CN110379151B - Information processing method and device - Google Patents
Information processing method and device Download PDFInfo
- Publication number
- CN110379151B CN110379151B CN201910556685.0A CN201910556685A CN110379151B CN 110379151 B CN110379151 B CN 110379151B CN 201910556685 A CN201910556685 A CN 201910556685A CN 110379151 B CN110379151 B CN 110379151B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- point
- fleet
- vehicles
- preset
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
The embodiment of the application discloses an information processing method and equipment, wherein the method comprises the following steps: the method comprises the steps that a server broadcasts route information of a fleet to vehicles, wherein the route information comprises at least two path points; determining a current location of the fleet of vehicles; determining the arrival time of the fleet according to the current position of the fleet and the at least two path points; and when the arrival time of the motorcade is different from the preset arrival time, or when the current position does not correspond to the path point, updating the route information.
Description
Technical Field
The embodiment of the application relates to the field of car networking, and relates to but is not limited to an information processing method and equipment.
Background
In the standard of the 5G internet of vehicles R16, a special advanced application case is vehicle queuing, i.e. vehicles are under certain circumstances grouped in a fleet, where members of the fleet communicate directly via a direct communication interface or via control of a base station.
However, in the current internet of vehicles technology, there is no solution for vehicles to run in line. Therefore, how to manage the fleet of vehicles, make the vehicles travel cooperatively, improve the road utilization and the safety of the vehicles, and how to effectively utilize the known route information to enhance the effectiveness of the fleet of vehicles.
Disclosure of Invention
In view of this, the present disclosure provides an information processing method and apparatus.
The technical scheme of the embodiment of the application is realized as follows:
in a first aspect, an embodiment of the present application provides an information processing method, including:
the method comprises the steps that a server broadcasts route information of a fleet to vehicles, wherein the route information comprises at least two path points;
determining a current location of the fleet of vehicles;
determining the arrival time of the fleet according to the current position of the fleet and the at least two path points;
and when the arrival time of the motorcade is different from the preset arrival time, or when the current position does not correspond to the path point, updating the route information.
In a second aspect, an embodiment of the present application provides an information processing method, including:
the method comprises the steps that a vehicle receives route information of a fleet broadcasted by a server, wherein the route information comprises at least two path points;
and driving to a destination according to the path points in the route information.
In a third aspect, an embodiment of the present application provides an information processing apparatus, including:
the broadcasting unit is used for broadcasting route information of a fleet to vehicles, wherein the route information comprises at least two path points;
the first determining unit is used for determining the arrival time of the fleet according to the current position of the fleet and the at least two path points;
and the updating unit is used for updating the route information when the arrival time of the motorcade is different from the preset arrival time or the current position does not correspond to the path point.
In a fourth aspect, an embodiment of the present application provides an information processing apparatus, including:
the system comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving route information of a motorcade broadcasted by a server, and the route information comprises at least two path points;
and the control unit is used for controlling the vehicle to travel to a destination according to the path points in the route information.
In a fifth aspect, an embodiment of the present application provides an information processing apparatus, where the apparatus at least includes: a processor and a storage medium configured to store executable instructions, wherein: the processor is configured to execute stored executable instructions; the executable instructions are configured to perform the information processing method described above.
In a sixth aspect, an embodiment of the present application provides a storage medium, where computer-executable instructions are stored in the storage medium, and the computer-executable instructions are configured to execute the information processing method of the above right.
According to the information processing method, the information processing device, the information processing equipment and the information processing storage medium, the server broadcasts the route information of the fleet to the vehicles, and updates the route information for the fleet according to the arrival time of the fleet, so that the fleet can travel according to the route information broadcasted by the server, and the route information is used for enhancing the effectiveness of the fleet in traveling.
Drawings
In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. Like reference numerals having different letter suffixes may represent different examples of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed herein.
Fig. 1 is a schematic flow chart illustrating an implementation of an information processing method according to an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating an implementation of an information processing method according to an embodiment of the present application;
fig. 3 is a schematic flow chart illustrating an implementation of an information processing method according to an embodiment of the present application;
fig. 4 is a schematic view of an application scenario of an information processing method according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of an implementation of an out-of-team vehicle pursuit method according to an embodiment of the present application;
fig. 6 is a schematic flow chart of an implementation of a method for adjusting an inter-fleet vehicle distance according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an information processing apparatus according to an embodiment of the present application;
fig. 8 is a schematic diagram of a composition structure of another information processing apparatus according to an embodiment of the present application;
fig. 9 is a schematic diagram of a composition structure of an information processing apparatus according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, specific technical solutions of the present application will be described in further detail below with reference to the accompanying drawings in the embodiments of the present application. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning by themselves. Thus, "module", "component" or "unit" may be used mixedly.
The embodiment of the application provides an information processing method, which can effectively utilize the known route information to enhance the effectiveness of motorcade running.
Fig. 1 is a schematic view of an implementation flow of an information processing method provided in an embodiment of the present application, where the information processing method provided in the embodiment of the present application is applied to a server, and as shown in fig. 1, the method includes the following steps:
in step S101, the server broadcasts route information of the fleet to the vehicles.
Here, the fleet includes at least one vehicle, the vehicle may include a vehicle-mounted terminal, or the vehicle may be an unmanned vehicle, the vehicle may be capable of communicating directly with a server, and the vehicles in the fleet may also communicate with each other. The driving end points between the vehicles in the fleet are consistent, and the starting points between the vehicles in the fleet can be the same or different.
The route information comprises at least two route points, and the route points at least comprise a starting point of the fleet, at least one passing point in the middle of the route and an end point.
