etc..
sadcFor vehicle and the navigator's longitudinal direction of car minimum range of jumping the queue；Longitudinal minimum of jump the queue vehicle and navigator's vehicle
Distance is the projector distance in track direction.
Other is constraint condition needed for choosing lane.
By currently practical traffic information, the risk situation of vehicle lane change is judged, the lane change for then completing vehicle again is jumped the queue.
By the above formula, when calculating the risk situation of current lane, the most narrow spacing of jump the queue vehicle and forecasting-obstacle track
From sobsDistance is bigger, then the risk factor that lane change is jumped the queue is lower.In the most narrow spacing for calculating jump the queue vehicle and barrier and wheel paths
From when, can be by the route and speed of vehicle of currently jumping the queue and both the route of peripheral obstacle and prediction of speed most
Small distance.For example there is an obstacle vehicle just to enter current lane in lane change beside the traveling lane for vehicle of currently jumping the queue, then basis
It currently jumps the queue the speed of vehicle and the speed of obstacle vehicle can calculate minimum range after obstacle vehicle lane change with vehicle of jumping the queue.
And longitudinal minimum range s of jump the queue vehicle and navigator's vehicleadcSmaller, then the risk factor that lane change is jumped the queue is lower.Together
When can be combined with other constraint conditions of current lane, such as can be according to the speed of vehicle fleet size, traveling on current lane
The COMPREHENSIVE CALCULATINGs such as degree, windage, visibility.
S132: the minimum lane of risk of selection coefficient carries out lane change and jumps the queue.
As shown in figure 4, in one embodiment, this method further includes step S140: according to the speed of vehicle and front
The distance of vehicle plans longitudinal speed of vehicle.
In one embodiment, the step S140 is optimized especially by following formula:
Wherein,
Cost is optimization aim；
Δ s is front vehicles minimum range in vehicle and fleet；
For vehicle with fleet's front vehicles it is desirable to keep that distance；
vadcFor the current average speed of fleet；
α is it is expected coefficient of keeping at a distance；
Other is that longitudinal follow plans windage and cut vehicle constraint condition.
Wherein, when calculating the distance, delta s of the front vehicles in current vehicle and fleet, can according to the modes such as radar into
Row real time monitoring.The desired distanceBy the average speed v of desired distance factor alpha and fleetadcProduct obtain.If monitoring
Distance, delta s to jump the queue vehicle and front vehicles is greater than desired distanceWhen, then can by accelerated mode reduce jump the queue vehicle with
The distance of front vehicles.If the distance, delta s of monitor to jump the queue vehicle and front vehicles is less than desired distanceWhen, then it can lead to
It crosses ways of deceleration increase and jumps the queue vehicle at a distance from front vehicles.By above-mentioned majorized function it is found that by monitoring currently
The difference of the minimum range and desired distance of vehicle and front vehicles adjusts corresponding speed so as to control vehicle in real time,
To guarantee to be travelled with desired distance, prevent unexpectedly occurring.
The embodiment of the present invention is planned by running route, the formation etc. to group's vehicle, can reduce windage, thus
The comprehensive energy consumption when operation of automatic driving vehicle group can be reduced.The embodiment of the present invention is also according to actual road conditions to the cross of vehicle
What is to lane change and longitudinally followed plan, the risk that can be jumped the queue with vehicle lane change.
As shown in figure 5, in one embodiment, the present invention also provides a kind of vehicle cluster device for planning, comprising:
Module 110 is obtained, for obtaining the running data of the multiple vehicles travelled on each lane of same road.
Setup module 120 will be in addition to institute for setting navigator's vehicle at least one vehicle in the multiple vehicle
It states other vehicles except navigator's vehicle and is set as vehicle of jumping the queue.
Control module 130, the rear for being successively inserted into navigator's vehicle for controlling each vehicle of jumping the queue.
As shown in fig. 6, the control module 130 includes:
Computational submodule 131, for when there is more navigator's vehicles, calculating to jump the queue vehicle relative to each navigator's vehicle
The risk factor in lane.
Lane change submodule 132, the lane minimum for risk of selection coefficient carry out lane change and jump the queue.
