CN110843868A

CN110843868A - Vehicle control method, vehicle control device, computer equipment and storage medium

Info

Publication number: CN110843868A
Application number: CN201911044071.0A
Authority: CN
Inventors: 林云志; 罗兵; 蒋先进; 范建伟; 罗金
Original assignee: China Railway Electrification Engineering Group Co Ltd
Current assignee: China Railway Electrification Engineering Group Co Ltd
Priority date: 2019-10-30
Filing date: 2019-10-30
Publication date: 2020-02-28

Abstract

The application discloses a vehicle control method, a device, computer equipment and a storage medium, which relate to the technical field of rail transit, wherein the vehicle control method is used for controlling vehicles of a fleet, the fleet comprises at least one controlled vehicle and at least two control vehicles, and the method comprises the following steps: receiving operation information sent by each controlled vehicle, wherein the operation information comprises the speed, the acceleration and the position of the vehicle; and for each controlled vehicle included in the fleet, transmitting the operation information of the vehicle before the controlled vehicle to the controlled vehicle, so that the controlled vehicle adjusts the speed and the acceleration according to the operation information of the vehicle before. Therefore, in the embodiment of the application, each control vehicle can realize the control of each controlled vehicle in the fleet. Compared with the prior art, when one control vehicle breaks down, the other control vehicles can independently complete the control of the fleet, so that the problem of single-point failure in the prior art can be solved.

Description

Vehicle control method, vehicle control device, computer equipment and storage medium

Technical Field

The present application relates to the field of rail transit technologies, and in particular, to a vehicle control method and apparatus, a computer device, and a storage medium.

Background

The conventional track traffic Control System comprises a Control center and a CBTC (Communication Based Train Control System), wherein the CBTC comprises an onboard Controller VOBC (video On-Board Controller, VOBC for short) and a Zone Controller ZC (Zone Controller, ZC for short), the onboard Controller VOBC is installed On a Vehicle, and the Zone Controller ZC is installed On the ground.

The control process of the rail transit control system on the vehicle is as follows: the control center configures a line jurisdiction range to each zone controller ZC in the CBTC system, the zone controllers ZC receive vehicle operation information sent by each vehicle in the line jurisdiction range and send movement authorization information to each vehicle according to the vehicle operation information of each vehicle, and the movement authorization information comprises the speed, the acceleration and the safe operation distance of the vehicle. The vehicle running on the track can adjust the speed and acceleration of the vehicle according to the movement authorization information sent by the ZC so as to normally run.

However, in the above-described technology, the ZC needs to have a strong data processing capability and undertake a large security responsibility. When the ZC breaks down, all vehicles in the jurisdiction range of the ZC line implement emergency braking measures, so that the problem of single-point failure exists, and the normal running of the vehicles is greatly influenced.

Disclosure of Invention

In view of the above, it is necessary to provide an uplink access interference avoidance method, apparatus, computer device and storage medium for solving the above-mentioned problems of communication quality degradation and even communication interruption of the UE.

In a first aspect, an embodiment of the present application provides a vehicle control method, used in control vehicles of a vehicle fleet, where the vehicle fleet includes at least one controlled vehicle and at least two control vehicles, and the method includes:

receiving operation information sent by each controlled vehicle, wherein the operation information comprises the speed, the acceleration and the position of the vehicle; and for each controlled vehicle included in the fleet, transmitting the operation information of the vehicle before the controlled vehicle to the controlled vehicle, so that the controlled vehicle adjusts the speed and the acceleration according to the operation information of the vehicle before.

In one embodiment, before receiving the operation information sent by each controlled vehicle, the method further comprises: broadcasting identity information of the control vehicle; and receiving an identity registration request sent by the response vehicle according to the identity information of the control vehicle, and using the response vehicle sending the identity registration request as a controlled vehicle of the fleet.

In one embodiment, the method further comprises: after a dequeue request sent by a controlled vehicle is received, the controlled vehicle sending the dequeue request is logged out from the motorcade; the dequeue request is used to indicate that the controlled vehicle is to be disengaged from the fleet.

In one embodiment, the method further comprises: and sending a dequeue message to the target controlled vehicle, wherein the dequeue message is used for indicating that the control vehicle is separated from the fleet and broadcasting the identity information of the target controlled vehicle to other vehicles of the fleet by the target controlled vehicle.

In one embodiment, the method further comprises: when the motorcade is communicated with other motorcades, the identity information broadcasted by the control vehicles of the other motorcades is received, and communication connection is established with the other motorcades according to the identity information broadcasted by the control vehicles of the other motorcades.

In one embodiment, the method further comprises: after receiving an enqueuing request sent by an out-of-queue vehicle, sending an enqueuing allowing message to the out-of-queue vehicle according to the enqueuing request, and calculating operation information of a first controlled vehicle and operation information of a second controlled vehicle related to the out-of-queue vehicle according to the operation information of the out-of-queue vehicle, wherein the first controlled vehicle is a vehicle behind the out-of-queue vehicle after the out-of-queue vehicle joins in the fleet vehicle, and the second controlled vehicle is a vehicle ahead of the out-of-queue vehicle after the out-of-queue vehicle joins in the fleet vehicle; and sending the running information of the first controlled vehicle to the first controlled vehicle so that the first controlled vehicle runs according to the running information of the first controlled vehicle, and sending the running information of the second controlled vehicle to the second controlled vehicle so that the second controlled vehicle runs according to the running information of the second controlled vehicle.

In one embodiment, the method further comprises: and when the control vehicle does not receive the running information of the controlled vehicle within the preset time, judging that the controlled vehicle breaks down, and sending the identity information of the broken-down controlled vehicle to the control center.

In one embodiment, the method further comprises: when the received running information sent by the controlled vehicle has a fault, the running information of the controlled vehicle at the current moment is calculated according to the running information of the controlled vehicle at the previous moment and the running information of the vehicle before the controlled vehicle, and a running control instruction is sent to the controlled vehicle according to the running information of the controlled vehicle at the current moment, wherein the running control instruction comprises the running information of the controlled vehicle at the current moment, and the running control instruction is used for instructing the controlled vehicle to adjust the speed and the acceleration according to the received running information.

In a second aspect, an embodiment of the present application provides a vehicle control method, for use in controlled vehicles of a vehicle fleet, where the vehicle fleet includes at least one controlled vehicle and at least two control vehicles, the method including:

for each controlled vehicle, receiving the running information of the vehicle before the controlled vehicle, which is sent by each controlled vehicle, and calculating the running information of the controlled vehicle according to the running information of the vehicle before the controlled vehicle; and transmitting the running information of the controlled vehicle to each control vehicle of the at least two control vehicles.

In one embodiment, before receiving, for each controlled vehicle, the operation information of the vehicle preceding the controlled vehicle sent by each controlled vehicle, the method further includes:

the identity information broadcasted by each of the at least two control vehicles is received, and an identity registration request is sent to each of the at least two control vehicles according to the identity information.

In one embodiment, the method further comprises:

and sending a dequeue request to each control vehicle, wherein the dequeue request is used for indicating that each control vehicle logs out of the fleet of vehicles to be controlled, and the vehicles are requested to send the dequeue requests.

In one embodiment, the method further comprises:

receiving a dequeue message sent by any one control vehicle of at least two control vehicles, wherein the dequeue message is used for indicating that the control vehicle sending the dequeue message is separated from the fleet;

identity information is broadcast to other vehicles of the fleet in accordance with the dequeue message.

