CN111210614A - Method and device for controlling motorcade running - Google Patents
Method and device for controlling motorcade running Download PDFInfo
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Abstract
The method comprises the steps of receiving a team formation request sent by a plurality of vehicles through a cloud server, wherein the team formation request comprises a running path, a first running direction and a first position where the vehicles are located currently; determining a target vehicle from the plurality of vehicles based on the travel paths, the first travel direction and the first position of the plurality of vehicles; and taking the target vehicle as a vehicle in a first target vehicle fleet, and controlling the first target vehicle fleet to run. In this way, the cloud server determines the vehicles in the first target fleet and controls the first target fleet to run, so that the fleet can be effectively controlled on the whole, and the reliability of cooperative running of the fleet can be effectively improved.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a method and an apparatus for controlling a fleet of vehicles to travel.
Background
With the continuous deepening of the application of the artificial intelligence technology in the vehicle field, the automation degree of the vehicle driving technology continuously refreshes people's cognition on intelligent driving, the occupancy rate of automatic driving vehicles with different degrees in the market is gradually increased, but at present, various intelligent driving schemes of all automatic driving vehicles are designed for various driving scenes in the single vehicle driving process, only a small number of driving schemes are researched for the driving of a plurality of vehicle cooperative queues, and the small number of research for the driving of the plurality of vehicle cooperative queues is mostly based on following vehicles, namely, data interaction is carried out on the following vehicles and front vehicles and/or rear vehicles adjacent to the following vehicles, so that the vehicles in front of the following vehicles and the vehicles behind the following vehicles run in cooperation with the following vehicles, and thus the mode of vehicle fleet building is realized.
Therefore, a fleet constructed by data interaction between vehicles usually cannot realize fleet control on the whole, and only cooperative driving between adjacent vehicles is possible, if a communication fault vehicle occurs in the fleet, all vehicles behind the communication fault vehicle cannot keep cooperative driving with other vehicles in the fleet before the communication fault vehicle, that is, the existing fleet control mode cannot implement effective control on the fleet on the whole, and is not beneficial to improving reliability of cooperative driving of the fleet.
Disclosure of Invention
The invention aims to provide a method and a device for controlling motorcade running, which are used for solving the technical problems that the existing motorcade control mode cannot implement effective control on a motorcade on the whole and is not beneficial to improving the reliability of motorcade running in a coordinated mode.
In order to achieve the above object, a first aspect of the present disclosure provides a method for controlling vehicle fleet running, applied to a cloud server, the method including:
receiving a team formation request sent by a plurality of vehicles, wherein the team formation request comprises a driving path, a first driving direction and a first current position of the vehicle;
determining a target vehicle from a plurality of the vehicles according to the travel paths of the plurality of the vehicles, the first travel direction and the first position;
and taking the target vehicle as a vehicle in a first target fleet and controlling the first target fleet to run.
Optionally, the determining a target vehicle from the plurality of vehicles according to the travel paths, the first travel direction, and the first position of the plurality of vehicles comprises:
determining a plurality of pending target vehicles including the same driving road section in the driving path from a plurality of vehicles;
and determining the target vehicles to be determined with the same first driving direction as the target vehicle.
Optionally, the target vehicle comprises a leading vehicle and a following vehicle, the regarding the target vehicle as a vehicle in a first target fleet comprises:
according to the first positions of the plurality of target vehicles, the target vehicle which is the most front in the first traveling direction is taken as a leading vehicle of the first target fleet, and other vehicles except the leading vehicle in the target vehicles are taken as following vehicles of the first target fleet.
Optionally, the controlling the first target fleet vehicle comprises:
acquiring current position information and current speed information of each target vehicle in the first target fleet;
and sending guiding indication information to the guiding vehicle according to the current position information and the current speed information of each target vehicle, and sending following indication information to the following vehicle, so that the guiding vehicle guides the following vehicle to run on a motorcade running section according to the guiding indication information, and the following vehicle follows the front vehicle of the following vehicle to run according to the following indication information.
Optionally, the method further comprises:
receiving a motorcade joining request sent by a free vehicle outside the first target motorcade, wherein the motorcade joining request comprises a second position and a second driving direction of the free vehicle;
upon determining that the second direction of travel is the same as the first direction of travel and that the second location belongs to a fleet travel segment, treating the free vehicle as a vehicle in the first target fleet.