It should be noted that the starting point of the fleet of vehicles may be the same as or different from the starting point of the vehicle, and the ending point of the fleet of vehicles may be the same as the ending point of each of the vehicles. That is, the fleet of vehicles has a total starting point, and the vehicles in the fleet of vehicles can all arrive at the total starting point to start, and the server determines the route information and determines the path point according to the total starting point. Of course, the vehicle may not start from the starting point, but join the fleet from the middle of the route according to the route information to travel to the ending point.
In this embodiment, the route information is known route information, that is, a starting point and an ending point of the fleet of vehicles are determined, and then the server may determine at least one passing point in the middle of the route according to the starting point and the ending point to form the route information. When the starting point or the end point in the route information is changed, the server determines the passing point in the middle of the route again; when the route point in the middle of the route is changed, for example, when the conditions such as road control or congestion occur, and at least one route point in the middle of the route needs to be changed, the server may redetermine the route point in the middle of the route according to the starting point and the end point, thereby forming new route information.
In the embodiment of the present application, the server broadcasts the route information of the fleet to the vehicles, where the server broadcasts the route information to all vehicles in the fleet in real time, or the server broadcasts the route information to specific vehicles in the fleet in real time. For example, the server may broadcast the route information to the vehicles in real time through a fifth Generation mobile communication technology (5-Generation, 5G) system established with the fleet of vehicles.
And step S102, determining the current position of the motorcade.
Here, the server determines the current position of the fleet of vehicles, and may transmit the fleet of vehicles to the server for the vehicles in the fleet of vehicles, so that the server acquires the current position of the fleet of vehicles.
In some embodiments, vehicles in the fleet may transmit the current location of the fleet to a server in real-time.
And step S103, determining the arrival time of the motorcade according to the current position of the motorcade and the at least two path points.
Here, the server may determine a time required for the platoon to reach the end point from the current position based on the current position of the platoon and the end point in the waypoint, and then determine the arrival time based on the required time and the current time.
And step S104, when the arrival time of the motorcade is different from the preset arrival time, or when the current position does not correspond to the path point, updating the route information.
Here, when the arrival time of the fleet is different from the preset arrival time, it indicates that the fleet cannot arrive at the terminal on time according to the predetermined route information, and thus the route information needs to be updated so that the fleet can arrive at the terminal on time. When the current position does not correspond to the path point, it is indicated that the vehicle in the fleet does not travel according to the path given by the route information, that is, the vehicle in the fleet deviates from the path point of the route information, and therefore the route information needs to be updated, so that the fleet can return to a normal route to reach an end point in time.
In this embodiment of the application, the route information may further include the preset arrival time in addition to the at least two waypoints, where the preset arrival time is a time when the determined fleet travels to the destination according to the waypoint at a preset speed while the waypoints are determined. Of course, the route information may further include an arrival time corresponding to each route point, and during the driving of the fleet, the server may monitor whether the time when the fleet reaches each route point is consistent with the arrival time corresponding to the route point, and if not, may adjust a route point after the current route point in the route information to adjust a new driving route, or may adjust the arrival time corresponding to a route point after the current route point.
The information processing method provided by the embodiment of the application can be applied to the following scenes: the logistics company transports larger objects to a far place, and needs a plurality of vehicles to transport simultaneously, so that the vehicles can form a fleet to run in the transporting process, and thus, if the vehicles are transported in a fleet form, the distance between the vehicles can be reduced, the road utilization rate is improved, and the vehicles can arrive at the same time. In the implementation process, all the vehicles in the fleet and the server may form an information processing system, and the server implements the driving route planning and driving route control on the vehicles in the fleet.
According to the information processing method provided by the embodiment of the application, a server broadcasts route information of a fleet to vehicles, wherein the route information comprises at least two path points; determining a current location of the fleet of vehicles; determining the arrival time of the fleet according to the current position of the fleet and the at least two path points; and when the arrival time of the motorcade is different from the preset arrival time, or when the current position does not correspond to the path point, updating the route information. In this manner, since the server broadcasts the route information of the fleet to the vehicles and updates the route information for the fleet according to the arrival time of the fleet, the fleet can travel according to the route information broadcasted by the server, and the effectiveness of the fleet's travel is enhanced by using the route information.
In some embodiments, an identification of the fleet of vehicles is also included in the route information; correspondingly, the server broadcasts the route information of the fleet to the vehicles in step S101, which can be implemented in two ways:
the first method is as follows:
in step S1011, the server determines that the vehicle in the fleet corresponding to the identifier is the target vehicle, and broadcasts the route information of the fleet to the target vehicle in real time.
Here, the fleet is determined according to the identification of the fleet, the fleet includes at least one vehicle, each vehicle has a fixed vehicle identification, and the vehicle identification can be a license plate number, driver information of the vehicle, or the number of the vehicle in the fleet.
And after the server determines the motorcade according to the identification of the motorcade, acquiring the vehicle identification of all vehicles in the motorcade, and broadcasting the route information to the vehicle corresponding to the vehicle identification in real time according to the vehicle identification. Therefore, route information can be broadcasted for the vehicles in the motorcade according to the identification of the motorcade, errors in route information broadcasting can be avoided, and timely and accurate broadcasting can be carried out on the vehicles in the motorcade.
The second method comprises the following steps:
in step S1012, the server receives a route query request sent by a target vehicle, and broadcasts the route information to the target vehicle based on the route query request.
