CN110570648A - method, device and equipment for adjusting formation driving and computer readable storage medium - Google Patents

method, device and equipment for adjusting formation driving and computer readable storage medium Download PDF

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Publication number
CN110570648A
CN110570648A CN201911039500.5A CN201911039500A CN110570648A CN 110570648 A CN110570648 A CN 110570648A CN 201911039500 A CN201911039500 A CN 201911039500A CN 110570648 A CN110570648 A CN 110570648A
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China
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vehicle
information
following
distance
running
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CN201911039500.5A
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Chinese (zh)
Inventor
高懂超
王俊平
吴泽琳
宫国浩
鞠立军
赵天坤
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Beijing Baidu Netcom Science and Technology Co Ltd
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Beijing Baidu Netcom Science and Technology Co Ltd
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Priority to CN201911039500.5A priority Critical patent/CN110570648A/en
Publication of CN110570648A publication Critical patent/CN110570648A/en
Pending legal-status Critical Current

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    • 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
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • 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]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The application discloses a method, a device and equipment for adjusting formation driving and a computer readable storage medium, and relates to the field of intelligent transportation. The specific implementation scheme is as follows: communication is carried out between the following vehicles and the front vehicles in formation driving in a V2V mode, and the driving state information broadcast by the front vehicles in formation driving is received; determining running state change information of the preceding vehicle based on the running state information broadcasted by the preceding vehicle; and adjusting the running state of the following vehicle to correspondingly change based on the running state change information of the front vehicle.

Description

Method, device and equipment for adjusting formation driving and computer readable storage medium
Technical Field
the application relates to the field of traffic, in particular to the field of intelligent traffic.
Background
When there are a plurality of vehicles in the same lane during a trip, the rear vehicle usually determines its own driving state from the driving state information about the front vehicle detected by its own sensor or from the driving state of the front vehicle by subjective intention. In the process, the driving state information of the front vehicle cannot be timely or synchronous to the rear vehicle in advance, so that the rear vehicle needs to passively and emergently deal with the driving state change of the front vehicle, for example, the front vehicle emergently brakes, the rear vehicle brakes after seeing or detecting the emergency brake of the front vehicle, and if the rear vehicle brakes untimely, a traffic accident may be caused.
Disclosure of Invention
in a first aspect, the present application provides a formation driving method, wherein the formation driving method is applied to following vehicles in formation driving, the following vehicles communicate with front vehicles in formation driving through a V2V manner, and the vehicles in formation driving are all autonomous vehicles, and the method includes: receiving running state information broadcasted by front vehicles in formation running; determining running state change information of the preceding vehicle based on the running state information broadcasted by the preceding vehicle; and adjusting the running state of the following vehicle to correspondingly change based on the running state change information of the front vehicle.
according to the embodiment of the application, on the basis that communication between vehicles can be realized in a V2V mode in a fleet running in a formation mode, running state information broadcasted by front vehicles in the formation running is received; determining running state change information of the preceding vehicle based on the running state information broadcasted by the preceding vehicle; and adjusting the running state of the vehicle to correspondingly change based on the running state change information of the front vehicle. In the driving process, the front vehicle can broadcast the current driving state information of the front vehicle or the next driving state information of the front vehicle to the rear vehicle in real time based on the V2V, so that the rear vehicle can know the driving state of the front vehicle in advance, and adjust the driving state of the front vehicle according to the driving state change of the front vehicle to change correspondingly, and the formation driving order is ensured.
optionally, the driving state information of the front vehicle includes movement state change information; the determining of the running state change information of the preceding vehicle based on the running state information broadcasted by the preceding vehicle includes: and determining the motion state change information broadcasted by the front vehicle as the running state change information of the front vehicle.
in this embodiment, the preceding vehicle can directly broadcast the motion state change information of itself to the rear vehicle for the rear vehicle need not do further calculation, avoids every vehicle in rear to need to do further calculation, and there is certain time delay in the calculation process, and the rear vehicle of this embodiment only needs to resolve out the motion state change information of preceding vehicle, just can directly adjust self driving state according to the motion state change information of preceding vehicle.
optionally, the driving state information of the front vehicle includes motion state information; the determining of the running state change information of the preceding vehicle based on the running state information broadcasted by the preceding vehicle includes: comparing the motion state information broadcasted by the front vehicle at the current time with the motion state information broadcasted at the previous time; and determining the running state change information of the front vehicle according to the comparison result.
Optionally, the driving state change information includes: acceleration information or deceleration information; the adjusting the driving state of the vehicle based on the driving state change information of the front vehicle to make corresponding changes comprises: determining a target speed of a preceding vehicle based on acceleration information or deceleration information broadcast by the preceding vehicle; adjusting the speed of the self-body to accelerate or decelerate to the target speed.
Optionally, the driving state change information includes: the braking force; the adjusting the driving state of the vehicle based on the driving state change information of the front vehicle to make corresponding changes comprises:
Determining whether the braking force broadcast by the front vehicle exceeds a preset braking force; and under the condition that the braking force broadcasted by the front vehicle exceeds the preset braking force, controlling the following vehicle to brake.
In the embodiment, whether the braking force broadcasted by the front vehicle exceeds the preset braking force is determined; and braking under the condition that the braking force broadcasted by the front vehicle exceeds the preset braking force. The preset braking force is to divide the braking area of the front vehicle into emergency braking and non-emergency braking, so that the situation that the energy consumption is too high due to frequent braking of the rear vehicle can be avoided.
optionally, the motion state information includes: location information; the adjusting the driving state of the vehicle based on the driving state change information of the front vehicle to make corresponding changes comprises: determining a distance between the following vehicle and the preceding vehicle based on the position information of the preceding vehicle and the position information of the following vehicle itself; and under the condition that the distance is larger than the preset vehicle following distance, controlling the following vehicle to increase the speed of the following vehicle so as to enable the distance between the following vehicle and the front vehicle to reach the preset vehicle following distance.