Optionally, the method further comprises:
determining whether a team member vehicle in the first target fleet is a tail vehicle in the first target fleet when a departure request sent by the team member vehicle in the first target fleet is received;
if the team member vehicle is determined to be not the tail vehicle in the first target team, when the number of the target vehicles behind the team member vehicle in the first target team is larger than or equal to a preset number threshold value, taking the target vehicles behind the team member vehicle as vehicles of a second target team, controlling the second target team to run, and sending a departure indication to the team member vehicle, wherein the departure indication is used for indicating the team member vehicle to be a free vehicle;
and if the target team member vehicle is determined to be the tail vehicle, sending the departure indication to the team member vehicle.
In a second aspect of the present disclosure, there is provided an apparatus for controlling travel of a fleet of vehicles, the apparatus comprising:
the system comprises a first receiving module, a second receiving module and a control module, wherein the first receiving module is used for receiving a team forming request sent by a plurality of vehicles, and the team forming request comprises a driving path, a first driving direction and a first position where the vehicles are located;
a first determination module configured to determine a target vehicle from a plurality of the vehicles according to the travel paths, the first travel direction, and the first position of the plurality of the vehicles;
and the control module is used for taking the target vehicle as a vehicle in a first target fleet and controlling the first target fleet to run.
Optionally, the first determining module includes:
the first determining submodule is used for determining a plurality of to-be-determined target vehicles containing the same driving road section in the driving path from the plurality of vehicles;
and the second determining submodule is used for determining the target vehicles to be determined with the same first driving direction as the target vehicle.
Optionally, the target vehicle comprises a lead vehicle and a following vehicle, the control module being configured to:
according to the first positions of the plurality of target vehicles, the target vehicle which is the most front in the first traveling direction is taken as a leading vehicle of the first target fleet, and other vehicles except the leading vehicle in the target vehicles are taken as following vehicles of the first target fleet.
Optionally, the control module comprises:
the obtaining submodule is used for obtaining the current position information and the current speed information of each target vehicle in the first target vehicle fleet;
and the information sending submodule is used for sending guiding indication information to the guiding vehicle according to the current position information and the current speed information of each target vehicle and sending following indication information to the following vehicle so that the guiding vehicle guides the following vehicle to run on a motorcade running section according to the guiding indication information, and the following vehicle follows the front vehicle of the following vehicle to run according to the following indication information.
Optionally, the apparatus further comprises:
the second receiving module is used for receiving a motorcade joining request sent by a free vehicle outside the first target motorcade, wherein the motorcade joining request comprises a second position and a second driving direction of the free vehicle;
and the second determining module is used for taking the free vehicle as the vehicle in the first target fleet when the second driving direction is determined to be the same as the first driving direction and the second position belongs to the fleet driving road section.
Optionally, the apparatus further comprises:
the third determining module is used for determining whether the team member vehicle is a tail vehicle in the first target fleet when a departure request sent by the team member vehicle in the first target fleet is received;
the third determining module is further configured to, if it is determined that the team member vehicle is a tail car not in the first target fleet, take the target vehicle behind the team member vehicle as a vehicle of a second target fleet when the number of the target vehicles behind the team member vehicle in the first target fleet is greater than or equal to a preset number threshold, control the second target fleet to travel, and send a departure indication to the team member vehicle, where the departure indication is used to indicate that the team member vehicle becomes a free vehicle;
the third determining module is further configured to send the departure indication to the team member vehicle if it is determined that the target team member vehicle is the tail car.