In a third aspect, an embodiment of the present application provides a vehicle control apparatus, for use in control vehicles of a fleet of vehicles, where the fleet of vehicles includes at least one controlled vehicle and at least two control vehicles, the apparatus including:

the first receiving module is used for receiving operation information sent by each controlled vehicle, and the operation information comprises the speed, the acceleration and the position of the vehicle;

the first sending module is used for sending the running information of a previous vehicle of the controlled vehicle to the controlled vehicle for each controlled vehicle in the fleet so that the controlled vehicle can adjust the speed and the acceleration according to the running information of the previous vehicle.

In a fourth aspect, an embodiment of the present application provides a vehicle control apparatus for use in a controlled vehicle of a fleet of vehicles, the fleet including at least one controlled vehicle and at least two control vehicles, the apparatus including:

the second receiving module is used for receiving the running information of the vehicle before the controlled vehicle, which is sent by each controlled vehicle, for each controlled vehicle, and calculating the running information of the controlled vehicle according to the running information of the vehicle before the controlled vehicle;

and the second sending module is used for sending the running information of the controlled vehicle to each of the at least two control vehicles.

In a fifth aspect, there is provided a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, performs the steps of any of the methods of the first aspect. Alternatively, the computer program realizes the steps of any of the methods of the second aspect described above when executed by the processor.

A sixth aspect provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the methods of the first aspect. Alternatively, the program realizes the steps of any of the methods of the second aspect described above when executed by a processor.

The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:

the vehicle control method, the vehicle control device, the computer equipment and the storage medium can solve the problem of single-point failure in the prior art. In an embodiment of the present application, a vehicle fleet includes at least one controlled vehicle and at least two control vehicles, and the vehicle control method is applied to the control vehicles of the vehicle fleet, and the method includes: the control vehicle receives the running information sent by each controlled vehicle, and the running information comprises the speed, the acceleration and the position of the controlled vehicle. For each controlled vehicle included in the fleet, the control vehicle sends the running information of the vehicle before the controlled vehicle to the controlled vehicle, so that the controlled vehicle adjusts the speed and the acceleration of the controlled vehicle according to the running information of the vehicle before. Therefore, in the embodiment of the application, each control vehicle in at least two control vehicles in the fleet can receive the operation information sent by each controlled vehicle in the fleet and can send the operation information of the previous vehicle to each controlled vehicle, and the controlled vehicle can adjust the speed and the acceleration of the controlled vehicle according to the operation information of the previous vehicle, so that each control vehicle can control each controlled vehicle in the fleet. Compared with the prior art, when the ZC breaks down, all vehicles on a line in the jurisdiction of the ZC can be emergently braked, in the technical scheme of the application, when one control vehicle breaks down, the other control vehicle can independently complete control over a fleet, and therefore the problem of single-point failure in the prior art can be solved.

Drawings

FIG. 1 is a schematic diagram of an implementation environment of a vehicle control method according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of another implementation environment of a vehicle control method according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of an interior of a vehicle according to an embodiment of the present disclosure;

FIG. 4 is a flow chart of a vehicle control method provided by an embodiment of the present application;

FIG. 5 is a flow chart of another vehicle control method provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of a controlled vehicle dequeuing provided by an embodiment of the application;

FIG. 7 is a schematic diagram of controlling vehicle dequeuing according to an embodiment of the present application;

FIG. 8 is a schematic diagram of out-of-team vehicle enqueuing as provided by an embodiment of the present application;

FIG. 9 is a schematic diagram of a communication failure of a controlled vehicle according to an embodiment of the present application;

FIG. 10 is a schematic diagram of controlling a vehicle to malfunction according to an embodiment of the present application;

FIG. 11 is a flow chart of another vehicle control method provided by an embodiment of the present application;

fig. 12 is a block diagram of a vehicle control device according to an embodiment of the present application;

fig. 13 is a block diagram of a vehicle control device according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The track traffic control system is a system for controlling operation vehicles to run on a specific track, and the existing track traffic control system comprises a control center and a CBTC (communication based train control) system, wherein the CBTC system comprises a vehicle-mounted controller VOBC and a zone controller ZC, the vehicle-mounted controller VOBC is installed on a vehicle, and the zone controller ZC is installed on the ground.

The control process of the rail transit control system on the vehicle is as follows: the control center configures a line jurisdiction range to each zone controller ZC in the CBTC system, the zone controllers ZC receive vehicle operation information sent by each vehicle in the line jurisdiction range and send movement authorization information to each vehicle according to the vehicle operation information of each vehicle, and the movement authorization information comprises the speed, the acceleration and the safe operation distance of the vehicle. The vehicle running on the track can adjust the speed and the acceleration of the vehicle according to the movement authorization information sent by the ZC.

However, in the above technique, the ZC needs to calculate the movement authorization information for each vehicle in the line jurisdiction, and the calculation load is large. Moreover, the ZC needs to constantly transmit the movement authorization information to each vehicle in the line jurisdiction, and thus the communication load is large. Therefore, in the above-described technology, the ZC needs to have a strong data processing capability and to assume a large security responsibility. When the ZC breaks down, all vehicles in the jurisdiction range of the ZC line implement emergency braking measures, so that the problem of single-point failure exists, and the normal running of the vehicles is greatly influenced.

The embodiment of the application provides a vehicle control method, which can solve the problem of single-point failure in the prior art. In an embodiment of the present application, a vehicle fleet includes at least one controlled vehicle and at least two control vehicles, and the vehicle control method is applied to the control vehicles of the vehicle fleet, and the method includes: the control vehicle receives the running information sent by each controlled vehicle, and the running information comprises the speed, the acceleration and the position of the controlled vehicle. For each controlled vehicle included in the fleet, the control vehicle sends the running information of the vehicle before the controlled vehicle to the controlled vehicle, so that the controlled vehicle adjusts the speed and the acceleration of the controlled vehicle according to the running information of the vehicle before. Therefore, in the embodiment of the application, each control vehicle in at least two control vehicles in the fleet can receive the operation information sent by each controlled vehicle in the fleet and can send the operation information of the previous vehicle to each controlled vehicle, and the controlled vehicle can adjust the speed and the acceleration of the controlled vehicle according to the operation information of the previous vehicle, so that each control vehicle can control each controlled vehicle in the fleet. Compared with the prior art, when the ZC breaks down, all vehicles on a line in the jurisdiction of the ZC can be emergently braked, in the technical scheme of the application, when one control vehicle breaks down, the other control vehicle can independently complete control over a fleet, and therefore the problem of single-point failure in the prior art can be solved.

In the following, a brief description will be given of an implementation environment related to a vehicle control method provided in an embodiment of the present application.

Referring to fig. 1, fig. 1 is a schematic diagram of an implementation environment related to a vehicle control method provided in an embodiment of the present application, and as shown in fig. 1, the implementation environment may include at least one controlled vehicle 102 (only three vehicles are shown in fig. 1) and at least two control vehicles 101 (only two vehicles are shown in fig. 1), where the controlled vehicle 102 and the control vehicles 101 may communicate through a wireless network.