Optionally, under the condition that the distance is greater than a preset following distance, controlling the following vehicle to increase the speed of the following vehicle so that the distance between the following vehicle and the front vehicle reaches the preset following distance, including: under the condition that the distance is larger than the preset following distance, the following vehicle increases the speed of the following vehicle to drive; determining a first target speed based on a current speed of the preceding vehicle, a current speed of the following vehicle, a target speed of the following vehicle, and a distance between the following vehicle and the preceding vehicle when the following vehicle travels to reach an adjusted distance from the preceding vehicle; and performing deceleration running and reducing the running speed to the first target speed.
Optionally, the driving state information includes: location information; the adjusting of the driving state of the vehicle based on the driving state information broadcasted by the front vehicle comprises: determining a distance between the following vehicle and the preceding vehicle based on the position information of the preceding vehicle and the position information of the following vehicle itself; and under the condition that the distance is smaller than or equal to a preset vehicle following distance, reducing the speed of the following vehicle to drive so that the distance between the following vehicle and the front vehicle reaches the preset vehicle following distance.
Optionally, when the distance is smaller than or equal to a preset following distance, reducing the speed of the following vehicle to drive so that the distance between the following vehicle and the vehicle ahead reaches the preset following distance, including: determining a second target speed based on the current speed of the preceding vehicle, the current speed of the following vehicle, the target speed of the following vehicle, and the distance between the following vehicle and the preceding vehicle; and performing deceleration running and reducing the running speed of the following vehicle to the second target speed.
Optionally, the driving state change information includes: lane change information; the adjusting the driving state of the vehicle based on the driving state change information of the front vehicle to make corresponding changes comprises: and changing lanes based on the lane change information broadcasted by the front vehicle.
Optionally, the lane change information includes: track information; the lane change based on the lane change information broadcasted by the front vehicle comprises: receiving traveling track information about a preceding vehicle broadcasted by the preceding vehicle; adjusting the running track information of the following vehicle based on the running track information of the front vehicle; and driving based on the adjusted driving track information.
Optionally, the adjusting the track information of the vehicle based on the traveling track information of the vehicle ahead includes: splicing the running track information of the front vehicle received at the current time and the running track corresponding to the running track information of the front vehicle received at the previous time; and taking the spliced running track information as the adjusted running track information.
in this embodiment, since the rear vehicle plans its lane change trajectory based on the trajectory information broadcast by the front vehicle, in the lane change process, the vehicles traveling in formation can be changed lanes orderly, the lane change efficiency is high, and the vehicles traveling in formation need to maintain consistency, so this embodiment can achieve a high level.
Optionally, the lane change information includes: track information; the lane change based on the lane change information broadcasted by the front vehicle comprises: receiving position information of the front vehicle broadcasted by the front vehicle in real time; determining a driving route between the current position of the front vehicle and the current position of the following vehicle based on the position information of the front vehicle and the position information of the following vehicle; and driving based on the driving route.
In this embodiment, since the rear vehicle plans its lane change trajectory based on the position information broadcast by the front vehicle and its own position information, the lane change accuracy is high for the lane change in formation traveling during the lane change.
in a second aspect, an embodiment of the present application provides an adjustment device for formation driving, including: the receiving module is used for receiving the running state information broadcasted by the front vehicles in formation running; a determination module for determining running state change information of the preceding vehicle based on the running state information broadcasted by the preceding vehicle; and the adjusting module is used for adjusting the running state of the following vehicle to correspondingly change based on the running state change information of the front vehicle.
optionally, the driving state information of the front vehicle includes movement state change information; the determining module determines the running state change information of the front vehicle based on the running state information broadcasted by the front vehicle, and specifically comprises: and determining the motion state change information broadcasted by the front vehicle as the running state change information of the front vehicle.
optionally, the driving state information of the front vehicle includes motion state information; the determining module determines the running state change information of the front vehicle based on the running state information broadcasted by the front vehicle, and specifically comprises: comparing the motion state information broadcasted by the front vehicle at the current time with the motion state information broadcasted at the previous time; and determining the running state change information of the front vehicle according to the comparison result.
optionally, the driving state change information includes: acceleration information or deceleration information; the determining module determines the running state change information of the front vehicle based on the running state information broadcasted by the front vehicle, and specifically comprises: determining a target speed of a preceding vehicle based on acceleration information or deceleration information broadcast by the preceding vehicle; adjusting the speed of the self-body to accelerate or decelerate to the target speed.
Optionally, the driving state change information includes: the braking force; the determining module determines the running state change information of the front vehicle based on the running state information broadcasted by the front vehicle, and specifically comprises: determining whether the braking force broadcasted by the front vehicle exceeds a preset braking force; and under the condition that the braking force broadcasted by the front vehicle exceeds the preset braking force, controlling the following vehicle to brake.
Optionally, the motion state information includes: location information; the determining module determines the running state change information of the front vehicle based on the running state information broadcasted by the front vehicle, and specifically comprises: determining a distance between the following vehicle and the preceding vehicle based on the position information of the preceding vehicle and the position information of the following vehicle itself; and under the condition that the distance is larger than the preset vehicle following distance, controlling the following vehicle to increase the speed of the following vehicle so as to enable the distance between the following vehicle and the front vehicle to reach the preset vehicle following distance.
optionally, the determining module, when controlling the following vehicle to increase its own speed so that the distance between the following vehicle and the vehicle ahead reaches the preset following distance, specifically includes: under the condition that the distance is larger than the preset vehicle following distance, the vehicle increases the speed of the vehicle to run; determining a first target speed based on a current speed of a front vehicle, a current speed of the vehicle, a target speed of the vehicle and a distance between the vehicle and the front vehicle when the vehicle travels until the distance between the vehicle and the front vehicle reaches an adjustment distance; and performing deceleration running and reducing the running speed to the first target speed.
Optionally, the driving state information includes: location information; the determining module determines the running state change information of the front vehicle based on the running state information broadcasted by the front vehicle, and specifically comprises: determining a distance between the following vehicle and the preceding vehicle based on the position information of the preceding vehicle and the position information of the following vehicle itself; and under the condition that the distance is smaller than or equal to a preset vehicle following distance, reducing the speed of the following vehicle to drive so that the distance between the following vehicle and the front vehicle reaches the preset vehicle following distance.