Here, when the user driving the vehicle wants to know the route information, a route inquiry request may be transmitted to the server through the in-vehicle terminal on the vehicle to request the server to transmit the route information to the in-vehicle terminal of the corresponding vehicle. Or, when the vehicle is an unmanned vehicle, the unmanned vehicle may send a route query request to a server to request the server to send the route information to the unmanned vehicle, thereby realizing that the unmanned vehicle travels according to the route information.
In the embodiment of the application, the route query request comprises the identification of the fleet and/or the identification of the vehicle, and when the server receives the route query request, the server analyzes the route query request to obtain the identification of the fleet and/or the identification of the vehicle, responds to the route query request, and sends the route information to the fleet and/or the vehicle corresponding to the identification of the fleet and/or the identification of the vehicle.
In some embodiments, after the server updates the route information, the method further comprises:
in step S1041, the server broadcasts the updated route information to the vehicle.
Here, the server may update the route information in real time according to actual road conditions to determine a more convenient and faster route. After the server updates the route information, the server broadcasts the updated route information to all vehicles in the fleet so that the vehicles can travel according to the updated route.
Based on the above embodiments, an information processing method is further provided in the embodiments of the present application, fig. 2 is a schematic flow chart illustrating an implementation of the information processing method provided in the embodiments of the present application, and the information processing method provided in the embodiments of the present application is applied to a vehicle, as shown in fig. 2, the method includes the following steps:
in step S201, the vehicle receives route information of the fleet broadcasted by the server.
Here, the route information includes at least two route points, and the route points include at least a start point of the platoon, at least one route point in the middle of the route, and an end point.
In the embodiment of the application, the vehicle may include an in-vehicle terminal, or the vehicle may be an unmanned vehicle, the vehicle may be capable of directly communicating with a server, and the vehicles in the fleet may also communicate with each other.
And step S202, driving to a destination according to the waypoints in the route information.
Here, after the vehicle receives the route information, the vehicle may output the route information to a user through the in-vehicle terminal, for example, through a display output or through a voice broadcast output. When the user receives the route information, the user can drive according to the route information.
In some embodiments, when the vehicle is an unmanned vehicle, after receiving the route information, the unmanned vehicle analyzes the route information, determines a driving speed according to the analyzed route points and the arrival time corresponding to each route point, and controls the unmanned vehicle to drive to the destination according to the driving speed and the route specified by the route information.
According to the information processing method provided by the embodiment of the application, the vehicle receives the route information of the fleet broadcasted by the server, and the vehicle travels to the destination according to the path point in the route information. In this way, the vehicle travels according to the route information broadcast by the server, and the effectiveness of the travel of the vehicle group can be enhanced by using the route information.
In some embodiments, the route information of the fleet broadcasted by the vehicle receiving server in step S201 may be implemented by any one of the following ways:
the first method is as follows:
in step S2011, the vehicle receiving server broadcasts route information of the fleet in real time.
Here, the server broadcasts the route information to the vehicle in real time, and the vehicle may receive the route information broadcast by the server in real time.
The second method comprises the following steps:
in step S2012, the vehicle sends a route query request to the server and receives route information broadcast by the server based on the route query request.
Here, when the driver of the vehicle wants to actively acquire the route information, a route query request may be sent to the server through the vehicle, where the route query request carries an identifier of the vehicle. And when the server receives the route inquiry request, the server returns the route information to the vehicle corresponding to the identifier.
Of course, the fleet may include a control terminal, and the control terminal may send the route query request to the server, where the route query request carries an identifier of the fleet. When the server receives the route inquiry request, the server returns the route information to the control terminal, and the control terminal sends the route information to the vehicles in the motorcade, or the server can directly return the route information to the vehicles in the motorcade.
In some embodiments, the method further comprises the steps of:
and step S211, when the vehicle is an out-of-line vehicle which is not added into the fleet, determining a path point which meets a preset condition in the at least two path points as a target path point.
Here, the out-of-fleet vehicle refers to a vehicle that is not currently in the fleet, has a certain distance from the fleet, and is about to join the fleet.
In an embodiment of the application, when the out-of-team vehicle wants to join the fleet of vehicles and travel together with the vehicles in the fleet of vehicles, the out-of-team vehicle may determine an optimal path that can join the fleet of vehicles and travel according to the optimal path to join the fleet of vehicles.
In the implementation process, one of the at least two waypoints may be determined as a target waypoint, and then the vehicle may travel to the target waypoint to implement merging with other vehicles in the vehicle fleet, so as to implement joining the vehicle fleet.
In the embodiment of the present application, the process of determining the target waypoint may include the following two implementation manners:
the first method is as follows: step S2111, determining the running time from the current position of the vehicle to the route point of the motorcade, and determining the time point when the vehicle reaches the route point of the motorcade at a preset speed.
Step S2112, determining the path point which enables the running time to meet the preset time condition and meets the preset time point condition between the time point and the preset time point as the target path point.
Here, the running time satisfying the preset time condition may be the running time, which means that the total running time of the out-team vehicle running to each waypoint is shorter (not necessarily shortest here); the condition that the time point and the preset time point meet the preset time point condition means that the time point when the vehicle outside the team runs to the path point is the same as the arrival time corresponding to the path point, or the time point when the vehicle outside the team runs to the path point is before the arrival time corresponding to the path point.