According to the technical scheme, a team formation request sent by a plurality of vehicles is received through a cloud server, wherein the team formation request comprises a driving path, a first driving direction and a first position where the vehicles are located currently; determining a target vehicle from a plurality of the vehicles according to the travel paths of the plurality of the vehicles, the first travel direction and the first position; and taking the target vehicle as a vehicle in a first target fleet and controlling the first target fleet to run. In this way, the cloud server determines the vehicles in the first target fleet and controls the first target fleet to run, so that the fleet can be effectively controlled on the whole, and the reliability of cooperative running of the fleet can be effectively improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of controlling fleet travel in accordance with an exemplary embodiment of the present disclosure;
FIG. 2 is a flow chart illustrating a method of controlling fleet travel in accordance with another exemplary embodiment of the present disclosure;
FIG. 3 is a flow chart illustrating a method of controlling fleet travel according to the embodiment of the present disclosure shown in FIG. 2;
FIG. 4 is a flow chart illustrating another method of controlling fleet travel according to the embodiment of the present disclosure shown in FIG. 2;
FIG. 5 is a block diagram illustrating an apparatus for controlling fleet travel according to yet another exemplary embodiment of the present disclosure;
fig. 6 is a block diagram illustrating an apparatus for controlling vehicle fleet travel according to the embodiment of the present disclosure shown in fig. 5.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Before describing the embodiments of the present disclosure in detail, first, a brief description will be made of an application scenario of the present disclosure, and the present disclosure may be applied to a plurality of free vehicles traveling on the same traveling road section and traveling in the same traveling direction, where the free vehicles are vehicles having an automatic driving function, and the free vehicles should have at least ACC (Adaptive cruise control) and AEB (automatic Braking system) functions, and the free vehicles may be configured to cooperatively travel by a fleet, and the fleet may include a lead vehicle and a following vehicle, and the following vehicle is configured to travel along with the lead vehicle. The control means of prior art for implementing fleet co-driving is typically based on following vehicles to create a queue, namely, a following vehicle and a front vehicle and/or a rear vehicle adjacent to the following vehicle are subjected to data interaction, so that the vehicle in front of the following vehicle and the vehicle behind the following vehicle run in cooperation with the following vehicle, therefore, the motorcade formed by the data interaction between the vehicles can not control each vehicle in the motorcade as a whole, and only can adjacent vehicles drive in a mutual cooperation way, if a certain vehicle in the motorcade has communication faults, it may result in all vehicles behind the communication-failed vehicle failing to travel in tandem with other vehicles in the fleet that are ahead of the communication-failed vehicle, therefore, the method is not beneficial to the effective control of the motorcade and the improvement of the reliability of the cooperative driving of the motorcade.
In order to solve the technical problem, the present disclosure provides a method and an apparatus for controlling a fleet of vehicles to travel, the method receiving a fleet request sent by a plurality of vehicles through a cloud server, the fleet request including a travel path, a first travel direction and a first current location of the vehicle; determining a target vehicle from the plurality of vehicles based on the travel paths, the first travel direction and the first position of the plurality of vehicles; and taking the target vehicle as a vehicle in a first target vehicle fleet, and controlling the first target vehicle fleet to run. In this way, the cloud server determines the vehicles in the first target fleet and controls the first target fleet to run, so that the fleet can be effectively controlled on the whole, and the reliability of cooperative running of the fleet can be effectively improved.
FIG. 1 is a flow chart illustrating a method of controlling fleet travel in accordance with an exemplary embodiment of the present disclosure; referring to fig. 1, the method is applied to a cloud server and may include the following steps:
The vehicle may be an autonomous vehicle, and the team request includes a driving path of the vehicle, a first driving direction and a first current position.
One possible implementation manner in this step is: determining a plurality of to-be-determined target vehicles including the same driving road section in the driving path from a plurality of vehicles; and determining the vehicle to be determined with the same first running direction as the target vehicle.
And 103, taking the target vehicle as a vehicle in a first target vehicle fleet, and controlling the first target vehicle fleet to run.
The target vehicle may include a leading vehicle and a following vehicle, among others.
It should be noted that, the step of regarding the target vehicle as a vehicle in the first target fleet may be implemented by: according to the first positions of the target vehicles, the target vehicle which is most front in the first traveling direction is taken as a leading vehicle of the first target fleet, and other vehicles except the leading vehicle in the target vehicles are taken as following vehicles of the first target fleet.
It should be further noted that one possible implementation of the method for controlling the first target fleet of vehicles is: and sending guiding indication information to the guiding vehicle according to the current position information and the current speed information of each target vehicle, and sending following indication information to the following vehicle, so that the guiding vehicle guides the following vehicle to run on the motorcade running section according to the guiding indication information, and the following vehicle follows the front vehicle of the following vehicle to run according to the following indication information.