Optionally, when the determining module reduces the speed of the following vehicle to drive so that the distance between the following vehicle and the vehicle ahead reaches the preset following distance, when the distance is smaller than or equal to the preset following distance, the determining module specifically includes: determining a second target speed based on the current speed of the preceding vehicle, the current speed of the following vehicle, the target speed of the following vehicle, and the distance between the following vehicle and the preceding vehicle; and performing deceleration running and reducing the running speed of the following vehicle to the second target speed.
optionally, the driving state change information includes: lane change information; the adjusting module adjusts the driving state of the adjusting module based on the driving state change information of the front vehicle so as to perform corresponding change, and specifically comprises: and changing lanes based on the lane change information broadcasted by the front vehicle.
Optionally, the lane change information includes: track information; the adjusting module is based on the lane change information broadcasted by the front vehicle, and specifically comprises the following steps: receiving traveling track information about a preceding vehicle broadcasted by the preceding vehicle; adjusting the running track information of the following vehicle based on the running track information of the front vehicle; and driving based on the adjusted driving track information.
optionally, when the adjusting module adjusts the track information of the adjusting module based on the traveling track information of the vehicle ahead, the adjusting module specifically includes: splicing the running track information of the front vehicle received at the current time and the running track corresponding to the running track information of the front vehicle received at the previous time; and taking the spliced running track information as the adjusted running track information.
optionally, the lane change information includes: track information; the adjusting module changes lanes based on the lane change information broadcasted by the front vehicle, and specifically comprises: receiving position information of the front vehicle broadcasted by the front vehicle in real time; determining a driving route between the current position of the front vehicle and the current position of the following vehicle based on the position information of the front vehicle and the position information of the following vehicle; and driving based on the driving route.
In a third aspect, an embodiment of the present application provides an adjustment apparatus for formation driving, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.
in a fourth aspect, embodiments of the present application provide a non-transitory computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the method of the first aspect.
In a fifth aspect, an embodiment of the present application provides a method for adjusting formation driving, which is applied to an autonomous vehicle, and includes: receiving the running state information broadcast by other vehicles in formation running; and adjusting the running state of the automatic driving vehicle based on the running state information broadcasted by the other vehicles.
Optionally, the adjusting the driving state of the vehicle based on the driving state information broadcasted by the other vehicle includes: determining whether the self-driving state of the automatic driving vehicle needs to be adjusted or not based on the running state information broadcasted by the other vehicles; and adjusting the running state of the automatic driving vehicle when the running state of the automatic driving vehicle needs to be adjusted.
Optionally, the driving state information includes: location information; the determining whether the own driving state needs to be adjusted based on the driving state information broadcasted by the other vehicles includes: determining whether another vehicle is located in front of the autonomous vehicle based on the location information of the other vehicle; determining that the driving state of the autonomous vehicle itself needs to be adjusted in a case where the preceding vehicle is located ahead of the currently following vehicle.
one embodiment in the above application has the following advantages or benefits: the rear vehicle can know the running state of the front vehicle in advance, and adjust the running state of the rear vehicle according to the running state change of the front vehicle so as to carry out corresponding change, thereby ensuring the order of formation running; and the rear vehicle does not need to be frequently braked, so that the energy consumption is saved. Because the technical means that the front vehicle can broadcast the current driving state information of the front vehicle or the next driving state information of the front vehicle to the rear vehicle in real time based on V2V in the formation driving process is adopted, the technical problem that the rear vehicle cannot predict the state of the front vehicle in advance to cause the untimely adjustment state of the rear vehicle to cause traffic accidents is solved, the rear vehicle can know the driving state of the front vehicle in advance and adjust the driving state of the front vehicle according to the driving state change of the front vehicle to change correspondingly, and the technical effect of ensuring the formation driving order is achieved.
other effects of the above-described alternative will be described below with reference to specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a diagram of an application scenario in which embodiments of the present application may be implemented;
FIG. 2 is a schematic diagram of a method of adjusting formation travel according to an embodiment of the present application;
fig. 3 is a schematic diagram exemplarily illustrating route planning in the embodiment of the present application;
FIG. 4 is a schematic diagram of an adjustment device for formation driving according to an embodiment of the present application;
fig. 5 is a block diagram of an electronic device for implementing the adjustment method for formation driving according to the embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
fig. 1 is an application scenario diagram suitable for the embodiment of the present application. As shown in fig. 1, the application scenario includes: a traffic guidance control system 10, a plurality of Road Side Units (RSUs) 11, a plurality of vehicles; illustratively, the plurality of autonomous vehicles includes a first vehicle 12, a second vehicle 13, a third vehicle 14, a fourth vehicle 15, and a fifth vehicle 16; the arrows in the figure indicate the direction of travel of the vehicle; the first vehicle 12, the second vehicle 13, the third vehicle 14, and the fourth vehicle 15 are vehicles that run in formation, the first vehicle 12 is a leading vehicle, and the second vehicle 13, the third vehicle 14, and the fourth vehicle 15 are following vehicles. The fifth vehicle 16 is a non-convoy driving vehicle. In the above application scenario, the formation command may be initiated by the traffic guidance control system 10, or the roadside unit 11 may initiate the formation command to form a first vehicle 12, a second vehicle 13, a third vehicle 14, and a fourth vehicle 15 as shown in fig. 1.
Alternatively, the plurality of vehicles may be unmanned autonomous vehicles, autonomous vehicles equipped with Advanced Driver Assistance Systems (ADAS) Systems, or the like; the multiple roadside units 11 are arranged at intervals beside the road. The traffic guidance control system 10 and the road side unit 11 can communicate through V2I, the road side unit 11 and a plurality of autonomous vehicles can communicate through V2I, and each autonomous vehicle can communicate through V2V.
According to an embodiment of the application, the application provides a method for adjusting formation driving. As shown in fig. 2, the adjustment method for formation driving includes the following steps:
Step 201, receiving running state information broadcasted by front vehicles in formation running.