For example, when the out-of-fleet vehicle wants to join the fleet of vehicles, the route information of the fleet of vehicles includes three waypoints A, B and C, where the arrival time corresponding to waypoint a is 10:30, the arrival time corresponding to waypoint B is 10:45, and the arrival time corresponding to waypoint C is 11: 10. The optimal speed of the vehicle outside the team is V, the current time is 10:20, and the time for the vehicle outside the team to reach the path points A, B and C at the speed V from the position D is 20 minutes, 23 minutes and 60 minutes respectively if the vehicle outside the team is located at the position D currently, so that the time point corresponding to the vehicle outside the team when the vehicle outside the team reaches the path point A is 10:40, the time point corresponding to the vehicle outside the team when the vehicle outside the team reaches the path point B is 10:43, and the time point corresponding to the vehicle outside the team when the vehicle outside the team reaches the path point C is 11: 20. Then waypoint B is determined as the target waypoint because the corresponding time point 10:43 when the out-of-team vehicle arrives at waypoint B is before the corresponding arrival time of waypoint B is 10:45 and the difference between the two time points is small.
According to the method for determining the target path point, the path point with the arrival time closest to the arrival time corresponding to the arrival time point is determined to be the target path point in the at least two path points, and the path point meeting the conditions can be rapidly determined.
The second method comprises the following steps: step S2113, determining the distance between the current position of the out-of-fleet vehicle and each waypoint of the at least two waypoints.
And step S2114, sorting the distances according to the order of arrival from small to form a sorted list.
And step S2115, determining the time point when the vehicle reaches the path point of the minimum relative distance at the preset speed according to the sorted list.
Step S2116, if the time point is the same as the arrival time corresponding to the path point, or if the time point is before the arrival time corresponding to the path point, determining the path point as the target path point.
And S2117, if the time point is different from the arrival time corresponding to the path point, or if the time point is behind the arrival time corresponding to the path point, judging other path points by the methods from the S2115 to the S2116 according to the sequence in the sorted list.
For example, when the out-of-fleet vehicle wants to join the fleet of vehicles, the route information of the fleet of vehicles includes three waypoints A, B and C, where the arrival time corresponding to waypoint a is 10:30, the arrival time corresponding to waypoint B is 10:45, and the arrival time corresponding to waypoint C is 11: 10. The optimal speed of the out-of-fleet vehicle is v, the current time is 10:20, and the out-of-fleet vehicle is currently located at a position D, the distances between the out-of-fleet vehicle from the position D and three path points A, B and C are determined to be L1, L2 and L3 respectively, wherein L1 is smaller than L2, and L2 is smaller than L3, so that an ordered list can be formed, wherein the order of the path points in the ordered list is path point A, path point B and path point C. At this time, since the route point a is at the most front position in the sorted list, the route point a is determined first. And determining that the time length of the vehicle outside the team reaching the path point A at the speed V is 20 minutes, so that the time point corresponding to the time when the vehicle outside the team reaches the path point A is 10:40, but after the arrival time 10:30 corresponding to the path point A, the time point 10:40 is 10:30, so that the path point A cannot be the target path point, and continuing to judge the path point B. And determining the time length of the off-team vehicle reaching the path point B at the speed V to be 23 minutes, so that the time point corresponding to the off-team vehicle reaching the path point B is 10:43, and determining the path point B as the target path point because the time point is 10:43 before the arrival time corresponding to the path point B is 10: 45.
According to the method for determining the target path points, the path points are sequenced according to the distance, so that the time length for the vehicle outside the team to reach each path point and the time point for the vehicle to reach each path point are not required to be determined, the calculation amount in the judging process is reduced, and the workload of the server is reduced.
And step S212, controlling the vehicle to travel from the current position of the vehicle to the target path point.
And after the target path point is determined, controlling the out-of-fleet vehicles to travel to the target path point at the preset speed so as to realize merging with other vehicles in the fleet, thereby joining the fleet.
In some embodiments, the method further comprises the steps of:
and step S221, when the vehicle is a member vehicle of the fleet, determining the distance between the vehicles according to the position information of the vehicle and the position information of a preset target vehicle.
Here, the member vehicle means that the vehicle is currently located in the vehicle fleet, and travels toward the terminal together with the vehicles in the vehicle fleet.
In the embodiment of the application, when the vehicle is a member vehicle of a fleet, the speed of the member vehicle needs to be controlled so as to ensure that all vehicles in the fleet run orderly.
The preset target vehicle may be any vehicle located in front of the member vehicle, for example, a front vehicle of the member vehicle.
In this embodiment of the application, the position information of the preset target vehicle may be obtained by measurement of the member vehicle, or may be current position information of the preset target vehicle sent to the member vehicle.
When the position information of the preset target vehicle is obtained by measuring the member vehicle, the preset target vehicle and the member vehicle run front and back, no other vehicle exists between the two vehicles, and the member vehicle can measure the distance between the member vehicle and the preset target vehicle through a distance measuring sensor to determine the distance between the vehicles. And when the position information of the preset target vehicle is the current position information of the preset target vehicle sent to the member vehicle by the preset target vehicle, calculating the vehicle distance by the member vehicle according to the current position information of the member vehicle and the current position information of the preset target vehicle.
And step S222, determining the running speed of the vehicle according to the vehicle distance and a preset vehicle distance.
In the embodiment of the application, determining the running speed of the vehicle can be realized by the following steps:
and step S2221, when the vehicle distance is greater than the preset vehicle distance, increasing the current speed of the vehicle to reach the running speed so that the difference between the vehicle distance and the preset vehicle distance is within a preset range.
Here, when the vehicle interval is larger than the preset vehicle interval, which indicates that the vehicle interval between the member vehicle and the preset target vehicle is large, in order to ensure orderly driving of the train, it is necessary to increase the vehicle speed of the member vehicle to ensure that the vehicle interval between the member vehicle and the preset target vehicle satisfies the requirement.