According to the technical scheme, a team formation request sent by a plurality of vehicles is received through a cloud server, and the team formation request comprises a running path, a first running direction and a first position where the vehicles are located currently; determining a target vehicle from the plurality of vehicles based on the travel paths, the first travel direction and the first position of the plurality of vehicles; and taking the target vehicle as a vehicle in a first target vehicle fleet, and controlling the first target vehicle fleet to run. In this way, the cloud server determines the vehicles in the first target fleet and controls the first target fleet to run, so that the fleet can be effectively controlled on the whole, and the reliability of cooperative running of the fleet can be effectively improved.
FIG. 2 is a flow chart illustrating a method of controlling fleet travel in accordance with another exemplary embodiment of the present disclosure; referring to fig. 2, the method may include the steps of:
The team formation request comprises a driving path, a first driving direction and a current first position of the vehicle, wherein the first position is the position where the team formation request is sent.
For example, if a vehicle is going to start from point a to point C and end the route, the driving route may be from point a to point B via a link a, and then from point B to point C via a link B; accordingly, the first traveling direction may be a direction from the a point to the B point, or a direction from the a point to the C point; the first position is the current position of the vehicle, for example, between point a and point C, near point a at 2 KM.
And when the pending target vehicle sends the team formation request, the pending target vehicles all run on the same running road section.
For example, if the driving route of the vehicle a is from the point a to the point B, and then from the point B to the point C, the vehicle a is driven by the vehicle a at 9 a.m.: 10 to 10:30 on road b; the driving path of the vehicle B is that the vehicle A passes through the road section C to the point D, then passes through the road section D from the point D to the point B, then passes through the road section B from the point B to the point C, and the vehicle B is driven by the vehicle B in a speed ratio of 9: 05 to 10:30 on road b; the driving route of the vehicle C is that the vehicle C passes through a road section E to a road section F from the point E, then passes through a road section F to a point B from the point F, then passes through a road section B to the point C from the point B, and the vehicle C is driven to move along the following route in 9 am: 15 to 10:40 on road b; the driving route of the vehicle D is that the vehicle C passes through the road section B to the point B, then passes through the road section a from the point B to the point A, and the vehicle D is driven by the vehicle D in a speed ratio of 9: driving on a section b from 00 to 10: 50; then since at 9: and 20, when the team formation request is sent, the A vehicle, the B vehicle, the C vehicle and the D vehicle all run on the B road section, so that the A vehicle, the B vehicle, the C vehicle and the D vehicle are the target vehicles to be determined.
Wherein the target vehicle includes a lead vehicle and a following vehicle, the lead vehicle may adopt a manual driving mode of an autonomous vehicle, and the lead vehicle may adopt an intelligent driving mode of the autonomous vehicle.
For example, still taking the a vehicle, the B vehicle, the C vehicle and the D vehicle as an example in the above step 202 as an example, since the traveling directions of the a vehicle, the B vehicle and the C vehicle in the pending target vehicle are all from the point B to the point C, and the traveling direction of the D vehicle is from the point C to the point B, the traveling direction of the D vehicle is different from the traveling directions of the a vehicle, the B vehicle and the C vehicle, so that the target vehicle includes only the a vehicle, the B vehicle and the C vehicle, and does not include the D vehicle.
And 204, according to the first positions of the target vehicles, taking the target vehicle which is most front in the first traveling direction as a leading vehicle of the first target fleet, and taking other vehicles except the leading vehicle in the target vehicles as following vehicles of the first target fleet.
It should be noted that, in this step, the target vehicles may be sorted from the first end to the second end of the first traveling direction according to the first positions of the plurality of target vehicles, and a number corresponding to each target vehicle may be generated according to the sorting; determining the target vehicle corresponding to a first number in the numbers as the leading vehicle, and determining other target vehicles except the leading vehicle in the target vehicles as the following vehicles, wherein when the first end is a starting end, the second end is a terminal end, and the first number is a number corresponding to a vehicle closest to the second end; when the first end is an end point end, the second end is a start point end, and the first number is the number corresponding to the vehicle closest to the first end.
For example, the first position of the vehicle a is between the location B and the location C, and is close to the location B by 2KM, and the first position of the vehicle B is between the location B and the location C, and is close to the location B by 1 KM; the first position of the vehicle C is between the point B and the point C, and is close to the point B by 1.5KM, so that in the direction of travel from the point B to the point C, the vehicle B is closest to the point C, then the vehicle C, and finally the vehicle a, so that the vehicle B can be determined as a guidance vehicle for guiding the vehicle C and the vehicle a to travel.