The method of the present embodiment is executed mainly by following vehicles in formation travel, such as the second vehicle 13, the third vehicle 14, and the fourth vehicle 15 shown in fig. 1. In the embodiment of the present application, the third vehicle 14 is taken as an execution subject of the method of the present embodiment for explanation, it should be understood that the third vehicle 14 is taken as an execution subject of the method of the present embodiment for illustration only, and the execution subject of the method of the present embodiment may also be another following vehicle in formation driving, which is not specifically limited in this embodiment of the present application.
For example, the present embodiment may receive the running state information of the vehicle located in front of the third vehicle 14 by the third vehicle 14. Alternatively, the third vehicle 14 may receive the running state information of the vehicle located in front of the third vehicle 14, may receive the running state information of the second vehicle 13 located in front of the third vehicle 14, or may receive the running state information of the first vehicle 12 located in front of the third vehicle 14.
optionally, in this embodiment, when the motion state of the front vehicle is about to change, or before the motion state of the front vehicle changes, the front vehicle broadcasts the driving state information, and at this time, other vehicles in formation driving can receive the driving state information broadcasted by the vehicle. The driving state information also needs to include a vehicle ID and a vehicle position so that the rear vehicle uniquely determines the vehicle from which the driving state information is transmitted, and thus determines whether the driving state of the vehicle needs to be adjusted. The vehicle ID may be information that the license plate number uniquely identifies the vehicle, or the like.
step 202, determining the running state change information of the front vehicle based on the running state information broadcasted by the front vehicle.
In an alternative embodiment, the preceding vehicle may directly broadcast the running state change information to the other vehicle, in which case the running state information is the moving state change information of the preceding vehicle. Specifically, in a case where it is determined that the running state of the preceding vehicle is about to change, determining running state change information of the preceding vehicle includes: in the case where it is determined that the running state of the preceding vehicle is about to change, the running state information broadcast by the preceding vehicle is taken as running state change information.
in another alternative embodiment, the preceding vehicle broadcasts the driving state information to the other vehicles, and the other vehicles determine the driving state change information of the preceding vehicle according to the driving state information broadcast by the preceding vehicle. At this time, the running state information is the moving state information of the preceding vehicle. For example, as shown in fig. 1, the speed of formation driving is V1, and the smooth driving is always maintained at the speed V1, at this time, the first vehicle 12 broadcasts a speed V2, and the speed V2 is greater than the speed V1, and the second vehicle 13, the third vehicle 14, and the fourth vehicle 15, after receiving the speed V2 broadcast by the first vehicle 12 and comparing V2 with V1, determine that the speed V2 is greater than the speed V1, and determine that the driving state change information of the first vehicle 12 is acceleration.
optionally, determining the driving state change information of the front vehicle based on the driving state information broadcasted by the front vehicle includes: determining whether a driving state of the preceding vehicle will be changed based on the driving state information broadcast by the preceding vehicle; in the case where it is determined that the running state of the preceding vehicle is about to change, running state change information of the preceding vehicle is determined.
And step 203, adjusting the running state of the following vehicle to correspondingly change based on the running state change information of the front vehicle.
And under the condition that the running state of the front vehicle is determined to be changed, adjusting the running state of the following vehicle according to the determined running state change information of the front vehicle so as to change correspondingly.
according to the embodiment of the application, on the basis that communication between vehicles can be realized in a V2V mode in a fleet running in a formation mode, running state information broadcasted by front vehicles in the formation running is received; determining running state change information of the preceding vehicle based on the running state information broadcasted by the preceding vehicle; and adjusting the running state of the vehicle to correspondingly change based on the running state change information of the front vehicle. In the driving process, the front vehicle can broadcast the current driving state information of the front vehicle or the next driving state information of the front vehicle to the rear vehicle in real time based on the V2V, so that the rear vehicle can know the driving state of the front vehicle in advance, and adjust the driving state of the front vehicle according to the driving state change of the front vehicle to change correspondingly, and the formation driving order is ensured.
Optionally, the driving state change information includes: acceleration information or deceleration information. Based on the running state change information of the front vehicle, adjusting the running state of the front vehicle to change correspondingly, comprising the following steps: determining a target speed of the preceding vehicle based on acceleration information or deceleration information broadcast by the preceding vehicle; adjust its speed to accelerate or decelerate to the target speed. For example, as shown in fig. 1, if the first vehicle 12 is accelerating or decelerating, the second, third and fourth vehicles 13, 14 and 15 behind the first vehicle 12 receive the acceleration information or deceleration information broadcast by the first vehicle 12, and determine that the first vehicle 12 is accelerating or preparing to accelerate at that time, the second, third and fourth vehicles 13, 14 and 15 also adjust their speeds to accelerate or decelerate.
optionally, the driving state change information includes: the braking force; adjusting the running state of the vehicle to change correspondingly based on the running state change information of the front vehicle, and the method comprises the following steps: determining whether the braking force broadcasted by the front vehicle exceeds a preset braking force; and under the condition that the braking force broadcasted by the front vehicle exceeds the preset braking force, controlling the following vehicle to brake. For example, as shown in fig. 1, if a first vehicle 12 intends to brake, after receiving brake information broadcast by the first vehicle 12, a second vehicle 13, a third vehicle 14 and a fourth vehicle 15 behind the first vehicle 12 determine that the first vehicle 12 is ready to brake at this time, the second vehicle 13, the third vehicle 14 and the fourth vehicle 15 also perform corresponding braking, so as to maintain the formation traveling order and avoid traffic accidents caused by the fact that the traveling state of the vehicle ahead cannot be known in advance. Further, when the second vehicle 13, the third vehicle 14, and the fourth vehicle 15 behind the first vehicle 12 determine that the first vehicle 12 is an emergency brake, the rear vehicle also brakes, and when the second vehicle 13, the third vehicle 14, and the fourth vehicle 15 behind the first vehicle 12 determine that the first vehicle 12 is not an emergency brake, the rear vehicle may decelerate without braking.