And S2222, when the vehicle distance is smaller than the preset vehicle distance, reducing the current speed of the vehicle to reach the running speed so that the difference between the vehicle distance and the preset vehicle distance is within a preset range.
Here, when the inter-vehicle distance is smaller than the preset inter-vehicle distance, which indicates that the inter-vehicle distance between the member vehicle and the preset target vehicle is small, in order to ensure safe driving of the vehicle, it is therefore necessary to reduce the vehicle speed of the member vehicle to ensure that the inter-vehicle distance between the member vehicle and the preset target vehicle meets the requirements.
Based on the above information processing method embodiment, an information processing method is further provided in the embodiment of the present application, fig. 3 is a schematic flow chart illustrating an implementation of the information processing method provided in the embodiment of the present application, and as shown in fig. 3, the method includes the following steps:
in step S301, the server broadcasts route information of the fleet to the vehicles.
Here, the route information includes at least two route points, and the route points include at least a start point of the platoon, at least one route point in the middle of the route, and an end point.
Step S302, after the vehicles in the fleet receive the route information broadcasted by the server, the vehicles travel according to the path points in the route information.
Step S303, when the vehicle is determined to be an out-of-line vehicle which is not added into the motorcade, determining a path point which meets a preset condition in the at least two path points as a target path point.
Here, the target waypoint is a waypoint at which the out-of-fleet vehicle merges with other vehicles in the fleet. In the embodiment of the application, the path point with the shortest path and the capability of the external vehicle to merge with other vehicles in the fleet at right time can be determined as the target path point.
And step S304, the vehicle controls the vehicle to travel to the target path point from the current position.
And S305, when the vehicle is determined to be a member vehicle of the fleet, determining the distance between the vehicles according to the position information of the vehicle and the position information of a preset target vehicle.
Here, when the vehicle is in the fleet, the vehicle needs to maintain a distance from the preceding vehicle to ensure the orderly travel of the vehicles in the entire fleet, and therefore the vehicle distance between the vehicle itself and the preceding vehicle needs to be determined.
And S306, determining the running speed of the vehicle according to the distance between the vehicles and the preset distance between the vehicles.
Here, when the vehicle interval is smaller than a preset vehicle interval, the running speed of the vehicle is reduced; when the vehicle distance is larger than a preset vehicle distance, increasing the running speed of the vehicle; when the vehicle distance is equal to a preset vehicle distance, keeping the running speed of the vehicle unchanged.
In the embodiment of the application, the adjustment of the running speed of the vehicle is to catch up with the preset target vehicle, and when the preset target vehicle or the distance between the preset target vehicle and the preset target vehicle meets the requirement, the running speed can be adjusted to be the same as the speed of the preset target vehicle, so that the whole fleet can run orderly.
And step S307, driving according to the driving speed, so that the difference between the vehicle distance and the preset vehicle distance is within a preset range.
And step S308, when the difference between the vehicle distance and the preset vehicle distance is within a preset range, adjusting the vehicle speed of the vehicle to a preset running speed.
Here, all vehicles in the fleet are orderly driven according to the preset vehicle distance and the driving speed.
And step S309, driving to the destination according to the preset driving speed.
In step S310, the server determines the arrival time of the fleet of vehicles according to the current position of the fleet of vehicles and the at least two waypoints.
Step S311, when the arrival time of the fleet is different from a preset arrival time, or when the current position does not correspond to the waypoint, the server updates the route information.
Here, when the arrival time of the fleet is different from the preset arrival time, it indicates that the current route information does not match the actual driving situation, for example, congestion or road regulation may occur between waypoints corresponding to the route information. Therefore, the route information needs to be updated to determine route information adapted to the current driving situation.
When the current position does not correspond to the waypoint, it indicates that the vehicle has traveled off the route information, and therefore, it is necessary to determine new route information corresponding to the current position of the vehicle.
In step S312, the server broadcasts the updated route information to the vehicle.
It should be noted that steps S310 to S312 may not necessarily be executed after step S309, and steps S310 to S312 may be executed at any time.
In step S313, the vehicle travels according to the updated route information after receiving the updated route information.
According to the information processing method provided by the embodiment of the application, the route information of the fleet is broadcasted or the route information updated in real time is broadcasted to the vehicles by the server, so that the fleet can run according to the route information broadcasted by the server, and the effectiveness of the fleet running is enhanced by using the route information.
Based on the above embodiments, the embodiments of the present application further provide an information processing method, which can solve the problem of dynamic fleet management and verification based on the known route information of the fleet.
In an embodiment of the present application, route information of a fleet of vehicles includes a plurality of waypoints, the route information being determinable from a start point, a plurality of waypoints, and an end point, all of the waypoints being associated with an arrival time and a fleet ID to form a queryable time and travel route sequence.
The formed time sequence of the motorcade is stored in an intelligent internet of vehicles server, and each motorcade member can request and inquire route information of the motorcade from the intelligent internet of vehicles server at any time; the motorcade route information can also be broadcasted in real time through a 5G system, so that surrounding vehicles can know the motorcade route information, and thus, the motorcade route information can be determined according to what path and strategy (for example, how fast) the motorcade is added; when the expected arrival time or place changes, the route time sequence is upgraded at any time.
To control the effective separation between vehicles, an "intelligent internet of vehicles" server may issue (e.g., in the form of a broadcast) a vehicle separation requirement to a particular point in time or location so that vehicles within a fleet may control their speed to achieve a desired separation based on the position and speed information of the preceding vehicle. Before vehicles outside the motorcade join the motorcade, the speed of the vehicles can be adjusted according to the distance requirement, a target to be pursued is selected, the route and the speed strategy of the vehicles are adjusted according to the position and the speed of the target, and the required interval is quickly reached, so that the vehicles can quickly join the motorcade.