Wherein the current location information is the real-time location of the target vehicle after the team formation request is sent; the current speed information is the real-time location of the target vehicle after the fleet request is sent.
And step 206, sending guiding indication information to the guiding vehicle according to the current position information and the current speed information of each target vehicle, and sending following indication information to the following vehicle, so that the guiding vehicle guides the following vehicle to run on the motorcade running section according to the guiding indication information, and the following vehicle follows the front vehicle of the following vehicle to run according to the following indication information.
Wherein the guidance indication information may include: the system comprises a motorcade running road section, a first number of a guide vehicle, the number of following vehicles in the motorcade and guide indication information, wherein the guide indication information is used for reminding a driver of the guide vehicle of being in a motorcade guide state currently; the following indication information includes: the following indication is used for indicating the following vehicle to run according to the current position information and the current speed information of the preceding vehicle so as to keep the running distance with the preceding vehicle as the target distance, and the motorcade running section is a common running section of all target vehicles.
According to the technical scheme, the guide indication information is sent to the guide vehicle according to the current position information and the current speed information of each target vehicle, and the following indication information is sent to the following vehicle, so that the guide vehicle guides the following vehicle to run on the running road section of the motorcade according to the guide indication information, and the following vehicle runs along the front vehicle of the following vehicle according to the following indication information, so that the motorcade can be effectively controlled on the whole, and the reliability of the cooperative running of the motorcade can be effectively improved.
Thus, the building of the first target vehicle fleet is completed through the methods described in step 201 to step 206, and after the building of the first target vehicle fleet is completed, if there are also free vehicles outside the first target vehicle fleet that want to join the vehicle fleet, the steps shown in fig. 3 are performed, referring to fig. 3, where fig. 3 is a flowchart of a method for controlling the traveling of the vehicle fleet according to the embodiment shown in fig. 2 of the present disclosure; the method may comprise the steps of:
Wherein the joining fleet request includes a second location and a second direction of travel at which the free vehicle is currently located.
It should be noted that the second position is a position where the free vehicle transmits the request for joining the fleet, and the second driving direction may be a direction from the starting position to the ending position.
In step 208, the free vehicle is determined to be a vehicle in the first target fleet when the second direction of travel is determined to be the same as the first direction of travel and the second location belongs to a fleet travel segment.
It should be noted that, for a specific implementation of taking the free vehicle as the vehicle in the first target fleet, reference is made to the implementation described in step 103 in fig. 1, and also reference may be made to the methods described in step 204 to step 206 in fig. 2, which are not described herein again.
According to the technical scheme, the free vehicles outside the first target motorcade can be timely and effectively added into the motorcade, effective control can be integrally implemented on the motorcade, and the reliability of cooperative driving of the motorcade can be effectively improved.
The method implements the process of joining a free vehicle to the first target fleet through steps 207 and 208, and if a team member vehicle in the first target fleet needs to leave the first target fleet after the fleet is completed, the method can leave the team member vehicle through the steps of fig. 4 below, see fig. 4, which is a flowchart of another method for controlling the fleet according to the embodiment of fig. 2 of the present disclosure; the method may comprise the steps of:
The team member vehicle is any one of the target vehicles, and the tail vehicle is the target vehicle farthest from the end point of the driving road section of the first target team.
In this step, if it is determined that the team member vehicle is not the tail vehicle in the first target fleet, step 210 is executed; if the target team member vehicle is determined to be the trailer, step 211 is executed.
And step 210, when the number of the target vehicles behind the team member vehicle in the first target team is greater than or equal to a preset number threshold, taking the target vehicles behind the team member vehicle as vehicles of a second target team, controlling the second target team to run, and sending a departure indication to the team member vehicle.
Wherein the departure indication is used to indicate that the team member vehicle is a free vehicle.
It should be noted that the specific implementation of controlling the second target vehicle fleet may be the same as the implementation of controlling the first target vehicle fleet, where the specific implementation of controlling the first target vehicle fleet is already described in detail in step 103 of the embodiment shown in fig. 1 and step 204 to step 206 shown in fig. 2, and is not repeated here.
According to the technical scheme, the fleet control strategy can be adjusted when a team member vehicle in the first target fleet needs to leave the first target fleet after the fleet is built, so that the fleet can be effectively controlled on the whole, and the reliability of cooperative running of the fleet can be effectively improved.