The embodiment determines whether the braking force broadcasted by the front vehicle exceeds the preset braking force; and braking under the condition that the braking force broadcasted by the front vehicle exceeds the preset braking force. The brake area of the front vehicle is divided into emergency brake and non-emergency brake through the preset brake force, so that the situation that the energy consumption is too high due to frequent brake of the rear vehicle can be avoided.
optionally, the motion state information includes: location information. Based on the running state change information of the front vehicle, adjusting the running state of the front vehicle to change correspondingly, comprising the following steps: determining a distance between the following vehicle and the preceding vehicle based on the position information of the preceding vehicle and the position information of the following vehicle itself; and under the condition that the distance is larger than the preset vehicle following distance, controlling the following vehicle to increase the speed of the following vehicle so as to enable the distance between the following vehicle and the front vehicle to reach the preset vehicle following distance.
Optionally, between saidUnder the condition that the distance is greater than the preset following distance, controlling the following vehicle to increase the speed of the following vehicle so as to enable the distance between the following vehicle and the front vehicle to reach the preset following distance, and the following method comprises the following steps of: under the condition that the distance is larger than the preset vehicle following distance, the vehicle increases the speed of the vehicle to run; determining a first target speed based on a current speed of the preceding vehicle, a current speed of the following vehicle, a target speed of the following vehicle, and a distance between the following vehicle and the preceding vehicle when the following vehicle travels to reach an adjusted distance from the preceding vehicle; and controlling the following vehicle to perform deceleration running and reducing the running speed to a first target speed. Specifically, the first target speed is determined based on the speed of the preceding vehicle, the speed of the vehicle, and the distance between the vehicle and the preceding vehicle, and may be determined according to the following formula (1):
in the formula, vfIs the current speed, v, of the preceding vehiclebIs the current speed, v, of the vehicle at the current sidetTarget speed of the current preceding vehicle, dcIs the distance between the preceding vehicle and the preceding vehicle, daTo adjust the distance, dtThe target following distance is obtained.
optionally, when the distance is smaller than or equal to a preset following distance, reducing the speed of the following vehicle to drive so that the distance between the following vehicle and the vehicle ahead reaches the preset following distance, including: determining a second target speed based on the current speed of the preceding vehicle, the current speed of the following vehicle, the target speed of the following vehicle, and the distance between the following vehicle and the preceding vehicle; and performing deceleration running and reducing the running speed of the following vehicle to the second target speed. In the present embodiment, similarly, the second target speed may be calculated according to the above formula (1).
Optionally, the driving state change information includes: lane change information; based on the running state change information of the front vehicle, adjusting the running state of the front vehicle to change correspondingly, comprising the following steps: lane change is performed based on lane change information broadcast by the preceding vehicle.
optionally, the lane change information includes: track information; the lane change is performed based on lane change information broadcasted by a front vehicle, and the lane change comprises the following steps: receiving traveling track information about a preceding vehicle broadcasted by the preceding vehicle; adjusting the running track information of the following vehicle based on the running track information of the front vehicle; and driving based on the adjusted driving track information. In the automatic driving, a trajectory line is planned for each vehicle, for example, as shown in fig. 3, the trajectory line includes a plurality of trajectory points, each trajectory point has coordinate information and time information, and represents that the vehicle needs to reach the trajectory point corresponding to the time at the corresponding time, so as to complete the automatic driving.
Optionally, the adjusting the driving track information of the vehicle based on the driving track information of the vehicle in front includes: splicing the running track of the front vehicle received at the current time with the running track of the front vehicle received at the previous time; and taking the spliced running track information as the adjusted track information. For example, as shown in fig. 3, from t0 to t2, it can be considered that the second vehicle 13 plans its own trajectory information based on the trajectory information that was broadcast by the first vehicle 12 the previous time, from t2 to t4, it can be considered that the second vehicle 13 plans its own track information according to the track information currently broadcast by the first vehicle 12, and the track information from t0 to t4 can be obtained after splicing the track information, in the above process, when each vehicle plans its own track information according to the track information broadcast by the preceding vehicle, it needs to consider the following distance between itself and the vehicle broadcasting the track information, for example, when planning the own trajectory information based on the trajectory information broadcast by the first vehicle 12, the second vehicle 13 needs to consider twice the following distance, the third vehicle 14 needs to consider twice the following distance when planning its own trajectory information based on the trajectory information broadcast by the first vehicle 12.
Optionally, the lane change information includes: track information; the lane change is performed based on lane change information broadcasted by a front vehicle, and the lane change comprises the following steps: receiving position information of a front vehicle broadcasted by the front vehicle in real time; determining a driving route between the current position of the front vehicle and the current position of the following vehicle based on the position information of the front vehicle and the position information of the following vehicle; travel based on the travel route
According to the embodiment of the application, the application also provides an adjusting device for formation driving. As shown in fig. 4, the adjustment device 40 for formation travel includes: a receiving module 41, a determining module 42 and an adjusting module 43; the receiving module 41 is used for receiving the running state information broadcasted by the front vehicles during formation running; a determination module 42 for determining the running state change information of the preceding vehicle based on the running state information broadcasted by the preceding vehicle; and an adjusting module 43, configured to adjust the running state of the following vehicle itself to change accordingly based on the running state change information of the preceding vehicle.
optionally, the driving state information of the front vehicle includes movement state change information; the determining module 42 determines the driving state change information of the front vehicle based on the driving state information broadcasted by the front vehicle, and specifically includes: and determining the motion state change information broadcasted by the front vehicle as the running state change information of the front vehicle.
optionally, the driving state information of the front vehicle includes motion state information; the determining module 42 determines the driving state change information of the front vehicle based on the driving state information broadcasted by the front vehicle, and specifically includes: comparing the motion state information broadcasted by the front vehicle at the current time with the motion state information broadcasted at the previous time; and determining the running state change information of the front vehicle according to the comparison result.
optionally, the driving state change information includes: acceleration information or deceleration information; the determining module 42 determines the driving state change information of the front vehicle based on the driving state information broadcasted by the front vehicle, and specifically includes: determining a target speed of a preceding vehicle based on acceleration information or deceleration information broadcast by the preceding vehicle; adjusting the speed of the self-body to accelerate or decelerate to the target speed.