In the embodiment of the present application, a composite automatic train control system CVOBC (composite Vehicle On-Board Controller, abbreviated as CVOBC) and a Gateway GW (Gateway, chinese) are respectively disposed On the controlling Vehicle 101 and the controlled Vehicle 102. The gateway is used for being responsible for communication between vehicles, and the composite type train automatic control system CVOBC comprises a decision module, a calculation module, an inheritance module and a storage module, wherein the calculation module is used for calculating the current position, the speed and the acceleration of the vehicle and the distance from the vehicle to the previous vehicle. The decision module is used for determining the movement authorization information (namely the running information) of the vehicle at the current moment according to the current position, the speed and the acceleration obtained by the calculation module and the distance from the vehicle to the previous vehicle. The inheritance module is used for realizing automatic protection and automatic driving functions of the vehicle. The storage module is used for storing the running information of the vehicle at each moment and information such as a route topological graph required by the running of the vehicle. The communication module is used for communicating with other vehicles in the fleet. When the vehicle is a control vehicle, the hybrid automatic train control system in the vehicle performs a function of controlling the vehicle, and when the vehicle is a controlled vehicle, the hybrid automatic train control system in the vehicle performs a function of controlling the controlled vehicle.

Referring to fig. 2, fig. 2 is a schematic diagram of another implementation environment related to the vehicle control method provided in the embodiment of the present application, and as shown in fig. 2, the implementation environment includes, in addition to at least one controlled vehicle 102 and at least two control vehicles 101 shown in fig. 1, a base station 103 and a control center 104, where the control center 104 is a track traffic guidance center and manages at least one track traffic route, and the control center 104 can select a control vehicle of a fleet in a certain route according to a driving route and driving time. The base station 103 may be located near the track. The control vehicle 101 and the controlled vehicle 102 can communicate through the base station 103, and the control vehicle 101 can communicate with other fleet control vehicles through the base station. The control center 104 may also communicate with the control vehicle 101 through the base station 103.

In another embodiment of the present application, a vehicle is provided, the interior structure of which may be as shown in fig. 3. The vehicle includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the vehicle is configured to provide computing and control capabilities. The memory of the vehicle includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the vehicle is used for storing the running information of the vehicle at each moment and information such as a line topology map required by the vehicle running, and is also used for storing the running information of all vehicles in the fleet at each moment when the vehicle is a control vehicle. The network interface of the vehicle is used for connecting and communicating with an external terminal and a base station through a network. The computer program is executed by a processor to implement a method for uplink access interference avoidance.

The structure shown in fig. 3 is a block diagram of only a part of the structure related to the present application, and does not constitute a limitation of the terminal to which the present application is applied, and a specific terminal may include more or less components than those shown in the drawing, or combine some components, or have a different arrangement of components.

Referring to fig. 4, a flowchart of a vehicle control method provided by an embodiment of the present application is shown, which may be applied to control vehicles of a fleet of vehicles in the implementation environment shown in fig. 1 or fig. 2, where the fleet of vehicles includes at least one controlled vehicle and at least two control vehicles. As shown in fig. 4, the vehicle control method may include the steps of:

step 401, the control vehicle receives the operation information sent by each controlled vehicle.

The operational information includes the speed, acceleration, and position of the vehicle. It should be noted that, in the embodiment of the present application, the position of the vehicle indicates the position of the vehicle in the rail transit line.

In an embodiment of the present application, the fleet includes a plurality of in-orbit vehicles, where the control vehicle is at least two of the plurality of in-orbit vehicles, and the identity determination process of the vehicle in the fleet for the control vehicle may be:

the control center can select at least two vehicles from the in-orbit vehicles in a certain route as control vehicles according to the driving route and the driving time of each in-orbit vehicle. Optionally, the control center may default on-track vehicles in a certain route to form a fleet, and optionally, the control center may send a control message to at least two of the on-track vehicles based on the base station, where the vehicle that receives the control message becomes a control vehicle, and the vehicle that does not receive the control message defaults to a controlled vehicle.

Optionally, in this embodiment of the application, the control center may send control messages to a head car and a tail car of an in-orbit vehicle in a certain route, respectively, so that the head car and the tail car of the platoon become control vehicles.

When the number of control vehicles in a fleet is excessive, each controlled vehicle communicates with a plurality of control vehicles, and a communication storm easily occurs. In order to avoid communication storm and single point of failure, the number of control vehicles in one fleet is required to be greater than or equal to two, and the number of control vehicles does not exceed 20% of the total number of vehicles in the fleet.

In this embodiment of the application, the control vehicle needs to confirm the identity of each controlled vehicle before receiving the operation information sent by each controlled vehicle, and as shown in fig. 5, the process of determining the identity of the controlled vehicle by the control vehicle may include the following steps:

step 501, controlling the vehicle to broadcast the identity information of the control vehicle.

In the embodiment of the present application, the Identity information of the control vehicle includes a vehicle Identity number ID (identification) and a control vehicle identifier, where each vehicle has a unique Identity number. The control vehicle identification is used to indicate a control identity to other vehicles in the fleet.

Step 502, the control vehicle receives an identity registration request sent by the response vehicle according to the identity information of the control vehicle, and takes the response vehicle sending the identity registration request as a controlled vehicle of the fleet.

Wherein, after receiving the identity information of the control vehicle broadcast, other vehicles in the fleet may respond to the broadcast, and the vehicle responding to the broadcast is a responding vehicle. The response vehicle can identify the control identity of the control vehicle according to the control vehicle identity of the control vehicle and establish communication connection with the control vehicle based on the identity number of the control vehicle.

The responding vehicle may send an identity registration request to the controlling vehicle, and optionally, the identity registration request may include identity information of the responding vehicle. Optionally, the identity information of the responding vehicle may include a vehicle identity number, or the identity information of the responding vehicle may include a vehicle identity number and a controlled vehicle identification.

Each of the at least two control vehicles may receive an identity registration request sent by a responding vehicle and mark the responding vehicle sending the identity registration request as a controlled vehicle of the fleet.

Optionally, in the embodiment of the present application, a vehicle management information table is established in each control vehicle, and the vehicle management information table stores the identity information of all vehicles in the fleet and the operation information sent to the control vehicle by all controlled vehicles at each time. After each control vehicle receives the identity registration request sent by the controlled vehicle, the identity information of the controlled vehicle sending the identity registration request can be recorded into the vehicle management information table.

In the embodiment of the present application, the controlled vehicle establishes a communication connection only with each of the at least two control vehicles, and the controlled vehicle do not perform a communication connection.

In the embodiment of the application, after each of the at least two control vehicles receives the operation information sent by each control vehicle, each control vehicle can store and record the operation information of the controlled vehicle into the directory where the controlled vehicle is located in the vehicle management information table.

It should be noted that, in the embodiment of the present application, each controlled vehicle in the fleet needs to send its own operation information to each control vehicle in the at least two control vehicles, respectively.

Step 402, for each controlled vehicle included in the fleet, the control vehicle sends the operation information of a vehicle previous to the controlled vehicle, so that the controlled vehicle adjusts the speed and the acceleration according to the operation information of the previous vehicle.

In the embodiment of the application, when the controlled vehicle calculates the operation information of the controlled vehicle at the current moment, the operation information of the previous moment of the previous vehicle of the controlled vehicle needs to be acquired, and at the moment, the controlled vehicle selects the control vehicle as the source of the operation information of the previous moment of the previous vehicle.

Optionally, in this embodiment of the application, the control vehicle sends, to each controlled vehicle, the operation information of the vehicle that is previous to the controlled vehicle at the current time. Optionally, in this embodiment of the present application, the time duration between two adjacent time instants may be 50 milliseconds.

Optionally, in this embodiment of the present application, the control vehicle may determine the position sequence of the plurality of controlled vehicles in the fleet according to the position of each controlled vehicle, and determine the previous vehicle of each controlled vehicle.