According to the information processing method provided by the embodiment of the application, the time and route sequence of a motorcade traveling path is maintained and broadcasted in real time through the intelligent internet of vehicles server, so that vehicles outside the motorcade can make a traveling strategy according to the sequence; the intelligent internet of vehicles server is used for publishing the required vehicle interval information in the fleet in real time, and the external vehicles can adjust the speed and route strategies according to the information.
In some embodiments, the "intelligent internet of vehicles" server forms a real-time path sequence of "fleet N-waypoint-time" (corresponding to the route information described above) stored in the server. As shown in fig. 4, for an application scenario diagram of the information processing method provided in the embodiment of the present application, the real-time path sequence includes an identifier 11 of a fleet, a start point 12, at least one waypoint 131, 132, 133 … …, and an end point 14, and the real-time path sequence further includes a start time 151, a time point 152, a time point 153, a time point 154, and an end time 155 corresponding to the start point, each waypoint, and the end point. The real-time path sequence is stored in an "intelligent internet of vehicles" server 10.
The fleet of vehicles includes at least two vehicles, e.g., vehicles v1, v2, and v3 in the figure, each of which may receive broadcast information from the 5G network or query such information from a server as needed based on authorization.
In some embodiments, when the vehicle is an out-of-team vehicle not in the fleet, an embodiment of the present application provides an out-of-team vehicle pursuit method, as shown in fig. 5, which is a schematic flow chart for implementing the out-of-team vehicle pursuit method provided by the embodiment of the present application, and the method includes the following steps:
in step S501, the vehicle calculates the distance from the vehicle to each route point according to the route point information of the vehicle fleet.
Here, when calculating the distance from the host vehicle to each waypoint, the calculation may be performed in conjunction with map information.
Step S502, calculating the time for reaching each path point according to the distance between each path point and the self-reachable optimal speed information.
In step S503, the waypoint having the shortest time and satisfying the waypoint arrival time is selected as the click point (corresponding to the target waypoint).
Step S504, judge whether has already reached the waypoint and waypoint changes.
Here, if the waypoint has not changed and the waypoint has been reached, the flow ends. If no waypoint is reached or there is a change in waypoint, steps S501 to S505 are repeated.
In some embodiments, when the vehicle is an in-team vehicle in a fleet of vehicles, an embodiment of the present application provides an in-team vehicle distance adjusting method, and as shown in fig. 6, an implementation flow diagram of the in-team vehicle distance adjusting method provided in the embodiment of the present application is shown, where the method includes the following steps:
step S601, the vehicle receives and analyzes the distance requirement of the current fleet and defines the target vehicle of the vehicle.
Here, the distance requirement may be equal distance between vehicles, or different distance requirements between different vehicles, and this embodiment is not limited.
The target vehicle may be a preceding vehicle that is located in front of the vehicle and has no other vehicle in between.
And step S602, calculating the distance between the two vehicles according to the position information of the two vehicles.
Step S603, determining whether the current distance between the two vehicles meets the distance requirement.
If the determination result is yes, the flow is terminated, and if the determination result is no, step S604 is executed.
Step S604, determine whether the current distance between two vehicles is greater than the required distance.
If yes, step S605 is executed, and if no, step S606 is executed.
In step S605, if the distance between the two vehicles is greater than the required distance, the vehicle speed needs to be increased, and the increased vehicle speed is equal to the distance difference/the required impact time.
In step S606, if the distance between the two vehicles is smaller than the required distance, the vehicle speed needs to be reduced, and the reduced vehicle speed is equal to the distance difference/the required impact time.
According to the information processing method provided by the embodiment of the application, the vehicles outside the fleet and the vehicles inside the fleet are flexibly controlled through the vehicle overtaking method outside the fleet and the vehicle distance adjusting method inside the fleet, the ordered running of the whole fleet according to the route information broadcasted by the server is realized, and the running effectiveness of the fleet is enhanced.
Based on the foregoing embodiments, the present application provides an information processing apparatus, which includes modules included in the apparatus and components included in the modules, and can be implemented by a processor in an information processing device; of course, it may also be implemented by logic circuitry; in the implementation process, the Processor may be a Central Processing Unit (CPU), a microprocessor Unit (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like.
Fig. 7 is a schematic diagram of a composition structure of an information processing apparatus according to an embodiment of the present application, and as shown in fig. 7, the information processing apparatus 700 includes:
a broadcasting unit 701, configured to broadcast route information of a fleet of vehicles, where the route information includes at least two waypoints;
a first determining unit 702, configured to determine an arrival time of the fleet of vehicles according to the current location of the fleet of vehicles and the at least two waypoints;
an updating unit 703 is configured to update the route information when the arrival time of the fleet is different from a preset arrival time, or when the current location does not correspond to the waypoint.
In some embodiments, the broadcasting unit includes:
the first determining module is used for determining that the vehicle in the fleet corresponding to the identifier is a target vehicle and broadcasting the route information of the fleet to the target vehicle in real time; alternatively, the first and second electrodes may be,
the first receiving module is used for receiving a route inquiry request sent by a target vehicle and broadcasting the route information to the target vehicle based on the route inquiry request.
In some embodiments, the broadcasting unit is further configured to broadcast the updated route information to the vehicle after updating the route information.