Optionally, the driving state change information includes: the braking force; the determining module 42 determines the driving state change information of the front vehicle based on the driving state information broadcasted by the front vehicle, and specifically includes: determining whether the braking force broadcasted by the front vehicle exceeds a preset braking force; and under the condition that the braking force broadcasted by the front vehicle exceeds the preset braking force, controlling the following vehicle to brake.
optionally, the motion state information includes: location information; the determining module 42 determines the driving state change information of the front vehicle based on the driving state information broadcasted by the front vehicle, and specifically includes: determining a distance between the following vehicle and the preceding vehicle based on the position information of the preceding vehicle and the position information of the following vehicle itself; and under the condition that the distance is larger than the preset vehicle following distance, controlling the following vehicle to increase the speed of the following vehicle so as to enable the distance between the following vehicle and the front vehicle to reach the preset vehicle following distance.
Optionally, the determining module 42, when controlling the following vehicle to increase its own speed so that the distance between the following vehicle and the vehicle ahead reaches the preset following distance, specifically includes: under the condition that the distance is larger than the preset vehicle following distance, the vehicle increases the speed of the vehicle to run; determining a first target speed based on a current speed of a front vehicle, a current speed of the vehicle, a target speed of the vehicle and a distance between the vehicle and the front vehicle when the vehicle travels until the distance between the vehicle and the front vehicle reaches an adjustment distance; and performing deceleration running and reducing the running speed to the first target speed.
optionally, the motion state information includes: location information; the determining module 42 determines the driving state change information of the front vehicle based on the driving state information broadcasted by the front vehicle, and specifically includes: determining a distance between the following vehicle and the preceding vehicle based on the position information of the preceding vehicle and the position information of the following vehicle itself; and under the condition that the distance is smaller than or equal to a preset vehicle following distance, reducing the speed of the following vehicle to drive so that the distance between the following vehicle and the front vehicle reaches the preset vehicle following distance.
Optionally, when the distance is smaller than or equal to a preset following distance, the determining module 42 reduces the speed of the following vehicle to drive so that the distance between the following vehicle and the vehicle ahead reaches the preset following distance, specifically including: determining a second target speed based on the current speed of the preceding vehicle, the current speed of the following vehicle, the target speed of the following vehicle, and the distance between the following vehicle and the preceding vehicle; and performing deceleration running and reducing the running speed of the following vehicle to the second target speed.
Optionally, the driving state change information includes: lane change information; the adjusting module 43 adjusts the driving state of the vehicle to change correspondingly based on the driving state change information of the vehicle in front, and specifically includes: and changing lanes based on the lane change information broadcasted by the front vehicle.
optionally, the lane change information includes: track information; the adjusting module 43, when changing lanes based on the lane change information broadcasted by the preceding vehicle, specifically includes: receiving traveling track information about a preceding vehicle broadcasted by the preceding vehicle; adjusting the running track information of the following vehicle based on the running track information of the front vehicle; and driving based on the adjusted driving track information.
Optionally, when the adjusting module 43 adjusts the track information of the vehicle based on the traveling track information of the vehicle ahead, the adjusting module specifically includes: splicing the running track information of the front vehicle received at the current time and the running track corresponding to the running track information of the front vehicle received at the previous time; and taking the spliced running track information as the adjusted running track information.
optionally, the lane change information includes: track information; the adjusting module 43 changes lanes based on the lane change information broadcasted by the preceding vehicle, and specifically includes: receiving position information of the front vehicle broadcasted by the front vehicle in real time; determining a driving route between the current position of the front vehicle and the current position of the following vehicle based on the position information of the front vehicle and the position information of the following vehicle; and driving based on the driving route.
The adjustment device for formation driving shown in fig. 4 can be used to implement the technical solution of the above method embodiment, and the implementation principle and technical effect are similar, and are not described herein again.
According to the embodiment of the application, on the basis that communication between vehicles can be realized in a V2V mode in a fleet running in a formation mode, running state information broadcasted by front vehicles in the formation running is received; determining running state change information of the preceding vehicle based on the running state information broadcasted by the preceding vehicle; and adjusting the running state of the vehicle to correspondingly change based on the running state change information of the front vehicle. In the driving process, the front vehicle can broadcast the current driving state information of the front vehicle or the next driving state information of the front vehicle to the rear vehicle in real time based on the V2V, so that the rear vehicle can know the driving state of the front vehicle in advance, and adjust the driving state of the front vehicle according to the driving state change of the front vehicle to change correspondingly, and the formation driving order is ensured.
according to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
Fig. 5 is a block diagram of an electronic device according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
as shown in fig. 5, the electronic apparatus includes: one or more processors 51, memory 52, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 5, one processor 51 is taken as an example.
The memory 52 is a non-transitory computer readable storage medium provided herein. The memory stores instructions executable by at least one processor to cause the at least one processor to perform the method for adjusting formation driving provided by the present application. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to execute the adjustment method of formation driving provided by the present application.
The memory 52 is a non-transitory computer readable storage medium, and can be used for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (for example, the receiving module 41, the determining module 42, and the adjusting module 43 shown in fig. 4) corresponding to the adjustment method of formation driving in the embodiment of the present application. The processor 51 executes various functional applications of the server and data processing, i.e., implements the adjustment method of formation driving in the above-described method embodiment, by running the non-transitory software programs, instructions, and modules stored in the memory 52.
The memory 52 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the electronic device of the adjustment method of the formation driving, and the like. Further, the memory 52 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 52 optionally includes a memory remotely located from the processor 51, and these remote memories may be connected over a network to the electronic device of the adjustment method of the formation travel. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device of the adjustment method of formation driving may further include: an input device 53 and an output device 54. The processor 51, the memory 52, the input device 53 and the output device 54 may be connected by a bus or other means, and fig. 5 illustrates the connection by a bus as an example.