In one embodiment, the computational submodule 131 calculates in the following manner:
Wherein, cost is risk factor；
sobsFor the minimum range of jump the queue vehicle and forecasting-obstacle track；
sadcFor vehicle and the navigator's longitudinal direction of car minimum range of jumping the queue；
Other is constraint condition needed for choosing lane.
As shown in fig. 7, in one embodiment, the vehicle cluster device for planning further include:
Apart from planning module 140, for according to the speed of vehicle with the distance of front vehicles, to longitudinal speed of vehicle into
Professional etiquette is drawn.
In one embodiment, described to be optimized apart from planning module 140 by following formula:
Wherein,
Cost is optimization aim；
Δ s is front vehicles minimum range in vehicle and fleet；
For vehicle with fleet's front vehicles it is desirable to keep that distance；
vadcFor the current average speed of fleet；
α is it is expected coefficient of keeping at a distance；
Other is that longitudinal follow plans windage and cut vehicle constraint condition.
The vehicle cluster device for planning of the present embodiment and the principle of vehicle cluster planing method of above-described embodiment are similar, therefore
It repeats no more.
In another embodiment, the present invention also provides a kind of vehicle cluster planning apparatus, as shown in figure 8, the equipment packet
Include: memory 510 and processor 520 are stored with the computer program that can be run on processor 520 in memory 510.It is described
Processor 520 realizes the vehicle cluster planing method in above-described embodiment when executing the computer program.The memory 510
Quantity with processor 520 can be one or more.
The equipment further include:
Communication interface 530 carries out data interaction for being communicated with external device.
Memory 510 may include high speed RAM memory, it is also possible to further include nonvolatile memory (non-
Volatile memory), a for example, at least magnetic disk storage.
If memory 510, processor 520 and the independent realization of communication interface 530, memory 510,520 and of processor
Communication interface 530 can be connected with each other by bus and complete mutual communication.The bus can be Industry Standard Architecture
Structure (ISA, Industry Standard Architecture) bus, external equipment interconnection (PCI, Peripheral
Component) bus or extended industry-standard architecture (EISA, Extended Industry Standard
Component) bus etc..The bus can be divided into address bus, data/address bus, control bus etc..For convenient for expression, Fig. 8
In only indicated with a thick line, it is not intended that an only bus or a type of bus.
Optionally, in specific implementation, if memory 510, processor 520 and communication interface 530 are integrated in one piece of core
On piece, then memory 510, processor 520 and communication interface 530 can complete mutual communication by internal interface.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.
Computer-readable medium described in the embodiment of the present invention can be computer-readable signal media or computer can
Read storage medium either the two any combination.The more specific example of computer readable storage medium is at least (non-poor
Property list to the greatest extent) include the following: there is the electrical connection section (electronic device) of one or more wirings, portable computer diskette box (magnetic
Device), random access memory (RAM), read-only memory (ROM), erasable edit read-only storage (EPROM or flash
Memory), fiber device and portable read-only memory (CDROM).In addition, computer readable storage medium even can be with
It is the paper or other suitable media that can print described program on it, because can be for example by paper or the progress of other media
Optical scanner is then edited, interpreted or is handled when necessary with other suitable methods and is described electronically to obtain
Program is then stored in computer storage.
In embodiments of the present invention, computer-readable signal media may include in a base band or as carrier wave a part
The data-signal of propagation, wherein carrying computer-readable program code.The data-signal of this propagation can use a variety of
Form, including but not limited to electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media is also
It can be any computer-readable medium other than computer readable storage medium, which can send, pass
It broadcasts or transmits for instruction execution system, input method or device use or program in connection.Computer can
The program code for reading to include on medium can transmit with any suitable medium, including but not limited to: wirelessly, electric wire, optical cable, penetrate
Frequently (Radio Frequency, RF) etc. or above-mentioned any appropriate combination.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In readable storage medium storing program for executing.The storage medium can be read-only memory, disk or CD etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in its various change or replacement,
These should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim
It protects subject to range.
Claims (12)
1. a kind of vehicle cluster planing method characterized by comprising
Obtain the running data of the multiple vehicles travelled on each lane of same road；
Navigator's vehicle is set by least one vehicle in the multiple vehicle, by other other than navigator's vehicle
Vehicle is set as vehicle of jumping the queue；
Control the rear that each vehicle of jumping the queue successively is inserted into navigator's vehicle.