For each controlled vehicle included in the fleet, each of the at least two controlling vehicles transmits operating information of a vehicle preceding the controlled vehicle to the controlled vehicle. The controlled vehicle may receive the operation information of the preceding vehicle transmitted by each of the at least two control vehicles.

Optionally, in this embodiment of the application, the controlled vehicle may control any selected one of the operation information of the previous vehicle sent by the vehicle to adjust the speed and acceleration of the controlled vehicle.

Optionally, because the distances from the controlled vehicle to the at least two control vehicles are different, there is a precedence order in which the information sent by the at least two control vehicles reaches the controlled vehicle, and in order to ensure timeliness, in this embodiment of the application, the controlled vehicle may select the operation information of the vehicle before the vehicle reaches the controlled vehicle first, and adjust its speed and acceleration according to the operation information of the vehicle before the vehicle reaches the controlled vehicle first.

It should be noted that, in the embodiment of the present application, at least two control vehicles need to send their own operation information to each other, for example, when at least two controlled vehicles are a head vehicle and a tail vehicle, the head vehicle needs to send its own operation information to the tail vehicle, and the tail vehicle needs to send its own operation information to the head vehicle.

In an embodiment of the present application, a vehicle fleet includes at least one controlled vehicle and at least two control vehicles, and the vehicle control method is applied to the control vehicles of the vehicle fleet, and the method includes: the control vehicle receives the running information sent by each controlled vehicle, and the running information comprises the speed, the acceleration and the position of the controlled vehicle. For each controlled vehicle included in the fleet, the control vehicle sends the running information of the vehicle before the controlled vehicle to the controlled vehicle, so that the controlled vehicle adjusts the speed and the acceleration of the controlled vehicle according to the running information of the vehicle before. Therefore, in the embodiment of the application, each control vehicle in at least two control vehicles in the fleet can receive the operation information sent by each controlled vehicle in the fleet and can send the operation information of the previous vehicle to each controlled vehicle, and the controlled vehicle can adjust the speed and the acceleration of the controlled vehicle according to the operation information of the previous vehicle, so that each control vehicle can control each controlled vehicle in the fleet. Compared with the prior art, when the ZC breaks down, all vehicles on a line in the jurisdiction of the ZC can be emergently braked, in the technical scheme of the application, when one control vehicle breaks down, the other control vehicle can independently complete control over a fleet, and therefore the problem of single-point failure in the prior art can be solved. And, because the controlled vehicle does not need to send a request message to all vehicles in the fleet at each communication time to acquire the operation information of the previous vehicle, the high communication traffic is reduced to some extent.

In this embodiment, as shown in fig. 6, the lateral arrow in fig. 6 indicates the traveling direction of the fleet of vehicles, and the dashed arrow and the solid arrow indicate that the controlled vehicle 102 and the control vehicle 101 establish a communication connection, where the dashed arrow indicates that the two control vehicles 101 respectively transmit the operation information of the vehicle before the controlled vehicle 102 to each controlled vehicle 102, and the solid arrow indicates that the controlled vehicle 102 respectively transmits the dequeue request to the two control vehicles 101 when the controlled vehicle 102 in the fleet of vehicles needs to dequeue, in this embodiment, the control vehicle 101 may log the controlled vehicle 102 that transmitted the dequeue request out of the fleet of vehicles 102 after receiving the dequeue request transmitted by the controlled vehicle 102. Wherein the dequeue request is used to indicate that the controlled vehicle 102 is to be detached from the fleet.

In the embodiment of the present application, when the controlled vehicle 102 determines that it needs to be detached from the fleet of vehicles according to its own driving route, the controlled vehicle 102 may be referred to as a departing vehicle. The dequeue vehicle may send a dequeue request to each control vehicle 101 of the at least two control vehicles 101. Each control vehicle 101 may receive a dequeue request sent by a dequeue vehicle, and delete the identity information of the dequeue controlled vehicle 102 in its own vehicle management information table according to the dequeue request.

Optionally, in this embodiment of the present application, after the vehicle dequeuing, the vehicles in the fleet sequentially send changes: the preceding vehicle of the departing vehicle becomes a preceding vehicle of a succeeding vehicle of the departing vehicle, and accordingly, each of the at least two control vehicles 101 transmits the operation information of the preceding vehicle of the departing vehicle to the succeeding vehicle of the departing vehicle. Since the distance between the preceding vehicle and the following vehicle of the departing vehicle is large, the following vehicle of the departing vehicle can adjust the speed and the acceleration of the following vehicle to shorten the distance between the following vehicle and the preceding vehicle.

Optionally, in this embodiment of the present application, each control vehicle 101 may further send a disembarkable message to the disembarkable vehicle after confirming the safety of the surrounding environment. The disembarking vehicles are disembarked according to the available disembarking messages. Whether the surrounding environment is safe in the embodiment of the application mainly refers to whether the control right of the turnout for controlling the vehicle 101 to leave is the vehicle leaving, when the control right of the turnout belongs to the vehicle leaving, namely, the vehicle leaving can safely pass through the turnout, the surrounding environment is considered to be safe, and when the control right of the turnout does not belong to the vehicle leaving, namely, the turnout through which the vehicle leaving needs to pass is in a used state, the vehicle leaving cannot pass through the turnout, so that the surrounding environment is considered to be unsafe.

In one embodiment, as shown in fig. 7, the lateral arrows in fig. 7 indicate the traveling direction of the fleet of vehicles, the dashed arrows indicate that the communication connection is established between the controlled vehicle 102 and the control vehicle 101, and the control vehicle 101 can send the dequeue message to the controlled vehicle 102. When one control vehicle 101 of the at least two control vehicles 101 needs to leave, in the embodiment of the present application, the control vehicle 101 that leaves may send a leaving message to the target controlled vehicle 102. The dequeue message is used to instruct the control vehicle 101 to depart from the fleet and the target controlled vehicle 102 to broadcast the identity information of the target controlled vehicle 102 to other vehicles of the fleet.

Alternatively, in the embodiment of the present application, when the control vehicle 101 that is departing is the leading vehicle, the target controlled vehicle 102 may be a vehicle behind the leading vehicle, such as shown in fig. 7. When the controlling vehicle 101 that is departing is the tail car, the target controlled vehicle 102 may be the preceding vehicle of the tail car.

Optionally, in this embodiment of the present application, after the target controlled vehicle 102 receives the dequeue message, it needs to determine whether the target controlled vehicle can perform the task of controlling the vehicle 101. The conditions under which the target controlled vehicle 102 confirms whether or not the task of controlling the vehicle 101 can be performed include: whether the target controlled vehicle 102 is to leave the fleet and whether the target controlled vehicle 102 has a fault, the target controlled vehicle 102 may send a message to the controlling vehicle 101 that may assume the task of controlling the vehicle 101 when the target controlled vehicle 102 is neither to leave nor to have a fault.

Optionally, the dequeue message may include a vehicle management information table, the target controlled vehicle 102 becomes a new controlled vehicle 101 after receiving the vehicle management new table, and the target controlled vehicle 102 may broadcast its identity information to other vehicles according to the dequeue message. At this time, the target controlled vehicle 102 becomes the control vehicle 101, and therefore the identification information includes the identification number of the vehicle and the control vehicle 101 identification.