The input device 53 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic apparatus of the formation driving adjustment method, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or the like. The output devices 54 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
these computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to the technical scheme of the embodiment of the application, on the basis that communication between vehicles can be realized in a V2V mode in a fleet running in formation, running state information broadcasted by front vehicles in the formation running is received; determining running state change information of the preceding vehicle based on the running state information broadcasted by the preceding vehicle; and adjusting the running state of the vehicle to correspondingly change based on the running state change information of the front vehicle. In the driving process, the front vehicle can broadcast the current driving state information of the front vehicle or the next driving state information of the front vehicle to the rear vehicle in real time based on the V2V, so that the rear vehicle can know the driving state of the front vehicle in advance, and adjust the driving state of the front vehicle according to the driving state change of the front vehicle to change correspondingly, and the formation driving order is ensured.
it should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (31)

1. a formation driving adjustment method is applied to following vehicles in formation driving, the following vehicles and front vehicles in formation driving are communicated through a V2V mode, and all the vehicles in formation driving are automatic driving vehicles, and the method comprises the following steps:
receiving running state information broadcasted by the front vehicles in formation running;
Determining travel state change information of the preceding vehicle based on the travel state information broadcast by the preceding vehicle;
adjusting the running state of the following vehicle itself to make a corresponding change based on the running state change information of the preceding vehicle.
2. The method according to claim 1, characterized in that the running state information of the preceding vehicle includes moving state change information;
The determining of the running state change information of the preceding vehicle based on the running state information broadcasted by the preceding vehicle includes:
and determining the motion state change information broadcasted by the front vehicle as the running state change information of the front vehicle.
3. The method according to claim 1, characterized in that the running state information of the preceding vehicle includes moving state information;
the determining of the running state change information of the preceding vehicle based on the running state information broadcasted by the preceding vehicle includes:
Comparing the motion state information broadcasted by the front vehicle at the current time with the motion state information broadcasted at the previous time;
and determining the running state change information of the front vehicle according to the comparison result.
4. The method according to any one of claims 1 to 3, wherein the running state change information includes: acceleration information or deceleration information;
The adjusting the driving state of the vehicle based on the driving state change information of the front vehicle to make corresponding changes comprises:
Determining a target speed of a preceding vehicle based on acceleration information or deceleration information broadcast by the preceding vehicle;
Adjusting the speed of the self-body to accelerate or decelerate to the target speed.
5. The method according to any one of claims 1 to 3, wherein the running state change information includes: the braking force;
the adjusting the driving state of the vehicle based on the driving state change information of the front vehicle to make corresponding changes comprises:
determining whether the braking force broadcast by the front vehicle exceeds a preset braking force;
And under the condition that the braking force broadcasted by the front vehicle exceeds the preset braking force, controlling the following vehicle to brake.
6. The method of claim 3, wherein the motion state information comprises: location information;
the adjusting the driving state of the vehicle based on the driving state change information of the front vehicle to make corresponding changes comprises:
Determining a distance between the following vehicle and the preceding vehicle based on the position information of the preceding vehicle and the position information of the following vehicle itself;
And under the condition that the distance is larger than the preset vehicle following distance, controlling the following vehicle to increase the speed of the following vehicle so as to enable the distance between the following vehicle and the front vehicle to reach the preset vehicle following distance.
7. the method according to claim 6, wherein in the case that the distance is larger than a preset following distance, controlling the following vehicle to increase its speed so that the distance between the following vehicle and the preceding vehicle reaches the preset following distance comprises:
Under the condition that the distance is larger than the preset following distance, the following vehicle increases the speed of the following vehicle to drive;
Determining a first target speed based on a current speed of the preceding vehicle, a current speed of the following vehicle, a target speed of the following vehicle, and a distance between the following vehicle and the preceding vehicle when the following vehicle travels to reach an adjusted distance from the preceding vehicle;
And controlling the following vehicle to perform deceleration running and reducing the running speed to the first target speed.
8. the method of claim 3, wherein the motion state information comprises: location information;
The adjusting of the driving state of the vehicle based on the driving state information broadcasted by the front vehicle comprises:
Determining a distance between the following vehicle and the preceding vehicle based on the position information of the preceding vehicle and the position information of the following vehicle itself;
and under the condition that the distance is smaller than or equal to a preset vehicle following distance, reducing the speed of the following vehicle to drive so that the distance between the following vehicle and the front vehicle reaches the preset vehicle following distance.
9. The method according to claim 8, wherein, in the case where the distance is less than or equal to a preset following distance, reducing the speed of the following vehicle itself to travel so that the distance between the following vehicle and the preceding vehicle reaches the preset following distance includes:
Determining a second target speed based on the current speed of the preceding vehicle, the current speed of the following vehicle, the target speed of the following vehicle, and the distance between the following vehicle and the preceding vehicle;
and performing deceleration running and reducing the running speed of the following vehicle to the second target speed.
10. The method according to claim 1, wherein the running state change information includes: lane change information;
The adjusting the driving state of the vehicle based on the driving state change information of the front vehicle to make corresponding changes comprises:
And changing lanes based on the lane change information broadcasted by the front vehicle.
11. the method of claim 10, wherein the lane change information comprises: track information;
The lane change based on the lane change information broadcasted by the front vehicle comprises:
Receiving traveling track information about the preceding vehicle broadcasted by the preceding vehicle;
Adjusting the running track information of the following vehicle based on the running track information of the front vehicle;
And driving based on the adjusted driving track information.
12. The method according to claim 11, wherein the adjusting of the trajectory information of the preceding vehicle based on the travel trajectory information thereof includes:
splicing the currently received running track information of the front vehicle with the running track corresponding to the previously received running track information of the front vehicle;
and taking the spliced running track as the adjusted running track information.
13. The method of any of claims 10-12, wherein the lane change information comprises: track information;
the lane change based on the lane change information broadcasted by the front vehicle comprises:
Receiving position information of the front vehicle broadcasted by the front vehicle in real time;
determining a driving route between the current position of the front vehicle and the current position of the following vehicle based on the position information of the front vehicle and the position information of the following vehicle;
and driving based on the driving route.
14. an adjustment device for formation driving, comprising:
the receiving module is used for receiving the running state information broadcasted by the front vehicles in formation running;
A determination module configured to determine travel state change information of the preceding vehicle based on the travel state information broadcast by the preceding vehicle;
And the adjusting module is used for adjusting the running state of the following vehicle to correspondingly change based on the running state change information of the front vehicle.
15. the apparatus according to claim 14, characterized in that the running state information of the preceding vehicle includes moving state change information;
The determining module determines the running state change information of the front vehicle based on the running state information broadcasted by the front vehicle, and specifically comprises:
And determining the motion state change information broadcasted by the front vehicle as the running state change information of the front vehicle.