FIG. 5 is a block diagram illustrating an apparatus for controlling fleet travel according to yet another exemplary embodiment of the present disclosure; referring to fig. 5, the apparatus includes:
a first receiving module 501, configured to receive a team formation request sent by a plurality of vehicles, where the team formation request includes a driving path of the vehicle, a first driving direction, and a first current location;
a first determining module 502 for determining a target vehicle from the plurality of vehicles according to the travel paths, the first travel direction and the first position of the plurality of vehicles;
and a control module 503, configured to use the target vehicle as a vehicle in a first target fleet and control the first target fleet to travel.
According to the technical scheme, a first receiving module 501 receives a team formation request sent by a plurality of vehicles, wherein the team formation request comprises a driving path, a first driving direction and a first current position of the vehicle; determining, by a first determination module 502, a target vehicle from a plurality of the vehicles according to the travel paths, the first travel direction and the first position of the plurality of the vehicles; the target vehicle is regarded as a vehicle in the first target vehicle fleet by the control module 503, and the first target vehicle fleet is controlled to run. In this way, the cloud server determines the vehicles in the first target fleet and controls the first target fleet to run, so that the fleet can be effectively controlled on the whole, and the reliability of cooperative running of the fleet can be effectively improved.
FIG. 6 is a block diagram of an apparatus for controlling fleet travel shown in FIG. 5 according to the embodiment of the present disclosure; referring to fig. 6, the first determining module 502 includes:
the first determining submodule 5021 is used for determining a plurality of vehicles to be determined, which contain the same driving road section, in the driving path from the plurality of vehicles;
the second determining submodule 5022 is used for determining the target vehicle to be determined, which has the same first traveling direction, as the target vehicle.
Optionally, the target vehicle comprises a leading vehicle and a following vehicle, and the control module 503 is configured to:
according to the first positions of the target vehicles, the target vehicle which is most front in the first traveling direction is taken as a leading vehicle of the first target fleet, and other vehicles except the leading vehicle in the target vehicles are taken as following vehicles of the first target fleet.
Optionally, the control module 503 includes:
an obtaining sub-module 5031, configured to obtain current position information and current speed information of each target vehicle in the first target fleet;
the information sending sub-module 5032 is configured to send guidance instruction information to the lead vehicle according to the current location information and the current speed information of each target vehicle, and send following instruction information to the following vehicle, so that the lead vehicle guides the following vehicle to travel on the platoon travel section according to the guidance instruction information, and the following vehicle travels according to the following instruction information and follows a preceding vehicle of the following vehicle.
Optionally, the apparatus further comprises:
a second receiving module 504, configured to receive a request for joining the fleet, which is sent by a free vehicle outside the first target fleet, where the request for joining the fleet includes a second position and a second driving direction where the free vehicle is currently located;
a second determining module 505, configured to determine that the free vehicle is a vehicle in the first target fleet when the second driving direction is the same as the first driving direction and the second position belongs to the fleet driving road segment.
Optionally, the apparatus further comprises:
a third determining module 506, configured to determine whether a team member vehicle in the first target fleet is a tail car in the first target fleet when a departure request sent by the team member vehicle in the first target fleet is received;
the third determining module 506 is further configured to, if it is determined that the team member vehicle is not a tail car in the first target fleet, if the number of the target vehicles behind the team member vehicle in the first target fleet is greater than or equal to a preset number threshold, regard the target vehicle behind the team member vehicle as a vehicle of a second target fleet, control the second target fleet to travel, and send a departure indication to the team member vehicle, where the departure indication is used to indicate that the team member vehicle becomes a free vehicle;
the third determining module 506 is further configured to send the departure indication to the team member vehicle if the target team member vehicle is determined to be the tail car.
According to the technical scheme, the guide indication information is sent to the guide vehicle according to the current position information and the current speed information of each target vehicle, and the following indication information is sent to the following vehicle, so that the guide vehicle guides the following vehicle to run on the running road section of the motorcade according to the guide indication information, and the following vehicle runs along the front vehicle of the following vehicle according to the following indication information, so that the motorcade can be effectively controlled on the whole, and the reliability of the cooperative running of the motorcade can be effectively improved.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A method for controlling vehicle fleet running is applied to a cloud server, and the method comprises the following steps:
receiving a team formation request sent by a plurality of vehicles, wherein the team formation request comprises a driving path, a first driving direction and a first current position of the vehicle;
determining a target vehicle from a plurality of the vehicles according to the travel paths of the plurality of the vehicles, the first travel direction and the first position;
and taking the target vehicle as a vehicle in a first target fleet and controlling the first target fleet to run.