Alternatively, when the target controlled vehicle 102 is also going to leave the fleet or there is a failure in the target controlled vehicle 102, the target controlled vehicle 102 cannot assume the role of controlling the vehicle 101, and at this time, the target controlled vehicle 102 may send a message to the controlling vehicle 101 that leaves the fleet that the role of controlling the vehicle 101 cannot be assumed. The controlling vehicle 101 that is out of the line may reselect a new target controlled vehicle 102.

Alternatively, when the departing controlling vehicle 101 is the leading vehicle, the new target controlled vehicle 102 may be the second controlled vehicle 102 after the leading vehicle, and so on until the controlled vehicle 102 that can take on the task of controlling the vehicle 101 is found. When the departing controlling vehicle 101 is the tail car, the new target controlled vehicle 102 may be the second controlled vehicle 102 before the tail car, and so on until a controlled vehicle 102 is found that can take on the task of controlling the vehicle 101.

In one embodiment, when the fleet communicates with other fleets, the control vehicle may receive the identity information broadcast by the control vehicles of the other fleets and establish a communication connection with the other fleets according to the identity information broadcast by the control vehicles of the other fleets.

Optionally, in this embodiment of the application, when the fleet communicates with another fleet, only the control vehicle in the fleet establishes a communication connection with the control vehicle of the other fleet, and the controlled vehicle in the fleet does not participate in the communication between the fleet and the other fleet.

Optionally, for convenience of differentiation, in the embodiments of the present application, the control vehicle in the present fleet is referred to as a first control vehicle, and the control vehicles in other fleets are referred to as second control vehicles, and optionally, the other fleets may also include at least two second control vehicles.

In the embodiment of the present application, the communication mode between the own fleet and other fleets may be: each of the at least two first control vehicles in the fleet broadcasts the identity information of the first control vehicle to other fleets through local area, and when the other fleets need to communicate with the fleet, each of the at least two second control vehicles in the other fleets can establish communication connection with each of the first control vehicles in the fleet. Optionally, each second control vehicle may send a communication message to each first control vehicle, and each first control vehicle may be subject to a message that arrives first.

In another alternative implementation, the way in which the own fleet communicates with other fleets may be: when the own fleet needs to communicate with the other fleets, each first control vehicle in the own fleet can establish communication connection with each second control vehicle in the other fleets according to the identity information of each second control vehicle. Each first control vehicle in the present fleet may send a communication message to each second control vehicle in the other fleet.

In one embodiment, as shown in fig. 8, the lateral arrow indicates the driving direction of the fleet of vehicles, the dashed arrow indicates that the out-of-fleet vehicle 103 outside the fleet of vehicles establishes a communication connection with the control vehicle 101, and the out-of-fleet vehicle 103 may send an enqueue request to the control vehicle 101 based on the dashed arrow when it needs to join the fleet of vehicles. Each of the at least two control vehicles 101 may receive an enqueue request sent by the out-of-queue vehicle 103 and send an allow enqueue message to the out-of-queue vehicle 103 according to the enqueue request.

The enqueue request may include the identity information of the out-of-queue vehicle 103 and the current operation information.

Each control vehicle 101 of the at least two control vehicles 101 may calculate the operation information of the first controlled vehicle 102 and the operation information of the second controlled vehicle 102 related to the out-of-fleet vehicle 103 from the operation information of the out-of-fleet vehicle 103.

Wherein the first controlled vehicle 102 is a vehicle behind the vehicle outside the fleet 103 and joining the vehicle outside the fleet 103, and the second controlled vehicle 102 is a vehicle ahead of the vehicle outside the fleet 103 and joining the vehicle outside the fleet 103.

In the embodiment of the present application, the out-of-team vehicle 103 enters the route of the own team from the turnout, when the out-of-team vehicle 103 enters the team, the front vehicle of the out-of-team vehicle 103 needs to increase the speed and acceleration, and the rear vehicle of the out-of-team vehicle 103 needs to decrease the speed and acceleration so as to provide space for the out-of-team vehicle 103, so as to avoid collision between the out-of-team vehicle 103 and other vehicles in the team after joining the team.

In the embodiment of the present application, each control vehicle 101 may calculate the time when the out-of-line vehicle 103 reaches the turnout junction and the safety distance between the first controlled vehicle 102 and the second controlled vehicle 102 when the out-of-line vehicle 103 joins the fleet of vehicles according to the operation information of the out-of-line vehicle 103. Based on these pieces of information and the operation information of the first controlled vehicle 102 and the second controlled vehicle 102 at the previous time, the operation information of the first controlled vehicle 102 and the second controlled vehicle 102 at the next time is calculated, respectively.

Each control vehicle 101 transmits the operation information of the first controlled vehicle 102 to the first controlled vehicle 102, and transmits the operation information of the second controlled vehicle 102 to the second controlled vehicle 102, so that the first controlled vehicle 102 travels according to the operation information of the first controlled vehicle 102, and the second controlled vehicle 102 travels according to the operation information of the second controlled vehicle 102.

Each control vehicle 101 may also send an enqueue message of the out-of-queue vehicle 103 to the first controlled vehicle 102 and the second controlled vehicle 102, and the first controlled vehicle 102 recalculates the distance between the enqueue message and the running information of the second controlled vehicle 102, so as to adjust the speed and acceleration of itself. Accordingly, the second controlled vehicle 102 can adjust its own speed and acceleration according to the enqueue message and the operation information of the second controlled vehicle 102 transmitted by the control vehicle 101.

In the embodiment of the present application, after the out-of-fleet vehicles 103 join the fleet, each control vehicle 101 needs to re-order the vehicles in the fleet. And the identity information and the operation information of the out-of-fleet vehicles 103 need to be stored and entered into the vehicle management information table.

In one embodiment, each control vehicle may receive the operation information sent by each controlled vehicle at each time under normal conditions. As shown in fig. 9, solid arrows indicate that each controlled vehicle 102 establishes communication connection with two control vehicles 101, respectively, and the controlled vehicle 102 can transmit its own operation information to the two control vehicles 101, respectively. "x" in fig. 9 indicates that the communication connection is failed, and when the control vehicle 101 does not receive the operation information of the controlled vehicle 102 within the preset time period, such as the communication connection between the third controlled vehicle 102 and the two control vehicles 101 is failed in fig. 9, the control vehicle 101 may determine that the controlled vehicle 102 that does not transmit the operation information is failed, and each control vehicle 101 may transmit the identity information of the failed controlled vehicle 102 to the control center.

Optionally, the preset time duration may be 50 milliseconds, and in this embodiment of the present application, the preset time duration needs to be greater than or equal to a time duration of one sending time.

Alternatively, when each of the at least two control vehicles 101 does not receive the operation information of the controlled vehicle 102, it may be determined that a communication failure occurs in the controlled vehicle 102. Each controlling vehicle 101 may report the failure of the controlled vehicle 102 to the control center through the base station. The control center personnel may contact the train driver of the controlled vehicle 102 that is not sending operational information. The malfunctioning controlled vehicle 102 is derated and is operated to a trouble shooting point.

Alternatively, as shown in fig. 10, when the communication connection between one control vehicle 101 of the at least two control vehicles 101 and all controlled vehicles 102 is failed, for example, the control vehicle 101 does not send the operation information of the previous vehicle to the controlled vehicle 102, and at this time, the other control vehicles 101 of the at least two control vehicles 101 can still work normally, so that each controlled vehicle 102 can run according to the information sent by the other control vehicles 101, thereby avoiding the problem of single point failure.