2. the method according to claim 1, wherein described successively insert other vehicles vehicle that is set as jumping the queue
To the rear of navigator's vehicle, comprising:
When there are more navigator's vehicles, risk factor of the vehicle relative to the lane of each navigator's vehicle of jumping the queue is calculated；
The minimum lane of risk of selection coefficient carries out lane change and jumps the queue.
3. according to the method described in claim 2, it is characterized in that, the risk system in the lane for calculating each navigator's vehicle
Number calculates in the following manner:
Wherein, cost is risk factor；
sobsFor the minimum range of jump the queue vehicle and forecasting-obstacle track；
sadcFor vehicle and the navigator's longitudinal direction of car minimum range of jumping the queue；
Other is constraint condition needed for choosing lane.
4. the method according to claim 1, wherein this method further include:
According to the speed of vehicle with the distance of front vehicles, longitudinal speed of vehicle is planned.
5. according to the method described in claim 4, it is characterized in that, it is described according to the speed of vehicle with the distance of front vehicles,
Longitudinal speed of vehicle is planned, is optimized by following formula:
Wherein,
Cost is optimization aim；
Δ s is front vehicles minimum range in vehicle and fleet；
For vehicle with fleet's front vehicles it is desirable to keep that distance；
vadcFor the current average speed of fleet；
α is it is expected coefficient of keeping at a distance；
Other is that longitudinal follow plans windage and cut vehicle constraint condition.
6. a kind of vehicle cluster device for planning characterized by comprising
Module is obtained, for obtaining the running data of the multiple vehicles travelled on each lane of same road；
Setup module will be in addition to the navigator for setting navigator's vehicle at least one vehicle in the multiple vehicle
Other vehicles except vehicle are set as vehicle of jumping the queue；
Control module, the rear for being successively inserted into navigator's vehicle for controlling each vehicle of jumping the queue.
7. device according to claim 6, which is characterized in that the control module includes:
Computational submodule calculates lane of the vehicle relative to each navigator's vehicle of jumping the queue for when there is more navigator's vehicles
Risk factor；
Lane change submodule, the lane minimum for risk of selection coefficient carry out lane change and jump the queue.
8. device according to claim 7, which is characterized in that the computational submodule calculates in the following manner:
Wherein, cost is risk factor；
sobsFor the minimum range of jump the queue vehicle and forecasting-obstacle track；
sadcFor vehicle and the navigator's longitudinal direction of car minimum range of jumping the queue；
Other is constraint condition needed for choosing lane.
9. device according to claim 6, which is characterized in that the device further include:
Apart from planning module, for the distance of front vehicles, planning according to the speed of vehicle longitudinal speed of vehicle.
10. device according to claim 9, which is characterized in that it is described carried out apart from planning module by following formula it is excellent
Change:
Wherein,
Cost is optimization aim；
Δ s is front vehicles minimum range in vehicle and fleet；
For vehicle with fleet's front vehicles it is desirable to keep that distance；
vadcFor the current average speed of fleet；
α is it is expected coefficient of keeping at a distance；
Other is that longitudinal follow plans windage and cut vehicle constraint condition.
11. a kind of vehicle cluster planning apparatus, which is characterized in that the equipment includes:
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors
Realize such as vehicle cluster planing method as claimed in any one of claims 1 to 5.
12. a kind of computer-readable medium, is stored with computer program, which is characterized in that when the program is executed by processor
Realize such as vehicle cluster planing method as claimed in any one of claims 1 to 5.
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| CN111267858A (en) * | 2020-03-18 | 2020-06-12 | 清华大学苏州汽车研究院（相城） | Motorcade cooperative driving lane change control method |
| CN111402598A (en) * | 2020-03-17 | 2020-07-10 | 北京百度网讯科技有限公司 | Vehicle control method and device and electronic equipment |
| CN112937560A (en) * | 2019-12-11 | 2021-06-11 | 奥迪股份公司 | Driving assistance system, method, computer device and storage medium for a fleet of vehicles |
| CN114035583A (en) * | 2021-11-18 | 2022-02-11 | 新石器慧通（北京）科技有限公司 | Vehicle control method, device, electronic equipment and computer readable storage medium |
| CN115818098A (en) * | 2023-02-17 | 2023-03-21 | 成都思越智能装备股份有限公司 | Trolley carrying control system and carrying method |
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