2. The method of claim 1, wherein said determining a target vehicle from a plurality of said vehicles based on said travel paths, said first direction of travel and said first location of said plurality of said vehicles comprises:
determining a plurality of pending target vehicles including the same driving road section in the driving path from a plurality of vehicles;
and determining the target vehicles to be determined with the same first driving direction as the target vehicle.
3. The method of claim 1, wherein the target vehicles comprise a lead vehicle and a follow-up vehicle, and wherein the treating the target vehicle as a vehicle in a first target fleet comprises:
according to the first positions of the plurality of target vehicles, the target vehicle which is the most front in the first traveling direction is taken as a leading vehicle of the first target fleet, and other vehicles except the leading vehicle in the target vehicles are taken as following vehicles of the first target fleet.
4. The method of claim 3, wherein said controlling said first target fleet of vehicles comprises:
acquiring current position information and current speed information of each target vehicle in the first target fleet;
and sending guiding indication information to the guiding vehicle according to the current position information and the current speed information of each target vehicle, and sending following indication information to the following vehicle, so that the guiding vehicle guides the following vehicle to run on a motorcade running section according to the guiding indication information, and the following vehicle follows the front vehicle of the following vehicle to run according to the following indication information.
5. The method of claim 1, further comprising:
receiving a motorcade joining request sent by a free vehicle outside the first target motorcade, wherein the motorcade joining request comprises a second position and a second driving direction of the free vehicle;
upon determining that the second direction of travel is the same as the first direction of travel and that the second location belongs to a fleet travel segment, treating the free vehicle as a vehicle in the first target fleet.
6. The method according to any one of claims 1 to 5, further comprising:
determining whether a team member vehicle in the first target fleet is a tail vehicle in the first target fleet when a departure request sent by the team member vehicle in the first target fleet is received;
if the team member vehicle is determined to be not the tail vehicle in the first target team, when the number of the target vehicles behind the team member vehicle in the first target team is larger than or equal to a preset number threshold value, taking the target vehicles behind the team member vehicle as vehicles of a second target team, controlling the second target team to run, and sending a departure indication to the team member vehicle, wherein the departure indication is used for indicating the team member vehicle to be a free vehicle;
and if the target team member vehicle is determined to be the tail vehicle, sending the departure indication to the team member vehicle.
7. An apparatus for controlling travel in a fleet of vehicles, the apparatus comprising:
the system comprises a first receiving module, a second receiving module and a control module, wherein the first receiving module is used for receiving a team forming request sent by a plurality of vehicles, and the team forming request comprises a driving path, a first driving direction and a first position where the vehicles are located;
a first determination module configured to determine a target vehicle from a plurality of the vehicles according to the travel paths, the first travel direction, and the first position of the plurality of the vehicles;
and the control module is used for taking the target vehicle as a vehicle in a first target fleet and controlling the first target fleet to run.
8. The apparatus of claim 7, wherein the first determining module comprises:
the first determining submodule is used for determining a plurality of to-be-determined target vehicles containing the same driving road section in the driving path from the plurality of vehicles;
and the second determining submodule is used for determining the target vehicles to be determined with the same first driving direction as the target vehicle.
9. The apparatus of claim 7, wherein the target vehicle comprises a lead vehicle and a follow-up vehicle, the control module to:
according to the first positions of the plurality of target vehicles, the target vehicle which is the most front in the first traveling direction is taken as a leading vehicle of the first target fleet, and other vehicles except the leading vehicle in the target vehicles are taken as following vehicles of the first target fleet.
10. The apparatus of claim 9, wherein the control module comprises:
the obtaining submodule is used for obtaining the current position information and the current speed information of each target vehicle in the first target vehicle fleet;
and the information sending submodule is used for sending guiding indication information to the guiding vehicle according to the current position information and the current speed information of each target vehicle and sending following indication information to the following vehicle so that the guiding vehicle guides the following vehicle to run on a motorcade running section according to the guiding indication information, and the following vehicle follows the front vehicle of the following vehicle to run according to the following indication information.
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