In one embodiment, when the control vehicle receives the operation information sent by the controlled vehicle, the operation information is in a fault, for example, the operation information is in a serious error. At the moment, the control vehicle judges that the controlled vehicle which sends the wrong operation information has operation failure. At this time, the controlled vehicle cannot calculate its own operation information. Each control vehicle calculates the operation information of the controlled vehicle with the operation fault at the current moment according to the operation information of the controlled vehicle with the operation fault at the previous moment and the operation information of the previous vehicle of the controlled vehicle with the operation fault at the previous moment. And the control vehicle can also send an operation control instruction to the controlled vehicle with the operation fault according to the operation information of the controlled vehicle with the operation fault at the current moment. The operation control command includes operation information of the controlled vehicle with the operation fault at the current moment,

the controlled vehicle with the operation fault can adjust the speed and the acceleration according to the received operation information according to the instruction of the operation control instruction until the controlled vehicle with the operation fault runs to a fault maintenance point.

Optionally, each of the at least two control vehicles may predict the position, the speed, and the acceleration of the faulty vehicle by a least square method, where the basic principle of the least square method is: assuming that the objective function is f (t), the actual detection values at N sequential time instants are f (t)_i) (i 1,2, 3.., N), f (t) is predicted by selecting the minimum mean square error. The position of the train can be known by physics knowledge in the running processGenerally quadratic to the corresponding time, the polynomial p (t) is expressed as:

using the principle of least squares, the coefficients of the polynomial can be obtained by calculation:

the position information of the next time point can be predicted by substituting time into the polynomial through the coefficients of the iterative polynomial.

Referring to fig. 11, a flowchart of another vehicle control method provided by the embodiment of the present application is shown, which can be applied to controlled vehicles of a fleet of vehicles in the implementation environment shown in fig. 1 or fig. 2, where the fleet of vehicles includes at least one controlled vehicle and at least two control vehicles. As shown in fig. 11, the vehicle control method may include the steps of:

step 1101, for each controlled vehicle, the controlled vehicle receives the operation information of the vehicle preceding the controlled vehicle, which is transmitted by each controlled vehicle, and calculates the operation information of the controlled vehicle according to the operation information of the vehicle preceding the controlled vehicle.

When the controlled vehicle calculates the operation information of the controlled vehicle at the current moment, the operation information of the previous moment of the previous vehicle of the controlled vehicle needs to be acquired, and at the moment, the controlled vehicle selects the control vehicle as the source of the operation information of the previous moment of the previous vehicle.

For each controlled vehicle, before receiving the operation information of the vehicle before the controlled vehicle sent by each control vehicle, the controlled vehicle needs to be registered with the control vehicle in the fleet, and optionally, the process of registering the controlled vehicle with the control vehicle may include the following steps:

The identity information broadcast by the control vehicle includes an identification number of the vehicle and a control vehicle identification.

The identity registration request includes an identification number of the controlled vehicle.

The control vehicle can take the vehicle sending the identity registration request as the controlled vehicle according to the identity registration request and record the controlled vehicle into the vehicle management information table.

Step 1102, the controlled vehicle sends the running information of the controlled vehicle to each of the at least two control vehicles.

In the embodiment of the application, the controlled vehicle can send the running information to the control vehicle once every 50 milliseconds.

It should be noted that, when in a 5G environment and a new communication environment that may appear in the future, the time interval for the controlled vehicle to transmit the operation information to the control vehicle may be shorter.

In one embodiment of the present application, as shown in fig. 6, when any one of the at least one controlled vehicle needs to be dequeued, the dequeued controlled vehicle may send a dequeue request to each of the at least two controlling vehicles. The dequeue request indicates that each controlled vehicle that is to send the dequeue request is to be logged off of the fleet of vehicles. I.e., deleted from the vehicle management information table.

In one embodiment of the present application, as shown in fig. 7, when one of the at least one controlled vehicle receives a dequeue message sent by any one of the at least two controlling vehicles, it indicates that the controlling vehicle needs to dequeue. At this time, the controlled vehicle receiving the departure message is the target controlled vehicle, the target controlled vehicle can judge whether the target controlled vehicle can bear the task of controlling the vehicle, if so, the target controlled vehicle is called as a new control vehicle, and identity information is broadcasted to other vehicles in the fleet. And informing other vehicles in the fleet of the identification number and the control identification of the new control vehicle.

The control vehicle leaving the queue may receive a message sent by the target controlled vehicle that may assume the role of controlling the vehicle and leave the queue after receiving the message that may assume the role of controlling the vehicle.

Referring to fig. 12, a block diagram of a vehicle control device provided in an embodiment of the present application is shown, and the vehicle control device may be configured in the implementation environment shown in fig. 1. The vehicle control apparatus may be used in a control vehicle of a fleet of vehicles comprising at least one controlled vehicle and at least two control vehicles, as shown in fig. 12, the apparatus comprising a first receiving module 1201 and a first transmitting module 1202.

The first receiving module 1201 is used for receiving operation information sent by each controlled vehicle, wherein the operation information comprises the speed, the acceleration and the position of the vehicle;

the first sending module 1202 is configured to, for each controlled vehicle included in the fleet, send operation information of a vehicle preceding the controlled vehicle to the controlled vehicle, so that the controlled vehicle adjusts speed and acceleration according to the operation information of the preceding vehicle.

In one embodiment of the present application, the apparatus further comprises: the first sending module 1202 is further configured to broadcast identity information for controlling the vehicle;

the first receiving module 1201 is further configured to receive an identity registration request sent by a response vehicle according to the identity information of the control vehicle, and use the response vehicle sending the identity registration request as a controlled vehicle of the fleet.

In an embodiment of the present application, the first receiving module 1201 is further configured to, after receiving a dequeue request sent by a controlled vehicle, logout the controlled vehicle sending the dequeue request from the fleet;

the dequeue request is used to indicate that the controlled vehicle is to be disengaged from the fleet.

In one embodiment of the present application, the first sending module 1202 is further configured to send a dequeue message to the target controlled vehicle, the dequeue message being used to instruct the control vehicle to depart from the fleet and the target controlled vehicle to broadcast the identity information of the target controlled vehicle to other vehicles of the fleet.

In an embodiment of the present application, the first receiving module 1201 is further configured to receive the identity information broadcasted by the control vehicle of the other fleet and establish a communication connection with the other fleet according to the identity information broadcasted by the control vehicle of the other fleet when the fleet communicates with the other fleet.

In an embodiment of the present application, the first receiving module 1201 is further configured to, after receiving an enqueue request sent by an extrateam vehicle, send an enqueue permission message to the extrateam vehicle according to the enqueue request, and calculate, according to operation information of the extrateam vehicle, operation information of a first controlled vehicle and operation information of a second controlled vehicle related to the extrateam vehicle, where the first controlled vehicle is a vehicle behind the extrateam vehicle after the extrateam vehicle joins the extrateam vehicle, and the second controlled vehicle is a vehicle ahead of the extrateam vehicle after the extrateam vehicle joins the extrateam vehicle;

the first sending module 1202 is further configured to send the operation information of the first controlled vehicle to the first controlled vehicle for the first controlled vehicle to travel according to the operation information of the first controlled vehicle, and send the operation information of the second controlled vehicle to the second controlled vehicle for the second controlled vehicle to travel according to the operation information of the second controlled vehicle.

In an embodiment of the application, the device further includes a determining module, configured to determine that the controlled vehicle has a fault when the control vehicle does not receive the operation information of the controlled vehicle within a preset time period, and send the identity information of the faulty controlled vehicle to the control center.

In an embodiment of the application, the first receiving module 1201 is further configured to, when there is a fault in the received operation information sent by the controlled vehicle, calculate operation information of the controlled vehicle at the current time according to the operation information of the controlled vehicle at the previous time and the operation information of a vehicle preceding the controlled vehicle, and send an operation control instruction to the controlled vehicle according to the operation information of the controlled vehicle at the current time, where the operation control instruction includes the operation information of the controlled vehicle at the current time, and the operation control instruction is used to instruct the controlled vehicle to adjust speed and acceleration according to the received operation information.

Referring to fig. 13, a block diagram of a vehicle control device provided in an embodiment of the present application is shown, which may be configured in the implementation environment shown in fig. 1. The vehicle control apparatus may be used in a controlled vehicle of a fleet of vehicles including at least one controlled vehicle and at least two control vehicles, as shown in fig. 13, the apparatus includes a second receiving module 1301 and a second transmitting module 1302.

A second receiving module 1301, configured to receive, for each controlled vehicle, operation information of a vehicle preceding the controlled vehicle, which is sent by each controlled vehicle, and calculate the operation information of the controlled vehicle according to the operation information of the vehicle preceding the controlled vehicle;

a second sending module 1302, configured to send the operation information of the controlled vehicle to each of the at least two controlling vehicles.

In one embodiment of the present application, the second receiving module 1301 is further configured to receive identity information broadcast by each of the at least two control vehicles, and send an identity registration request to each of the at least two control vehicles according to the identity information.

In one embodiment of the present application, the second sending module 1302 is further configured to send a dequeue request to each control vehicle, where the dequeue request indicates that each control vehicle will logout from the fleet of vehicles of the controlled vehicle that sent the dequeue request.

In one embodiment of the present application, the second receiving module 1301 is further configured to receive a dequeue message sent by any one of the at least two control vehicles, where the dequeue message is used to indicate that the control vehicle sending the dequeue message is detached from the fleet of vehicles;

In one embodiment of the present application, there is provided a computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program: receiving operation information sent by each controlled vehicle, wherein the operation information comprises the speed, the acceleration and the position of the vehicle; and for each controlled vehicle included in the fleet, transmitting the operation information of the vehicle before the controlled vehicle to the controlled vehicle, so that the controlled vehicle adjusts the speed and the acceleration according to the operation information of the vehicle before.

In one embodiment of the application, the processor when executing the computer program may further implement the steps of: broadcasting identity information of the control vehicle; and receiving an identity registration request sent by the response vehicle according to the identity information of the control vehicle, and using the response vehicle sending the identity registration request as a controlled vehicle of the fleet.

In one embodiment of the application, the processor when executing the computer program may further implement the steps of: after a dequeue request sent by a controlled vehicle is received, the controlled vehicle sending the dequeue request is logged out from the motorcade; the dequeue request is used to indicate that the controlled vehicle is to be disengaged from the fleet.

In one embodiment of the application, the processor when executing the computer program may further implement the steps of: and sending a dequeue message to the target controlled vehicle, wherein the dequeue message is used for indicating that the control vehicle is separated from the fleet and broadcasting the identity information of the target controlled vehicle to other vehicles of the fleet by the target controlled vehicle.

In one embodiment of the application, the processor when executing the computer program may further implement the steps of: when the motorcade is communicated with other motorcades, the identity information broadcasted by the control vehicles of the other motorcades is received, and communication connection is established with the other motorcades according to the identity information broadcasted by the control vehicles of the other motorcades.

In one embodiment of the application, the processor when executing the computer program may further implement the steps of: after receiving an enqueuing request sent by an out-of-queue vehicle, sending an enqueuing allowing message to the out-of-queue vehicle according to the enqueuing request, and calculating operation information of a first controlled vehicle and operation information of a second controlled vehicle related to the out-of-queue vehicle according to the operation information of the out-of-queue vehicle, wherein the first controlled vehicle is a vehicle behind the out-of-queue vehicle after the out-of-queue vehicle joins in the fleet vehicle, and the second controlled vehicle is a vehicle ahead of the out-of-queue vehicle after the out-of-queue vehicle joins in the fleet vehicle; and sending the running information of the first controlled vehicle to the first controlled vehicle so that the first controlled vehicle runs according to the running information of the first controlled vehicle, and sending the running information of the second controlled vehicle to the second controlled vehicle so that the second controlled vehicle runs according to the running information of the second controlled vehicle.

In one embodiment of the application, the processor when executing the computer program may further implement the steps of: and when the control vehicle does not receive the running information of the controlled vehicle within the preset time, judging that the controlled vehicle breaks down, and sending the identity information of the broken-down controlled vehicle to the control center.

In one embodiment of the application, the processor when executing the computer program may further implement the steps of: when the received running information sent by the controlled vehicle has a fault, the running information of the controlled vehicle at the current moment is calculated according to the running information of the controlled vehicle at the previous moment and the running information of the vehicle before the controlled vehicle, and a running control instruction is sent to the controlled vehicle according to the running information of the controlled vehicle at the current moment, wherein the running control instruction comprises the running information of the controlled vehicle at the current moment, and the running control instruction is used for instructing the controlled vehicle to adjust the speed and the acceleration according to the received running information.

Alternatively, the processor may also implement the following steps when executing the computer program:

In one embodiment of the application, the processor when executing the computer program may further implement the steps of: the identity information broadcasted by each of the at least two control vehicles is received, and an identity registration request is sent to each of the at least two control vehicles according to the identity information.

In one embodiment of the application, the processor when executing the computer program may further implement the steps of: and sending a dequeue request to each control vehicle, wherein the dequeue request is used for indicating that each control vehicle logs out of the fleet of vehicles to be controlled, and the vehicles are requested to send the dequeue requests.

In one embodiment of the application, the processor when executing the computer program may further implement the steps of: receiving a dequeue message sent by any one control vehicle of at least two control vehicles, wherein the dequeue message is used for indicating that the control vehicle sending the dequeue message is separated from the fleet; identity information is broadcast to other vehicles of the fleet in accordance with the dequeue message.

The implementation principle and technical effect of the computer device provided by the embodiment of the present application are similar to those of the method embodiment described above, and are not described herein again.

In an embodiment of the application, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of: receiving operation information sent by each controlled vehicle, wherein the operation information comprises the speed, the acceleration and the position of the vehicle; and for each controlled vehicle included in the fleet, transmitting the operation information of the vehicle before the controlled vehicle to the controlled vehicle, so that the controlled vehicle adjusts the speed and the acceleration according to the operation information of the vehicle before.

In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: broadcasting identity information of the control vehicle; and receiving an identity registration request sent by the response vehicle according to the identity information of the control vehicle, and using the response vehicle sending the identity registration request as a controlled vehicle of the fleet.

In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: after a dequeue request sent by a controlled vehicle is received, the controlled vehicle sending the dequeue request is logged out from the motorcade; the dequeue request is used to indicate that the controlled vehicle is to be disengaged from the fleet.

In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: and sending a dequeue message to the target controlled vehicle, wherein the dequeue message is used for indicating that the control vehicle is separated from the fleet and broadcasting the identity information of the target controlled vehicle to other vehicles of the fleet by the target controlled vehicle.

In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: when the motorcade is communicated with other motorcades, the identity information broadcasted by the control vehicles of the other motorcades is received, and communication connection is established with the other motorcades according to the identity information broadcasted by the control vehicles of the other motorcades.