Fig. 8 is a schematic diagram of a composition structure of another information processing apparatus according to an embodiment of the present application, and as shown in fig. 8, the information processing apparatus 800 includes:
a receiving unit 801, configured to receive route information of a fleet broadcasted by a server, where the route information includes at least two waypoints;
a control unit 802, configured to control the vehicle to travel to a destination according to the waypoints in the route information.
In some embodiments, the receiving unit comprises:
the second receiving module is used for receiving the route information of the motorcade broadcasted by the server in real time; alternatively, the first and second electrodes may be,
and the sending module is used for sending a route inquiry request to the server and receiving the route information broadcasted by the server based on the route inquiry request.
In some embodiments, the apparatus further comprises:
the second determining unit is used for determining a path point meeting a preset condition in the at least two path points as a target path point when the vehicle is an out-of-line vehicle which does not join the fleet;
a second control unit for controlling the vehicle to travel from the current position of the vehicle to the target waypoint.
In some embodiments, the second determination unit comprises:
the second determination module is used for determining the running time from the current position of the vehicle to the path point of the motorcade and determining the time point when the vehicle reaches the path point of the motorcade at a preset speed;
and the third determining module is used for determining the path point which enables the running time to meet the preset time condition and meets the preset time point condition between the time point and the preset time point as the target path point.
In some embodiments, the apparatus further comprises:
the third determining unit is used for determining the distance between vehicles according to the position information of the vehicles and the position information of a preset target vehicle when the vehicles are member vehicles of the fleet;
and the fourth determining unit is used for determining the running speed of the vehicle according to the vehicle distance and a preset vehicle distance.
In some embodiments, the fourth determination unit comprises:
the first processing module is used for increasing the current speed of the vehicle to reach the running speed when the vehicle distance is larger than the preset vehicle distance so that the difference between the vehicle distance and the preset vehicle distance is within a preset range;
and the second processing module is used for reducing the current speed of the vehicle to reach the running speed when the vehicle distance is smaller than the preset vehicle distance so as to enable the difference between the vehicle distance and the preset vehicle distance to be within a preset range.
In the embodiment of the present application, if the information processing method is implemented in the form of a software functional module and sold or used as a standalone product, the information processing method may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a terminal to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.
Correspondingly, an embodiment of the present application provides an information processing apparatus, fig. 9 is a schematic diagram of a composition structure of the information processing apparatus provided in the embodiment of the present application, and as shown in fig. 9, the information processing apparatus 900 at least includes: a processor 901, a communication interface 902, and a storage medium 903 configured to store executable instructions, wherein the processor 901 generally controls the overall operation of the information processing apparatus.
The communication interface 902 may allow the information processing apparatus to communicate with other terminals or servers through a network.
The storage medium 903 is configured to store instructions and applications executable by the processor 901, and may also cache data to be processed or processed by each module in the information processing apparatus 900, and may be implemented by a FLASH Memory (FLASH) or a Random Access Memory (RAM).
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion, so that a process, a method or an apparatus including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present application. Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program code, such as removable storage devices, read-only memories, magnetic or optical disks, etc. Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a terminal to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.
The above description is only for the embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (6)
1. An information processing method comprising:
the server determines that vehicles in the motorcade corresponding to the identification of the motorcade are target vehicles and broadcasts route information of the motorcade to the target vehicles in real time; or the server receives a route query request sent by the target vehicle, and broadcasts the route information to the target vehicle in real time based on the route query request; the route information comprises at least two path points and identification of the motorcade; the route points at least comprise a starting point of the fleet, at least one passing point and an end point in the middle of the route;
determining a current location of the fleet of vehicles;
determining the arrival time of the fleet according to the current position of the fleet and the at least two path points;
when the arrival time of the motorcade is different from the preset arrival time, or when the current position does not correspond to the path point, updating the route information;
when the server determines that the vehicle is an out-of-line vehicle which does not join the motorcade, determining the running time from the current position of the vehicle to the path point of the motorcade, and determining the time point when the vehicle reaches the path point of the motorcade at a preset speed;
determining the path points which enable the off-team vehicles to travel to each path point within the total travel time of the path points, wherein the travel time is relatively short, and the preset time point condition is met between the time point and the preset time point as target path points; wherein, satisfying the preset time point condition between the time point and the preset time point includes: the time point when the off-team vehicle drives to the path point is the same as the arrival time corresponding to the path point, or the time point when the off-team vehicle drives to the path point is before the arrival time corresponding to the path point;
and controlling the vehicle to travel from the current position of the vehicle to the target path point, and joining the fleet.
2. The method of claim 1, further comprising:
after the server updates the route information, the server broadcasts the updated route information to the vehicle.
3. An information processing method comprising:
the method comprises the following steps that a vehicle receiving server broadcasts route information of a motorcade in real time, wherein the route information comprises at least two path points and identification of the motorcade, and the route information is broadcasted in real time through the following steps: the server determines that vehicles in the motorcade corresponding to the identification of the motorcade are target vehicles and broadcasts route information of the motorcade to the target vehicles in real time; or the server receives a route query request sent by the target vehicle, and broadcasts the route information to the target vehicle in real time based on the route query request; the route points at least comprise a starting point of the fleet, at least one passing point and an end point in the middle of the route;
when the vehicle is an out-of-line vehicle which does not join the motorcade, determining a running time from the current position of the vehicle to a path point of the motorcade, and determining a time point when the vehicle reaches the path point of the motorcade at a preset speed;
determining the path points which enable the off-team vehicles to travel to each path point within the total travel time of the path points, wherein the travel time is relatively short, and the preset time point condition is met between the time point and the preset time point as target path points; wherein, satisfying the preset time point condition between the time point and the preset time point includes: the time point when the off-team vehicle drives to the path point is the same as the arrival time corresponding to the path point, or the time point when the off-team vehicle drives to the path point is before the arrival time corresponding to the path point;
controlling the vehicle to travel from the current position of the vehicle to the target path point, and joining the vehicle fleet;
and driving to a destination according to the path points in the route information.