16. The apparatus according to claim 14, characterized in that the running state information of the preceding vehicle includes moving state information;
The determining module determines the running state change information of the front vehicle based on the running state information broadcasted by the front vehicle, and specifically comprises:
Comparing the motion state information broadcasted by the front vehicle at the current time with the motion state information broadcasted at the previous time;
And determining the running state change information of the front vehicle according to the comparison result.
17. The apparatus according to any one of claims 14 to 16, wherein the running state change information includes: acceleration information or deceleration information;
the determining module determines the running state change information of the front vehicle based on the running state information broadcasted by the front vehicle, and specifically comprises:
determining a target speed of a preceding vehicle based on acceleration information or deceleration information broadcast by the preceding vehicle;
adjusting the speed of the self-body to accelerate or decelerate to the target speed.
18. The apparatus according to any one of claims 14 to 16, wherein the running state change information includes: the braking force;
The determining module determines the running state change information of the front vehicle based on the running state information broadcasted by the front vehicle, and specifically comprises:
Determining whether the braking force broadcast by the front vehicle exceeds a preset braking force;
And under the condition that the braking force broadcasted by the front vehicle exceeds the preset braking force, controlling the following vehicle to brake.
19. The apparatus of claim 16, wherein the motion state information comprises: location information;
the determining module determines the running state change information of the front vehicle based on the running state information broadcasted by the front vehicle, and specifically comprises:
determining a distance between the following vehicle and the preceding vehicle based on the position information of the preceding vehicle and the position information of the following vehicle itself;
And under the condition that the distance is larger than the preset vehicle following distance, controlling the following vehicle to increase the speed of the following vehicle so as to enable the distance between the following vehicle and the front vehicle to reach the preset vehicle following distance.
20. the apparatus according to claim 19, wherein the determining module, when controlling the following vehicle to increase its speed to make the distance between the following vehicle and the preceding vehicle reach a preset following distance if the distance is greater than the preset following distance, specifically includes:
under the condition that the distance is larger than the preset vehicle following distance, the vehicle increases the speed of the vehicle to run;
determining a first target speed based on a current speed of a front vehicle, a current speed of the vehicle, a target speed of the vehicle and a distance between the vehicle and the front vehicle when the vehicle travels until the distance between the vehicle and the front vehicle reaches an adjustment distance;
And performing deceleration running and reducing the running speed to the first target speed.
21. the apparatus of claim 16, wherein the motion state information comprises: location information;
the determining module determines the running state change information of the front vehicle based on the running state information broadcasted by the front vehicle, and specifically comprises:
Determining a distance between the following vehicle and the preceding vehicle based on the position information of the preceding vehicle and the position information of the following vehicle itself;
and under the condition that the distance is smaller than or equal to a preset vehicle following distance, reducing the speed of the following vehicle to drive so that the distance between the following vehicle and the front vehicle reaches the preset vehicle following distance.
22. the apparatus according to claim 21, wherein the determining module, when the following vehicle travels by reducing its own speed so that the distance between the following vehicle and the preceding vehicle reaches a preset following distance when the distance is less than or equal to the preset following distance, specifically includes:
Determining a second target speed based on the current speed of the preceding vehicle, the current speed of the following vehicle, the target speed of the following vehicle, and the distance between the following vehicle and the preceding vehicle;
And performing deceleration running and reducing the running speed of the following vehicle to the second target speed.
23. the apparatus according to claim 14, wherein the running state change information includes: lane change information;
The adjusting module adjusts the driving state of the adjusting module based on the driving state change information of the front vehicle so as to perform corresponding change, and specifically comprises:
And changing lanes based on the lane change information broadcasted by the front vehicle.
24. the apparatus of claim 23, wherein the lane change information comprises: track information;
the adjusting module is based on the lane change information broadcasted by the front vehicle, and specifically comprises the following steps:
Receiving traveling track information about a preceding vehicle broadcasted by the preceding vehicle;
Adjusting the running track information of the following vehicle based on the running track information of the front vehicle;
And driving based on the adjusted driving track information.
25. The apparatus according to claim 24, wherein the adjusting module, when adjusting the trajectory information of the preceding vehicle based on the travel trajectory information of the preceding vehicle, specifically includes:
Splicing the running track information of the front vehicle received at the current time and the running track corresponding to the running track information of the front vehicle received at the previous time;
and taking the spliced running track information as the adjusted running track information.
26. The apparatus of any one of claims 23-25, wherein the lane change information comprises: track information;
the adjusting module changes lanes based on the lane change information broadcasted by the front vehicle, and specifically comprises:
Receiving position information of the front vehicle broadcasted by the front vehicle in real time;
Determining a driving route between the current position of the front vehicle and the current position of the following vehicle based on the position information of the front vehicle and the position information of the following vehicle;
and driving based on the driving route.
27. an adjustment device for formation driving, characterized by comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-13.
28. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-13.
29. A method of adjusting formation driving, applied to an autonomous vehicle, the method comprising:
Receiving the running state information broadcast by other vehicles in formation running;
and adjusting the running state of the automatic driving vehicle based on the running state information broadcasted by the other vehicles.
30. The method of claim 29, wherein said adjusting the autonomous vehicle's own driving status based on the driving status information broadcast by the other vehicles comprises:
Determining whether the self-driving state of the automatic driving vehicle needs to be adjusted or not based on the running state information broadcasted by the other vehicles;
And adjusting the running state of the automatic driving vehicle when the running state of the automatic driving vehicle needs to be adjusted.
31. The method according to claim 29 or 30, characterized in that the driving state information comprises: location information;
the determining whether the own driving state needs to be adjusted based on the driving state information broadcasted by the other vehicles includes:
Determining whether the other vehicle is located in front of the autonomous vehicle based on the location information of the other vehicle;
determining that the travel state of the autonomous vehicle itself needs to be adjusted if the other vehicle is located in front of the autonomous vehicle.
CN201911039500.5A 2019-10-29 2019-10-29 method, device and equipment for adjusting formation driving and computer readable storage medium Pending CN110570648A (en)

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Application publication date: 20191213