In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: after receiving an enqueuing request sent by an out-of-queue vehicle, sending an enqueuing allowing message to the out-of-queue vehicle according to the enqueuing request, and calculating operation information of a first controlled vehicle and operation information of a second controlled vehicle related to the out-of-queue vehicle according to the operation information of the out-of-queue vehicle, wherein the first controlled vehicle is a vehicle behind the out-of-queue vehicle after the out-of-queue vehicle joins in the fleet vehicle, and the second controlled vehicle is a vehicle ahead of the out-of-queue vehicle after the out-of-queue vehicle joins in the fleet vehicle; and sending the running information of the first controlled vehicle to the first controlled vehicle so that the first controlled vehicle runs according to the running information of the first controlled vehicle, and sending the running information of the second controlled vehicle to the second controlled vehicle so that the second controlled vehicle runs according to the running information of the second controlled vehicle.

In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: and when the control vehicle does not receive the running information of the controlled vehicle within the preset time, judging that the controlled vehicle breaks down, and sending the identity information of the broken-down controlled vehicle to the control center.

In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: when the received running information sent by the controlled vehicle has a fault, the running information of the controlled vehicle at the current moment is calculated according to the running information of the controlled vehicle at the previous moment and the running information of the vehicle before the controlled vehicle, and a running control instruction is sent to the controlled vehicle according to the running information of the controlled vehicle at the current moment, wherein the running control instruction comprises the running information of the controlled vehicle at the current moment, and the running control instruction is used for instructing the controlled vehicle to adjust the speed and the acceleration according to the received running information.

Alternatively, the computer program when executed by the processor may further implement the steps of:

In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: the identity information broadcasted by each of the at least two control vehicles is received, and an identity registration request is sent to each of the at least two control vehicles according to the identity information.

In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: and sending a dequeue request to each control vehicle, wherein the dequeue request is used for indicating that each control vehicle logs out of the fleet of vehicles to be controlled, and the vehicles are requested to send the dequeue requests.

In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: receiving a dequeue message sent by any one control vehicle of at least two control vehicles, wherein the dequeue message is used for indicating that the control vehicle sending the dequeue message is separated from the fleet; identity information is broadcast to other vehicles of the fleet in accordance with the dequeue message.

The implementation principle and technical effect of the computer-readable storage medium provided in the embodiment of the present application are similar to those of the method embodiment described above, and are not described herein again.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A vehicle control method for use in a control vehicle of a fleet of vehicles, the fleet comprising at least one controlled vehicle and at least two of the control vehicles, the method comprising:

receiving operation information sent by each controlled vehicle, wherein the operation information comprises the speed, the acceleration and the position of the vehicle;

and for each controlled vehicle in the fleet, sending the running information of the previous vehicle of the controlled vehicle to the controlled vehicle, so that the controlled vehicle can adjust the speed and the acceleration according to the running information of the previous vehicle.

2. The method of claim 1, wherein prior to receiving the operation information sent by each of the controlled vehicles, the method further comprises:

broadcasting identity information of the control vehicle;

and receiving an identity registration request sent by a response vehicle according to the identity information of the control vehicle, and taking the response vehicle sending the identity registration request as a controlled vehicle of the fleet.

3. The method of claim 1, further comprising:

after a dequeue request sent by the controlled vehicle is received, the controlled vehicle sending the dequeue request is logged out of the fleet;

the dequeue request is used for indicating that the controlled vehicle is detached from the fleet.

4. The method of claim 1, further comprising:

sending a dequeue message to a target controlled vehicle, the dequeue message indicating that the control vehicle is disengaged from the fleet and the target controlled vehicle broadcasting identity information of the target controlled vehicle to other vehicles of the fleet.

5. The method of claim 1, further comprising:

and when the motorcade is communicated with other motorcades, receiving the identity information broadcasted by the control vehicles of the other motorcades, and establishing communication connection with the other motorcades according to the identity information broadcasted by the control vehicles of the other motorcades.

6. The method of claim 1, further comprising:

after receiving an enqueuing request sent by an extrateam vehicle, sending an enqueuing allowing message to the extrateam vehicle according to the enqueuing request, and calculating operation information of a first controlled vehicle and operation information of a second controlled vehicle related to the extrateam vehicle according to the operation information of the extrateam vehicle, wherein the first controlled vehicle is a vehicle behind the extrateam vehicle after the extrateam vehicle joins the fleet, and the second controlled vehicle is a vehicle ahead the extrateam vehicle after the extrateam vehicle joins the fleet;

and sending the running information of the first controlled vehicle to the first controlled vehicle so that the first controlled vehicle runs according to the running information of the first controlled vehicle, and sending the running information of the second controlled vehicle to the second controlled vehicle so that the second controlled vehicle runs according to the running information of the second controlled vehicle.

7. The method of claim 1, further comprising:

and when the control vehicle does not receive the running information of the controlled vehicle within a preset time length, judging that the controlled vehicle breaks down, and sending the identity information of the controlled vehicle which breaks down to a control center.

8. The method of claim 1, further comprising:

when the received running information sent by the controlled vehicle has a fault, the running information of the controlled vehicle at the current moment is calculated according to the running information of the controlled vehicle at the previous moment and the running information of the vehicle before the controlled vehicle, and a running control instruction is sent to the controlled vehicle according to the running information of the controlled vehicle at the current moment, wherein the running control instruction comprises the running information of the controlled vehicle at the current moment, and the running control instruction is used for instructing the controlled vehicle to adjust the speed and the acceleration according to the received running information.

9. A vehicle control method for use in a controlled vehicle of a fleet of vehicles, the fleet comprising at least one controlled vehicle and at least two controlling vehicles, the method comprising:

for each controlled vehicle, receiving the running information of the vehicle before the controlled vehicle, which is sent by each control vehicle, and calculating the running information of the controlled vehicle according to the running information of the vehicle before the controlled vehicle;

transmitting the operation information of the controlled vehicle to each of the at least two control vehicles.

10. The method of claim 9, wherein before receiving, for each of the controlled vehicles, the operation information of a vehicle preceding the controlled vehicle sent by each of the controlling vehicles, the method further comprises:

the method comprises the steps of receiving identity information broadcasted by each of at least two control vehicles, and respectively sending an identity registration request to each of the at least two control vehicles according to the identity information.

11. The method of claim 10, further comprising:

sending a dequeue request to each of the control vehicles, the dequeue request indicating that each of the control vehicles will logout from the fleet of vehicles of the controlled vehicle that sent the dequeue request.

12. The method of claim 9, further comprising:

receiving a dequeue message sent by any one of at least two control vehicles, wherein the dequeue message is used for indicating that the control vehicle sending the dequeue message is detached from the fleet;

and broadcasting identity information to other vehicles of the fleet according to the dequeue message.

13. A vehicle control apparatus for use in a control vehicle of a fleet of vehicles, the fleet comprising at least one controlled vehicle and at least two of the control vehicles, the apparatus comprising:

14. A vehicle control apparatus for use in a controlled vehicle of a fleet of vehicles, the fleet including at least one of the controlled vehicle and at least two control vehicles, the apparatus comprising:

15. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of the method of any one of claims 1 to 8; alternatively, the processor, when executing the computer program, implements the steps of the method of any of claims 9 or 12.

16. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8; alternatively, the computer program realizes the steps of the method of any one of claims 9 to 12 when executed by a processor.