4. The method of claim 3, further comprising:
when the vehicles are member vehicles of the fleet, determining the distance between the vehicles according to the position information of the vehicles and the position information of a preset target vehicle;
and determining the running speed of the vehicle according to the vehicle distance and a preset vehicle distance.
5. The method of claim 4, wherein determining the travel speed of the vehicle based on the inter-vehicle distance and a preset inter-vehicle distance comprises:
when the vehicle distance is larger than the preset vehicle distance, increasing the current speed of the vehicle to reach the running speed so that the difference between the vehicle distance and the preset vehicle distance is within a preset range;
when the vehicle interval is smaller than the preset vehicle interval, reducing the current speed of the vehicle to reach the running speed so that the difference between the vehicle interval and the preset vehicle interval is within a preset range.
6. An information processing apparatus, the apparatus comprising at least: a processor and a storage medium configured to store executable instructions, wherein: the processor is configured to execute stored executable instructions;
the executable instructions are configured to perform the information processing method as provided in any one of the above claims 1 or 2, or 3 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910556685.0A CN110379151B (en) | 2019-06-25 | 2019-06-25 | Information processing method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910556685.0A CN110379151B (en) | 2019-06-25 | 2019-06-25 | Information processing method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110379151A CN110379151A (en) | 2019-10-25 |
| CN110379151B true CN110379151B (en) | 2021-10-22 |
Family
ID=68249391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910556685.0A Active CN110379151B (en) | 2019-06-25 | 2019-06-25 | Information processing method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110379151B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111696340A (en) * | 2020-05-15 | 2020-09-22 | 深圳市元征科技股份有限公司 | Vehicle control method, device and equipment |
| CN114577231A (en) * | 2022-03-07 | 2022-06-03 | 深圳市天星通科技有限公司 | Vehicle team navigation method and related product |
| CN115273449B (en) * | 2022-07-28 | 2023-07-25 | 重庆长安汽车股份有限公司 | Method, device, equipment and medium for identifying motorcade set nodes |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5475597A (en) * | 1993-02-24 | 1995-12-12 | Amsc Subsidiary Corporation | System for mapping occurrences of predetermined conditions in a transport route |
| CN107478236A (en) * | 2016-06-07 | 2017-12-15 | 奥迪股份公司 | For the trip servicing unit of vehicle, system and the method for auxiliary trip |
| CN107941228A (en) * | 2016-10-13 | 2018-04-20 | 阿里巴巴集团控股有限公司 | A kind of method, apparatus of vehicle group traveling, the device and operating system |
| CN107727105B (en) * | 2017-04-11 | 2020-03-24 | 西安艾润物联网技术服务有限责任公司 | Motorcade navigation method and device |
| CN109151764A (en) * | 2017-06-28 | 2019-01-04 | 电信科学技术研究院 | A kind of information processing method, device, equipment and computer readable storage medium |
| CN109612491A (en) * | 2019-01-14 | 2019-04-12 | 闽江学院 | A kind of method and apparatus judging travel route |
-
2019
- 2019-06-25 CN CN201910556685.0A patent/CN110379151B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110379151A (en) | 2019-10-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110379151B (en) | Information processing method and device | |
| US10970788B2 (en) | Controlling autonomous vehicles to optimize traffic characteristics | |
| US11972690B2 (en) | Platooning method, apparatus and system of autonomous driving platoon | |
| US8753123B2 (en) | Driving support system and driving support managing device | |
| US9799224B2 (en) | Platoon travel system | |
| US8626418B2 (en) | Method and system for monitoring speed of a vehicle | |
| US20190051158A1 (en) | Intelligent traffic management for vehicle platoons | |
| JP6477391B2 (en) | Group driving operation system | |
| US20140316865A1 (en) | Platoon travel system | |
| CN113763742B (en) | Method and device for assisting driving of motorcade based on MEC and storage medium | |
| US20200386561A1 (en) | Information processing apparatus, information processing method, and storage medium | |
| CN112435459B (en) | Formation traveling system | |
| US20150199904A1 (en) | System and method for controlling vehicle at intersection | |
| US10810883B1 (en) | Travel time estimation | |
| JP6762457B1 (en) | Control devices, mobiles, management servers, base stations, communication systems and communication methods | |
| CN114202094A (en) | Wireless energy transfer to a vehicle based on route data | |
| JP7230422B2 (en) | DRIVING ASSIST DEVICE, DRIVING CONTROL SYSTEM FOR VEHICLE, DRIVING CONTROL METHOD, AND DRIVING CONTROL PROGRAM | |
| WO2019116925A1 (en) | Information processing device, information processing method, program and mobile body | |
| US11823576B2 (en) | Vehicle management device, vehicle management method, and storage medium having program stored therein | |
| US20230011427A1 (en) | Vehicle guidance, power, communication system and method | |
| JP2020177314A (en) | Vehicle traffic management device, on-vehicle device, vehicle traffic management system, vehicle traffic management method, and vehicle traffic management program | |
| US20240010089A1 (en) | Recharge system for electric vehicle (ev) without immediate access to permanent charging station | |
| US20240010081A1 (en) | Autonomous vehicle for temporarily powering electric vehicles (evs) on the road | |
| JP2023178020A (en) | Matching device of rank traveling vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |