CN113345215A - Vehicle formation driving control method and related equipment - Google Patents

Vehicle formation driving control method and related equipment Download PDF

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Publication number
CN113345215A
CN113345215A CN202110571670.9A CN202110571670A CN113345215A CN 113345215 A CN113345215 A CN 113345215A CN 202110571670 A CN202110571670 A CN 202110571670A CN 113345215 A CN113345215 A CN 113345215A
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vehicle
target
lane
lane change
pilot
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CN113345215B (en
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张卓筠
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

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  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The disclosure provides a vehicle formation driving control method and related equipment. The method comprises the following steps: the method comprises the steps that a pilot vehicle determines to change from a current driving lane to a target driving lane; the pilot vehicle sends a lane change negotiation message to the surrounding vehicles; the pilot vehicle receives a lane change permission response message returned by the target vehicle; and controlling the pilot vehicle to change from the current driving lane to the target driving lane according to the lane change permission response message. The target vehicle is located in the target driving lane, the lane change permission response message is generated by the target vehicle according to the lane change negotiation message, the target vehicle is located in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane before the lane change permission response message is sent, and the lane change permission response message is sent after the target vehicle is located outside the lane change area. The method can be applied to the automatic driving technology in the traffic field.

Description

Vehicle formation driving control method and related equipment
Technical Field
The present disclosure relates to the field of computer and communication technologies, and in particular, to a method and an apparatus for controlling vehicle formation driving, an electronic device, and a computer-readable storage medium.
Background
With the development and application of new technologies such as an automatic driving technology, an information communication technology, cloud computing and the like, automobiles are being changed from a mechanical product which is manually operated to an intelligent product which is controlled by an intelligent system. The automatic driving technology is applied to the automobile to effectively reduce the accident rate.
Wherein, the formation of multiple vehicles is a key direction. If the formation cooperation is realized between the finished vehicles, the rear-end collision accident caused by the emergency braking of the front vehicle can be effectively avoided, the road safety is greatly improved, and the following distance between the vehicles can be reduced by the automatic driving of the multi-vehicle formation, so that the wind resistance of the rear vehicle is smaller, and the oil consumption cost of the rear vehicle can be reduced.
However, in the related art, there is no solution for how the vehicle formation can complete lane-changing running during running, thereby limiting the flexibility and practicability of the vehicle formation.
Disclosure of Invention
The embodiment of the disclosure provides a vehicle formation driving control method and device, electronic equipment and a computer readable storage medium, which can solve the problem of lane change driving in vehicle formation driving and improve the flexibility and the practicability of vehicle formation.
The embodiment of the disclosure provides a vehicle formation driving control method, wherein the vehicle formation comprises a pilot vehicle and a follow-up vehicle of the pilot vehicle. Wherein, the method comprises the following steps: the method comprises the steps that a pilot vehicle determines to change from a current driving lane to a target driving lane; the pilot vehicle sends a lane change negotiation message to the surrounding vehicles; the pilot vehicle receives a lane change permission response message returned by the target vehicle, and the surrounding vehicles comprise the target vehicle; and controlling the pilot vehicle to change from the current driving lane to the target driving lane according to the lane change permission response message. The target vehicle is located in the target driving lane, the lane change permission response message is generated by the target vehicle according to the lane change negotiation message, the target vehicle is located in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane before the lane change permission response message is sent, and the lane change permission response message is sent after the target vehicle is located outside the lane change area.
The embodiment of the disclosure provides a vehicle formation driving control method, wherein the vehicle formation comprises a pilot vehicle and a follow-up vehicle of the pilot vehicle. Wherein, the method comprises the following steps: the method comprises the following steps that peripheral vehicles of a pilot vehicle receive a lane change negotiation message sent by the pilot vehicle, wherein the lane change negotiation message comprises running speed information, position information and a target running lane of the pilot vehicle; the peripheral vehicle determines the peripheral vehicle in a lane change area in which the pilot vehicle changes from the current driving lane to the target driving lane as a target vehicle according to the lane change negotiation message, wherein the target vehicle is in the target driving lane of the pilot vehicle; controlling the target vehicle to drive away from the lane change area; and after the target vehicle is outside the lane change area, returning a lane change permission response message to the pilot vehicle by the target vehicle, so that the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the lane change permission response message.
The embodiment of the disclosure provides a vehicle formation driving control method, wherein the vehicle formation comprises a pilot vehicle and a follow-up vehicle of the pilot vehicle. Wherein, the method comprises the following steps: a target follower in the follower receives a target lane change instruction message sent by a pilot vehicle, wherein the target lane change instruction message comprises a target driving lane; the target following vehicle generates a target lane change response message according to the target lane change instruction message; and the target follower sends the target lane change response message to the pilot vehicle so that the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the target lane change response message. The target lane change instruction message is generated by the pilot vehicle according to the lane change permission response message, the lane change permission response message is sent to the pilot vehicle by a target vehicle in the vehicles around the pilot vehicle, the target vehicle is located in the target driving lane, the lane change permission response message is generated by the target vehicle according to the lane change negotiation message sent by the pilot vehicle, the target vehicle is located in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane before the lane change permission response message is sent, and the lane change permission response message is sent after the target vehicle is located outside the lane change area.
The embodiment of the disclosure provides a vehicle formation driving control device, and the vehicle formation comprises a pilot vehicle and a follow-up vehicle of the pilot vehicle. Wherein, the device includes: a target driving lane determining unit for determining a change from a current driving lane to a target driving lane by a pilot vehicle; the lane change negotiation message sending unit is used for sending a lane change negotiation message to the surrounding vehicles through the pilot vehicle; the lane change permission response message receiving unit is used for receiving a lane change permission response message returned by the target vehicle through the pilot vehicle, and the surrounding vehicles comprise the target vehicle; and the target driving lane changing unit is used for controlling the pilot vehicle to change from the current driving lane to the target driving lane according to the lane change permission response message through the pilot vehicle. The target vehicle is located in the target driving lane, the lane change permission response message is generated by the target vehicle according to the lane change negotiation message, the target vehicle is located in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane before the lane change permission response message is sent, and the lane change permission response message is sent after the target vehicle is located outside the lane change area.
The embodiment of the disclosure provides a vehicle formation driving control device, and the vehicle formation comprises a pilot vehicle and a follow-up vehicle of the pilot vehicle. Wherein, the device includes: the lane change negotiation message receiving unit is used for receiving lane change negotiation messages sent by the pilot vehicle through surrounding vehicles of the pilot vehicle; the target vehicle determining unit is used for determining the peripheral vehicle in the lane change area where the pilot vehicle is changed from the current driving lane to the target driving lane as the target vehicle according to the lane change negotiation message through the peripheral vehicle, and the target vehicle is in the target driving lane of the pilot vehicle; the lane change area driving-away control unit is used for controlling the target vehicle to drive away from the lane change area; and the lane change permission response message returning unit is used for returning a lane change permission response message to the pilot vehicle by the target vehicle after the target vehicle is outside the lane change area, so that the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the lane change permission response message.
The embodiment of the disclosure provides a vehicle formation driving control device, and the vehicle formation comprises a pilot vehicle and a follow-up vehicle of the pilot vehicle. Wherein, the device includes: the target lane change instruction message receiving unit is used for receiving a target lane change instruction message sent by a pilot vehicle through a target follow-up vehicle in the follow-up vehicles, and the target lane change instruction message comprises a target driving lane; the target lane change response message generating unit is used for generating a target lane change response message according to the target lane change instruction message by the target follower; and the target lane change response message sending unit is used for sending the target lane change response message to the pilot vehicle through the target follower vehicle so that the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the target lane change response message. The target lane change instruction message is generated by the pilot vehicle according to the lane change permission response message, the lane change permission response message is sent to the pilot vehicle by a target vehicle in the vehicles around the pilot vehicle, the target vehicle is located in the target driving lane, the lane change permission response message is generated by the target vehicle according to the lane change negotiation message sent by the pilot vehicle, the target vehicle is located in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane before the lane change permission response message is sent, and the lane change permission response message is sent after the target vehicle is located outside the lane change area.
The disclosed embodiments provide a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements a vehicle formation travel control method as in the above embodiments.
An embodiment of the present disclosure provides an electronic device, including: one or more processors; a storage device configured to store one or more programs, which when executed by one or more processors, cause the one or more processors to implement the vehicle formation travel control method as in the above-described embodiments.
According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle formation driving control method provided in the above-mentioned various optional implementations.
In some embodiments of the present disclosure, when a pilot vehicle in a vehicle formation determines that a change from a current driving lane to a target driving lane is required, a lane change negotiation message is sent to a peripheral vehicle of the pilot vehicle by the pilot vehicle, so that the peripheral vehicle of the pilot vehicle can determine whether itself is within a lane change area of the pilot vehicle according to the lane change negotiation message, if it is determined that itself is within the lane change area of the pilot vehicle, that is, the corresponding peripheral vehicle is a target vehicle that obstructs the pilot vehicle from the current driving lane to the target driving lane, at this time, the target vehicle can control itself to drive away from the lane change area, after the target vehicle is outside the lane change area, the target vehicle can send a lane change permission response message to the pilot vehicle to inform the pilot vehicle that it can start a lane change operation from the current driving lane to the target driving lane, after the pilot vehicle receives the response message of allowing lane change returned by the target vehicle, the lane change operation of changing the current driving lane to the target driving lane can be completed, on one hand, because the target vehicle which obstructs lane change does not exist in the lane change area at the moment, the safe lane change of the pilot vehicle can be realized; on the other hand, the lane changing mode does not need manual participation, automatic lane changing of the pilot vehicle can be achieved through interaction of the pilot vehicle and surrounding vehicles, and flexibility and practicability of vehicle formation are improved.
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Fig. 1 schematically shows a flowchart of a vehicle formation driving control method according to an embodiment of the present disclosure.
Fig. 2 schematically shows a schematic diagram of a vehicle formation driving control method according to an embodiment of the present disclosure.
Fig. 3 schematically shows a system architecture diagram of a vehicle formation driving control method according to an embodiment of the present disclosure.
Fig. 4 schematically shows an interaction diagram of a vehicle formation driving control method according to an embodiment of the present disclosure.
Fig. 5 schematically shows a flowchart of a vehicle formation driving control method according to another embodiment of the present disclosure.
Fig. 6 schematically shows a flowchart of a vehicle formation driving control method according to still another embodiment of the present disclosure.
Fig. 7 schematically shows a block diagram of a vehicle formation travel control apparatus according to an embodiment of the present disclosure.
Fig. 8 schematically shows a block diagram of a vehicle formation travel control apparatus according to another embodiment of the present disclosure.
Fig. 9 schematically shows a block diagram of a vehicle formation travel control apparatus according to still another embodiment of the present disclosure.
FIG. 10 shows a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure.
Detailed Description
First, some terms appearing in the embodiments of the present disclosure are explained.
Platonic: it is based on wireless communication technology and automatic driving technology, two or more vehicles follow closely and connect together to form a vehicle formation with similar driving behavior.
Driving as a platon: two or more vehicles run in a formation form under a specific scene, and the formation behavior process comprises the steps of creating a formation, clearing and returning the formation, joining the formation, leaving the formation and the like.
Pilot Vehicle (LV, also called pilot Vehicle): the vehicles at the forefront of the formation (refer to fig. 2 and 3 below) in the traveling direction of the formation are responsible for the management work of the entire formation.
Follow-up Vehicle (FV, which may also be referred to as a follow-up Vehicle): and (4) queuing other following vehicles except the pilot vehicle during the formation driving.
Artificial Intelligence (AI) is a theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and expand human Intelligence, perceive the environment, acquire knowledge and use the knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the realization method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making.
The artificial intelligence technology is a comprehensive subject and relates to the field of extensive technology, namely the technology of a hardware level and the technology of a software level. The artificial intelligence infrastructure generally includes technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.
With the research and progress of artificial intelligence technology, the artificial intelligence technology is developed and applied in a plurality of fields, such as common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned driving, automatic driving, unmanned aerial vehicles, robots, smart medical care, smart customer service, and the like.
The automatic driving technology generally comprises technologies such as high-precision maps, environment perception, behavior decision, path planning, motion control and the like, and the self-determined driving technology has wide application prospects.
The scheme provided by the embodiment of the application relates to technologies such as automatic driving of artificial intelligence, and the like, and is specifically explained by the following embodiment.
Fig. 1 schematically shows a flowchart of a vehicle formation driving control method according to an embodiment of the present disclosure. In embodiments of the present disclosure, a fleet of vehicles may include a pilot vehicle and a follower of the pilot vehicle.
In the disclosed embodiment, a formation of vehicles may refer to a fleet of vehicles having the same fleet Identification (ID), and the vehicles included in the formation of vehicles may increase or decrease over time, i.e., there may be free vehicles that are outside the formation of vehicles and there may be vehicles that are inside the formation of vehicles that are out of the formation of vehicles.
In the embodiment of the present disclosure, the states (statuses) in which the vehicle is located may be set to include a "piloting state", a "following state", a "free state", and the like. The piloting vehicle is in a piloting state, the following vehicle is in a following state, and the vehicles which are not in the vehicle formation driving state are in a free state (the corresponding vehicles can be called as free vehicles or free vehicles).
In the embodiment of the present disclosure, the vehicle may be set to include different roles (rolls), which may be "lead vehicle" (leader), "free vehicle" (free vehicle), "follow-up vehicle" (follow-up), and the like. The role of the pilot vehicle is set as the pilot vehicle, the role of the following vehicle is set as the following vehicle, and the role of the vehicle which drives away or does not join the vehicle formation is the free vehicle.
In some embodiments, the state of the vehicle may be set, as may the role of the vehicle. In other embodiments, the state and role of the vehicle may be set simultaneously. For example, the role of the navigator is navigator, and its corresponding state is the navigator state; the role of the following vehicle is the following vehicle, and the corresponding state is the following state; the role of the free vehicle is the free vehicle, and the corresponding state is the free state.
As shown in fig. 1, the method provided by the embodiment of the present disclosure may include the following steps.
In step S110, the pilot vehicle determines a change from the current travel lane to the target travel lane.
In an exemplary embodiment, the determining, by the pilot vehicle, a change from the current driving lane to the target driving lane may include: the method comprises the steps that a pilot vehicle obtains a target driving route of a vehicle formation; acquiring running vehicle information of a lane adjacent to a current running lane by a pilot vehicle; and the pilot vehicle determines a target driving lane from the adjacent lanes according to the target driving route and the driving vehicle information of the adjacent lanes.
In the embodiment of the disclosure, the target driving route refers to a driving route planned for a vehicle formation to reach a destination point from a starting point. The method comprises the steps that a pilot vehicle can obtain a target driving route of a vehicle formation from a cloud platform, can also obtain the target driving route of the vehicle formation from a road side unit, and can also plan the target driving route of the vehicle formation by the pilot vehicle. The target driving route may be already planned before the formation of vehicles starts to drive, or may be dynamically planned according to actual road conditions in the driving process, or the target point may be changed in the driving process, and the obtained updated planned route may be adjusted, which is not limited by the present disclosure.
In the embodiment of the present disclosure, the running vehicle information of the adjacent lane may include one or more of the number of vehicles on two adjacent lanes on the left and right of the current running lane, the position where the vehicle is located, the lane where the vehicle is located, the running speed of the vehicle, the running direction of the vehicle, the vehicle identification, and the like. The vehicle identifier may be a vehicle ID dynamically assigned to the vehicle, or may be other information that can uniquely identify each vehicle, such as a license plate number.
Further, the pilot vehicle may also acquire running vehicle information on the current running lane, such as one or more of the number of vehicles running ahead of the pilot vehicle (relative to the running direction) on the current running lane, the position of the vehicle, the lane in which the vehicle is located, the running speed of the vehicle, the running direction of the vehicle, the vehicle identification, and the like. That is, when the pilot vehicle prepares to change the lane, the information of the traveling vehicle on the adjacent lane is taken into consideration, and the information of the traveling vehicle on the current traveling lane is also taken into consideration, so that the safety during the lane change can be further improved.
In the embodiment of the present disclosure, the traveling vehicle information sent by the V2V communication device on the pilot vehicle may be received by the V2V communication device on the vehicle in the adjacent lane and/or the current traveling lane, or the traveling vehicle information of the vehicle in the adjacent lane and/or the current traveling lane may be detected and obtained by a sensor installed on the pilot vehicle, which includes but is not limited to an image sensor (e.g., a camera), a radar, an ultrasonic wave, and the like.
In step S120, the navigator transmits a lane change negotiation message to its neighboring vehicles.
In the embodiment of the present disclosure, the vehicle around the pilot vehicle refers to any vehicle within the communication distance range of the pilot vehicle, that is, any vehicle capable of receiving the lane change negotiation message after the pilot vehicle sends the lane change negotiation message. The communication distance of the pilot vehicle is the farthest distance that the pilot vehicle can communicate, that is, other vehicles whose distance is greater than the communication distance may not normally receive the lane change negotiation message sent by the pilot vehicle.
In the embodiment of the present disclosure, the running speed information of the lead vehicle may be equal to the running speed information of the formation of vehicles, that is, the running speeds of the lead vehicle and each following vehicle in the formation of vehicles may be considered to be the same, and therefore, the running speed information of the formation of vehicles (which may also be referred to as a platoon running speed) may also be included in the lane change negotiation message.
In an exemplary embodiment, the lane change negotiation message may include driving speed information of the pilot vehicle, position information, time stamp information, and a target driving lane. In the following description, the example is given by taking the case that the lane change negotiation message includes the position information of the pilot vehicle and the current driving lane.
In some embodiments, the lane change negotiation message may include travel speed information of a pilot vehicle, position information of the pilot vehicle, timestamp information, a current travel lane and a target travel lane (which may also be referred to as a planned lane change lane), and after a peripheral vehicle of the pilot vehicle receives the lane change negotiation message sent by the pilot vehicle, it may determine whether the peripheral vehicle is in the target travel lane or the current travel lane according to the travel speed information, the position information, the timestamp information, the current travel lane and the target travel lane of the pilot vehicle carried in the lane change negotiation message, and further determine whether the peripheral vehicle obstructs lane change of the pilot vehicle by combining the travel speed information and the position information of the peripheral vehicle. Each following vehicle after the lead vehicle also sends a lane change negotiation message to the surrounding vehicles of the following vehicle before lane change, the lane change negotiation message sent by the following vehicle can include the running speed information of the following vehicle, the position information of the following vehicle, the timestamp information, the current running lane and the target running lane, and after the surrounding vehicles of the following vehicle receive the lane change negotiation message sent by the following vehicle, whether the surrounding vehicles of the following vehicle are in the target running lane or the current running lane can be judged according to the running speed information, the position information, the timestamp information, the current running lane and the target running lane of the following vehicle carried in the lane change negotiation message, and whether the surrounding vehicles can block the lane change of the following vehicle is further judged by combining the running speed information and the position information of the surrounding vehicles. That is, in this case, the lane change between the lead vehicle and each following vehicle in the formation of vehicles is independent, but the formation of vehicles needs to be guaranteed.
In an exemplary embodiment, the lane change negotiation message may include driving speed information of the pilot vehicle, position information, time stamp information, and a target driving lane. In the following description, the example is given by taking the case that the lane change negotiation message includes the position information of the pilot vehicle and the current driving lane.
In other embodiments, the lane change negotiation message may further include information on the number of vehicles in the fleet and the fleet queue length of the formation of vehicles, in addition to the driving speed information of the pilot vehicle, the position information of the pilot vehicle, the timestamp information, the current driving lane and the target driving lane. The number of vehicles in the formation refers to the sum of the numbers of pilot vehicles and follow-up vehicles in the formation. The fleet queue length information may be the total length of the fleet of vehicles, or may be the inter-vehicle distance in the fleet of vehicles, i.e. the inter-vehicle distance between the leading vehicle and the first following vehicle behind the leading vehicle, the inter-vehicle distance between the first following vehicle and the second following vehicle, etc., and usually, the inter-vehicle distances between adjacent vehicles in the fleet of vehicles are equal. The total length of the vehicle formation can be obtained according to the distance between the vehicles and the number of the vehicles in the formation. On the contrary, the vehicle distance can be obtained according to the number of vehicles in the formation and the total length of the formation of the vehicles. After the distance between the vehicles is obtained, the position information of each following vehicle can be deduced and obtained according to the position information of the pilot vehicle. In still other embodiments, the lane change negotiation message may further include the traveling speed information of each following vehicle and the position information of each following vehicle in addition to the traveling speed information of the pilot vehicle, the position information of the pilot vehicle, the current traveling lane and the target traveling lane.
After the peripheral vehicles of the pilot vehicle receive the lane change negotiation message sent by the pilot vehicle, whether the peripheral vehicles are in the target driving lane or the current driving lane can be judged according to the driving speed information, the position information, the timestamp information, the current driving lane and the target driving lane of the pilot vehicle, the number of vehicles in the formation of vehicles and the fleet queue length information carried in the lane change negotiation message, and whether the peripheral vehicles can obstruct the lane change of the pilot vehicle and each following vehicle is further judged by combining the driving speed information and the position information of the peripheral vehicles, namely whether the peripheral vehicles can obstruct the overall lane change of the formation of vehicles can be judged, so that the target vehicles in the overall lane change area of the formation of vehicles can be cleared at one time, and the lane change efficiency is improved. In this case, for the safety of lane change, each following vehicle after the lead vehicle may send a lane change negotiation message to the surrounding vehicles of the following vehicle before the lane change, the lane change negotiation message sent by the following vehicle may include traveling speed information of the following vehicle, position information of the following vehicle, timestamp information, a current traveling lane and a target traveling lane, and after the surrounding vehicles of the following vehicle receive the lane change negotiation message sent by the following vehicle, it may be determined whether the following vehicle is in the target traveling lane or the current traveling lane according to the traveling speed information, the position information, the current traveling lane and the target traveling lane of the following vehicle carried in the lane change negotiation message, and further, it may be determined whether the following vehicle will block the lane change of the following vehicle by combining the traveling speed information and the position information of the following vehicle.
In an exemplary embodiment, the pilot vehicle sending the lane change negotiation message to its neighboring vehicles may include: the method comprises the following steps that a pilot vehicle obtains driving parameters of vehicles around the pilot vehicle; determining a target vehicle which is in a target driving lane and is positioned in a lane change area from peripheral vehicles of a pilot vehicle according to driving parameters; and the pilot vehicle sends a lane change negotiation message to the target vehicle.
In the disclosed embodiment, the running parameters of the nearby vehicle of the pilot vehicle may include one or more of running speed information, position information, time stamp information, running direction information, and the like of the nearby vehicle. The pilot vehicle can judge whether each peripheral vehicle runs on the target running lane according to running parameters of the peripheral vehicles, judge whether each peripheral vehicle can block the pilot vehicle or change lanes of the pilot vehicle and the following vehicle, and take the peripheral vehicle which can block the pilot vehicle or change lanes of the pilot vehicle and the following vehicle as the target vehicle, and the pilot vehicle can directionally unicast the lane change negotiation message to each target vehicle.
When the pilot vehicle has previously determined which nearby vehicles are target vehicles obstructing lane change, the directional unicast lane change negotiation message may include a lane change instruction and a lane change area. The lane change instruction is used for informing the target vehicle, a pilot vehicle or a vehicle formation about the lane change operation, and the target vehicle is required to change the driving scheme to support the lane change operation. The lane change area is used for informing the target vehicle that the position of the target vehicle hinders the lane change of a pilot vehicle or a vehicle formation, and the target vehicle is required to adopt a driving scheme to drive away from the lane change area so as to support the lane change operation. Therefore, after the target vehicle receives the lane change negotiation message, the target vehicle can know which driving scheme is adopted to support the lane change operation of the pilot vehicle or the vehicle formation.
In an exemplary embodiment, the pilot vehicle may also broadcast a lane change negotiation message to its neighboring vehicles, any vehicle within the communication distance range of the pilot vehicle may receive the lane change negotiation message, after receiving the lane change negotiation message, the neighboring vehicle may determine whether itself obstructs lane change of the pilot vehicle or formation of vehicles, if it is determined that lane change is not obstructed, the lane change negotiation message may be ignored, and no lane change permission response message may be returned to the pilot vehicle, for example, assuming that the current driving lane is lane 2 and the target driving lane is lane 1, the neighboring vehicle on lane 3 may ignore the received lane change negotiation message; if the lane change is prevented, a corresponding driving scheme can be adopted to support the lane change operation, and a lane change permission response message is returned to the pilot vehicle.
In the following description, the lane change negotiation message is broadcasted by the pilot vehicle to the neighboring vehicles, the lane change negotiation message broadcasted by the pilot vehicle includes the traveling speed information of the pilot vehicle, the position information, the current traveling lane and the target traveling lane, the number of vehicles in the formation of the vehicles, and the queue length information of the fleet, and the neighboring vehicles themselves determine whether the neighboring vehicles obstruct the lane change of the pilot vehicle and the following vehicles.
In step S130, the navigator receives a lane change permission response message returned by the target vehicle, and the nearby vehicle includes the target vehicle.
The target vehicle is located in the target driving lane, the lane change permission response message is generated by the target vehicle according to the lane change negotiation message, the target vehicle is located in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane before the lane change permission response message is sent, and the lane change permission response message is sent after the target vehicle is located outside the lane change area.
In the embodiment of the present disclosure, the lane change area may refer to a safety range in which the pilot vehicle changes from the current driving lane to the target driving lane without colliding with other obstacles, the safety range may be obtained by calculating and calculating according to the position information and the driving speed information of the pilot vehicle, and the position information and the driving speed information of the target vehicle, and the weather state, the environmental information, and the like, such as visibility, whether it is rainy, and the like, may be comprehensively considered. In other embodiments, if the pilot vehicle also considers lane change of the entire vehicle formation, the lane change area may include a safe range in which the pilot vehicle and each following vehicle change from the current driving lane to the target driving lane without collision with other obstacles, the safe range may be estimated from position information and driving speed information of the pilot vehicle, position information and driving speed information of each following vehicle, position information and driving speed information of the target vehicle, and the like, and may also comprehensively consider weather conditions, environmental information, and the like.
Specifically, when a target vehicle traveling on a target traveling lane or a current traveling lane receives a lane change negotiation message sent by a pilot vehicle, a distance between the target vehicle and the pilot vehicle can be obtained according to position information of the target vehicle and the pilot vehicle, and it is determined that the target vehicle obstructs lane change of the pilot vehicle according to traveling speed information of the target vehicle and the pilot vehicle and the distance, and then the target vehicle adopts a corresponding traveling scheme, for example, accelerated traveling away from a lane change area, and when the target vehicle no longer obstructs the pilot vehicle or changes lanes of a vehicle formation, the target vehicle returns a lane change permission response message to the pilot vehicle to inform the pilot vehicle that the target vehicle can start lane change.
In step S140, the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the lane change permission response message.
In an exemplary embodiment, the controlling, by the navigator, the change of the navigator from the current driving lane to the target driving lane according to the lane change enable response message may include: the pilot vehicle sends a target lane change instruction message to a target following vehicle according to the lane change permission response message, wherein the target lane change instruction message comprises a target driving lane, and the following vehicle comprises a target following vehicle; the method comprises the steps that a pilot vehicle receives a target lane change response message returned by a target follower vehicle, wherein the target lane change response message is generated by the target follower vehicle according to a target lane change instruction message; and the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the target lane changing response message.
The target lane-changing instruction message may include a target driving lane to inform the target to follow the vehicle to change the lane to the target driving lane. The target lane change instruction message may further include a driving speed of the fleet after lane change, so as to inform the target following vehicle of what driving speed is adopted after the lane change to the target driving lane.
In an exemplary embodiment, the method may further include: when the pilot vehicle changes from the current driving lane to the target driving lane, the pilot vehicle sends a lane change completion state message to the target following vehicle; the method comprises the steps that a pilot vehicle receives a lane change completion state message sent by a target following vehicle; and the pilot vehicle sends a fleet update message to the target follow-up vehicle according to the lane change completion state message sent by the target follow-up vehicle.
The fleet update message is used for informing each target following vehicle in the vehicle formation that lane change is completed, and the whole fleet runs on a target running lane currently.
In an exemplary embodiment, before the pilot vehicle sends the target lane change instruction message to the target follower vehicle according to the lane change enable response message, the method may further include: the pilot vehicle sends an initial lane change instruction message to the following vehicle according to the lane change permission response message; the pilot vehicle sends a vehicle clear-back message to the following vehicles which do not return the initial lane change response message so as to clear back the following vehicles which do not return the initial lane change response message to the pilot vehicle from the vehicle formation; and the pilot vehicle sends a message to the target following vehicles except the cleared following vehicles to update the vehicle formation information of the vehicle formation.
Specifically, when the pilot vehicle receives a lane change permission response message of a target vehicle traveling on the current traveling lane or the target traveling lane, and confirms that the lane change is possible, an initial lane change instruction message may be sent to the following vehicles in the vehicle formation, and the initial lane change instruction message may include information such as the traveling speed of the target traveling lane and the traveling speed after the lane change. If the following vehicle agrees to change the lane to the target driving lane, the following vehicle can send an initial lane change response message to the pilot vehicle. When the pilot vehicle receives initial lane change response messages of all following vehicles, the pilot vehicle starts self lane change operation, in this case, the following vehicles are target following vehicles, the initial lane change instruction messages are target lane change instruction messages, and the initial lane change response messages are target lane change response messages.
If one or some following vehicles do not agree to change the lane to the target driving lane after receiving the initial lane change instruction message, the initial lane change instruction message is selected to be ignored, or a lane change refusal response message is returned to the pilot vehicle; or the initial lane change response message is not successfully returned to the pilot vehicle, for example, a communication failure occurs, that is, when the pilot vehicle does not receive the initial lane change response message sent by one or some following vehicles, the pilot vehicle may send a vehicle clear-back message to the following vehicle which does not return the initial lane change response message, so as to clear back the following vehicle which does not return the initial lane change response message from the vehicle formation to make the following vehicle become a free vehicle, and send a message to an immediately following vehicle behind the cleared following vehicle, wherein the message includes information of an updated following vehicle in front of the following vehicle. For example, assuming that the vehicle 1 is originally the first following vehicle, the vehicle 2 is the second following vehicle, and the vehicle 3 is the third following vehicle, and assuming that the vehicle 2 does not return the initial lane change response message to the lead vehicle, the vehicle 2 is cleared from the vehicle formation, and then the message sent by the lead vehicle to the vehicle 3 updates the information of the previous vehicle from the vehicle 2 to the vehicle 1, so as to form an updated vehicle formation, and each following vehicle in the updated vehicle formation is called a target following vehicle.
And then, the pilot vehicle broadcasts the target lane change instruction message to the target following vehicles in the updated vehicle formation again, and the target following vehicles return the target lane change response message to the pilot vehicle until the pilot vehicle receives the target lane change response messages returned by all the target following vehicles.
In an exemplary embodiment, the method may further include: if the pilot vehicle does not receive a lane change permission response message returned by the target vehicle, the pilot vehicle sends a request message of a driving-away lane change area to the road side unit, wherein the request message of the driving-away lane change area comprises vehicle formation information and target vehicle information, so that the road side unit sends a request message of a forced driving-away lane change area to the target vehicle according to the request message of the driving-away lane change area, and the target vehicle drives away the lane change area according to the request message of the forced driving-away lane change area and returns a response message of confirming the driving-away lane change area to the road side unit; the pilot vehicle receives a response message for confirming the driving away from the lane changing area returned by the road side unit, and the response message for confirming the driving away from the lane changing area is used for indicating that the target vehicle has driven away from the lane changing area; and controlling the pilot vehicle to change from the current driving lane to the target driving lane according to the response message of confirming the departure from the lane change area.
Specifically, when the pilot vehicle is ready to switch lanes, it is required to ensure that no target vehicle is in the lane-changing area, and therefore, the pilot vehicle may first send a lane-changing negotiation message to each target vehicle to inform that the target vehicle is away from the lane-changing area. And if the target vehicle accepts the lane change negotiation message, driving away from the lane change area and returning a lane change permission response message to the pilot vehicle.
If the target vehicle sends a refusal lane change response message to the pilot vehicle or does not return a permission lane change response message to the pilot vehicle, and the target vehicle does not drive out of the lane change area, the pilot vehicle may send a driving-out lane change area request message to a Road Side Unit (Road Side Unit, RSU, a Road Side communication facility in the internet of vehicles), in which vehicle formation information of the vehicle formation and target vehicle information of the target vehicle requested to drive out of the lane change area are included, wherein the vehicle formation information may include any information related to the vehicle formation, such as a vehicle fleet ID. The target vehicle information may include any information, such as a target vehicle ID, with the target vehicle requested to travel out of the lane-change area.
The RSU determines that the target vehicle is actually located in the lane-change area according to the content in the request message for the lane-change area sent by the lead vehicle, and then sends a request message for a forced lane-change area to the corresponding target vehicle, where the request message for the forced lane-change area may include a forced lane-change instruction and a lane-change reason value, for example, the lane-change reason value indicates a change of the lead vehicle or a change of the formation of vehicles.
After receiving the request message of the forced driving-away lane change area sent by the RSU, the corresponding target vehicle may drive away the lane change area according to the forced driving-away instruction, and return a response message of the driving-away lane change area confirmed to the RSU, and the RSU returns a response message of the driving-away lane change area confirmed to the pilot vehicle, indicating that the corresponding target vehicle has driven away the lane change area. And controlling the pilot vehicle to change from the current driving lane to the target driving lane according to the response message of confirming the departure from the lane change area.
If the corresponding target vehicle does not drive away from the lane change area according to the request message of the forced lane change area, the RSU sends an early warning message to the pilot vehicle, and the early warning message indicates that the corresponding target vehicle does not drive away from the lane change area. After the pilot vehicle receives the early warning message of the RSU, the vehicle formation can be disassembled.
In the embodiment of the disclosure, when a target vehicle obstructing the change of the pilot vehicle or the formation of vehicles does not agree with the driving away from the change area, the pilot vehicle can request the road side unit to assist in driving the target vehicle away from the change area, thereby further improving the safety of the change of the road.
The vehicle formation driving control method provided by the disclosed embodiment, when a pilot vehicle in a vehicle formation determines that a change from a current driving lane to a target driving lane is required, a lane change negotiation message is sent to a peripheral vehicle of the pilot vehicle by the pilot vehicle, so that the peripheral vehicle of the pilot vehicle can determine whether itself is within a lane change area range of the pilot vehicle according to the lane change negotiation message, if it is determined that itself is within the lane change area range of the pilot vehicle, that is, the corresponding peripheral vehicle is a target vehicle which obstructs the pilot vehicle from the current driving lane to the target driving lane, at this time, the target vehicle can control itself to drive away from the lane change area, after the target vehicle is outside the lane change area range, the target vehicle can send a lane change permission response message to the pilot vehicle to inform the pilot vehicle that it can start a lane change operation from the current driving lane to the target driving lane, after the pilot vehicle receives the response message of allowing lane change returned by the target vehicle, the lane change operation of changing the current driving lane to the target driving lane can be completed, on one hand, because the target vehicle which obstructs lane change does not exist in the lane change area at the moment, the safe lane change of the pilot vehicle can be realized; on the other hand, the lane changing mode does not need manual participation, automatic lane changing of the pilot vehicle can be achieved through interaction of the pilot vehicle and surrounding vehicles, and flexibility and practicability of vehicle formation are improved.
The following describes an example of the vehicle formation driving control method provided in the embodiment of fig. 1 with reference to the application scenario of fig. 2.
As shown in fig. 2, it is assumed that 5 passenger cars constitute a vehicle formation, the 5 passenger cars traveling in the formation are referred to as a formation traveling vehicle 210, which includes a pilot vehicle 211 and 4 following vehicles 212, 213, 214, and 215, and it is assumed that initially, the vehicle formation travels in lane 2, i.e., lane 2 is the current traveling lane. Lane 2 assumes two lanes adjacent to each other in the same direction, namely lane 1 and lane 3, and assumes that a plurality of vehicles are normally traveling in both lane 1 and lane 3.
When the pilot vehicle decides to change the driving lane, it is determined to which lane. The pilot vehicle acquires the target driving route of the vehicle formation, and for example, if the driving route of the vehicle formation changes or the driving lane needs to be changed for other reasons, the pilot vehicle in the vehicle formation can decide which lane to drive according to the planning of the target driving route and the driving conditions of the surrounding vehicles, such as the driving vehicle information of the adjacent lanes.
For example, assuming that the pilot vehicle needs to be refueled and needs to enter the next service area, the lane change to lane 3 is required, that is, assuming that lane 3 is the target traveling lane, lane 1 is assumed to travel the peripheral vehicles 231, 232, and 233, and lane 3 is assumed to travel the target vehicles 241, 242, 243, and 244.
In the embodiment of fig. 2, communication between the navigator 211 and each following vehicle, between the navigator 211 and each neighboring vehicle, between the navigator 211 and each target vehicle, between the following vehicle and each neighboring vehicle, and between the following vehicle and each target vehicle may be performed through the roadside unit 220, or may be performed through V2V communication equipment mounted on each vehicle.
The pilot vehicle 211 transmits a lane change negotiation message including one or more of a driving parameter of a formation of vehicles (which may be referred to as a fleet) such as a fleet driving speed (which may be equal to driving speed information of the pilot vehicle), position information (which may include position information of the pilot vehicle and may also include position information of each following vehicle), number of vehicles in the fleet information, fleet queue length information, a current driving lane, a target driving lane, and the like, to the neighboring vehicles 231, 232, and 233 and the target vehicles 241, 242, 243, and 244.
Since it is assumed that the target traveling lane for planned lane change is lane 3, the nearby vehicles 231, 232, and 233 on lane 1 that received the lane change negotiation message transmitted by the pilot vehicle may choose to ignore the lane change negotiation message.
It should be noted that other vehicles around the lane 3 that do not affect the formation and lane change of the vehicles may also be driven, and the vehicles around the lane 3 may also receive the lane change negotiation message sent by the pilot vehicle. If the peripheral vehicles running on the lane 3 planned to change judge that the vehicles do not influence the lane change of the fleet according to the lane change negotiation message, the peripheral vehicles running on the lane 3 can choose to ignore the lane change negotiation message without sending a lane change permission response message to the pilot vehicle.
It is understood that whether to affect a platoon lane change of a vehicle includes whether to affect a pilot lane change. Alternatively, it may also include whether a lane change following the vehicle is affected.
After the target vehicles 241, 242, 243, and 244 traveling on the lane 3 planned to be changed receive the lane change negotiation message transmitted by the pilot vehicle, the distance between the host vehicle (the target vehicles 241, 242, 243, and 244) and the position information of the pilot vehicle in the vehicle group can be obtained, the relative traveling speed between the host vehicle and the pilot vehicle can be obtained according to the traveling speed information of the host vehicle and the pilot vehicle, and whether the host vehicle affects the lane change of the pilot vehicle or any one of the following vehicles can be determined according to the distance between the host vehicle and the pilot vehicle and the relative traveling speed. It is understood that the distance and the relative travel speed between the pilot vehicle and each target vehicle may also be detected directly by the sensor mounted on the pilot vehicle, and in this case, the distance and the relative travel speed between the pilot vehicle and the corresponding target vehicle may also be included in the lane change negotiation message. Alternatively, the target vehicles may detect the distance and relative speed between the pilot vehicle and each target vehicle directly by sensors mounted thereon.
If the target vehicles 241, 242, 243, and 244 traveling on the lane 3 planned to be changed judge that they affect the lane change of the fleet, i.e., are located in the lane change area of the fleet lane change, their own traveling plans are adjusted to support the request for lane change of the fleet, and a lane change permission response message is returned to the pilot vehicle 211.
When the pilot vehicle 211 receives a lane change permission response message returned by the target vehicles 241, 242, 243, and 244 traveling on the planned change lane 3 and confirms that the lane change is possible, the pilot vehicle 211 may transmit an initial lane change instruction message to the following vehicles 212, 213, 214, and 215 within the fleet, and the initial lane change instruction message may include information about the planned change lane 3, the traveling speed after the lane change, and the like. After the follower vehicles 212, 213, 214, and 215 receive the initial lane change instruction message sent by the pilot vehicle 211, an initial lane change response message may be sent to the pilot vehicle 211 respectively. After the pilot vehicle 211 receives the initial lane change response messages returned by all the following vehicles 212, 213, 214 and 215, the self lane change operation can be started to change lanes from lane 2 to lane 3; when the pilot vehicle 211 does not receive the initial lane change response message sent by a following vehicle (assumed to be the following vehicle 213), the following vehicle 213 is removed from the fleet and a message is sent to a following vehicle 214 immediately behind the following vehicle 213, wherein the message includes information of a following vehicle 212 in front of the updated following vehicle 214.
After the formation and regrouping of the vehicles are completed, the pilot vehicle 211 may send a target lane change instruction message to the following vehicles 212, 214, and 215 in the vehicle fleet, where the target lane change instruction message may include information of the planned lane 3 to be changed, the driving speed after the lane change, and the like. After receiving the target lane change instruction message sent by the pilot vehicle 211, the follower vehicles 212, 214, and 215 may send a target lane change response message to the pilot vehicle 211 respectively. When the pilot vehicle 211 receives the target lane change response messages returned by all the following vehicles 212, 214 and 215, the own lane change operation can be started to change lanes from lane 2 to lane 3.
In some embodiments, the lane-change operation may begin when the pilot vehicle 211 acknowledges the lane-change response message returned with the vehicle (e.g., may be an initial lane-change response message returned with vehicles 212, 213, 214, and 215, or may be a target lane-change response message returned with vehicles 212, 214, and 215). When the pilot vehicle 211 starts a lane change operation, the first following vehicle 212 thereafter may start a lane change following the pilot vehicle 211. Here, it may be provided that the first follower 212 will only initiate a lane change operation after the pilot 211 starts to change lanes; other follower vehicles may initiate a lane change operation only after the previous follower vehicle initiates a lane change operation, e.g., follower vehicle 215 may initiate a lane change operation only after follower vehicle 214 initiates a lane change operation, thereby improving the safety of the lane change. And the pilot vehicle and the following vehicle in each fleet independently complete lane change when changing lanes, namely before the lane change starts, the pilot vehicle and each following vehicle independently complete information interaction with the target vehicle on the lane 3 planned to be changed so as to confirm that safe lane change can be realized.
The embodiment of the disclosure does not limit the way how the following vehicle judges whether the pilot vehicle is changing the track or not, and how the following vehicle judges whether the following vehicle is changing the track or not.
For example, assuming that the follower 213 is cleared, the pilot 211 may send a lane change start message to the follower 212 through a V2V communication device installed on the pilot 211 when starting to control the pilot 211 to change lanes from lane 2 to lane 3 after receiving a target lane change response message returned by the follower, the follower 212 may send a lane change negotiation message to the neighboring vehicles of the follower 212 after receiving the start lane change message sent by the pilot 211, the lane change negotiation message sent by the follower 212 may include contents referring to the lane change negotiation message sent by the pilot, the target vehicle of the follower 212 may return a lane change permission response message to the follower 212, and the follower 212 may control the follower 212 to change lanes from lane 2 to lane 3 after receiving the lane change permission response messages returned by all target vehicles. By analogy, when the following vehicle 212 starts to change lanes from lane 2 to lane 3, a lane change start message may be sent to the following vehicle 214 through a V2V communication device installed on the following vehicle 212, the following vehicle 214 may send a lane change negotiation message to the surrounding vehicles of the following vehicle 214 after receiving the lane change start message sent by the following vehicle 212, the lane change negotiation message sent by the following vehicle 214 may refer to the lane change negotiation message sent by the lead vehicle, the target vehicle of the following vehicle 214 may return a lane change permission response message to the following vehicle 214, and the following vehicle 214 controls the following vehicle 214 to change lanes from lane 2 to lane 3 after receiving the lane change permission response messages returned by all the target vehicles.
As another example, assuming that follower 213 is cleared, pilot 211, after receiving the target lane change response message returned by the follower, in the process of starting to control the change of the pilot vehicle 211 from the lane 2 to the lane 3, a message may be sent to the follower vehicle 212 through the V2V communication device installed on the pilot vehicle 211, the message carries information such as the real-time position and the real-time running speed of the pilot vehicle 211, so that the follower vehicle 212 can judge that the pilot vehicle 211 performs the lane change operation according to the information such as the real-time position and the real-time running speed of the pilot vehicle 211 carried in the received message, and at this time, follower 212 may send a lane change negotiation message to the vehicles in the vicinity of follower 212, the target vehicles of follower 212 may return a lane change permission response message to follower 212, and follower 212 may control follower 212 to change from lane 2 to lane 3 after receiving the lane change permission response messages returned by all target vehicles. By analogy, in the process of starting to control the follow-up vehicle 212 to change from the lane 2 to the lane 3, a message may be sent to the follow-up vehicle 214 through the V2V communication device installed on the follow-up vehicle 212, where the message carries information such as the real-time position and the real-time driving speed of the follow-up vehicle 212, the follow-up vehicle 214 may determine that the follow-up vehicle 212 is performing a lane change operation after receiving the message sent by the follow-up vehicle 212, at this time, the follow-up vehicle 214 may send a lane change negotiation message to the neighboring vehicles of the follow-up vehicle 214, the target vehicle of the follow-up vehicle 214 may return a lane change permission response message to the follow-up vehicle 214, and the follow-up vehicle 214 may control the follow-up vehicle 214 to change from the lane 2 to the lane 3 after receiving the lane change permission response messages returned by all the target vehicles.
For another example, assuming that the follower 213 is cleared, in the process of starting to control the change of the pilot 211 from the lane 2 to the lane 3 by the pilot 211 after the pilot 211 receives the target change response message returned by the follower, the follower 212 may capture an image of the pilot 211 through a sensor (e.g., a camera) mounted thereon, recognize whether a turn light of the pilot 211 is turned on through the image of the pilot 211, and if it is recognized that the turn light is turned on, it may be determined that the pilot 211 is performing a change operation, and it may be determined from the turned-on turn light that the pilot 211 is ready to change from the currently-driving lane to the adjacent lane, at this time, the follower 212 may transmit a change negotiation message to the vehicles around the follower 212, the target vehicle of the follower 212 may return a change-allowable response message to the follower 212, and the follower 212 may receive a change-allowable response message returned by all target vehicles, control follows the change of vehicle 212 from lane 2 to lane 3.
In other embodiments, the lane change operation may begin when the following lane change response message is acknowledged by the lead vehicle 211. The following vehicles also start lane-changing operation after sending lane-changing response messages (initial lane-changing response messages or target lane-changing response messages), namely, the vehicle formation can start lane-changing operation as a whole, so that lane-changing efficiency can be improved. In this case, similarly, the lead vehicle and the following vehicle in each fleet perform lane change independently during lane change, that is, before the lane change starts, the lead vehicle and each following vehicle perform information interaction independently with the target vehicle on the lane 3 scheduled to change, so as to confirm that the lane change is safe.
For example, assuming that the follower 213 is cleared, the followers 212, 214, and 215 start controlling the followers 212, 214, and 215 to start the lane change operation, respectively, changing lanes from lane 2 to lane 3 after returning the target lane change response message to the pilot 211, respectively.
Taking the following vehicle 213 cleared as an example, the navigator 211 may send a lane change complete status message of its own vehicle to the following vehicles 212, 214 and 215 after the lane change is completed. The following vehicle 212 may send the lane change completion status message of its own vehicle to the lead vehicle 211 and the following vehicles 214 and 215 after the lane change is completed, or send the lane change completion status message of its own vehicle to the lead vehicle 211 and one following vehicle 214 immediately behind the own vehicle. The following vehicle 214 may send the lane change completion status message of its own vehicle to the lead vehicle 211 and the following vehicles 212 and 215 after the lane change is completed, or send the lane change completion status message of its own vehicle to the lead vehicle 211 and one following vehicle 215 immediately behind the own vehicle. The following vehicle 215 may transmit a lane change completion status message of its own vehicle to the navigator 211 and the following vehicles 212 and 214 after the lane change is completed, or transmit a lane change completion status message of its own vehicle to the navigator 211. When the pilot vehicle 211 receives the lane change completion status messages sent by all follower vehicles 212, 214 and 215, the fleet update message is resent to all follower vehicles 212, 214 and 215 in the fleet.
According to the vehicle formation driving control method provided by the embodiment of the disclosure, when the pilot vehicle determines that the lane is to be changed from the current driving lane to the target driving lane, the technical scheme of changing the lane during vehicle formation driving is realized according to the information interaction content by setting the information interaction between the pilot vehicle and the surrounding vehicles, so that on one hand, the safety during the lane changing process can be ensured, and the danger of collision with other vehicles is avoided; on the other hand, the lane changing automation and the intelligence are realized without depending on the participation and the interference of manpower.
An Intelligent Transportation System (ITS), also called Intelligent Transportation System (Intelligent Transportation System), is a comprehensive Transportation System which effectively and comprehensively applies advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operational research, artificial intelligence and the like) to Transportation, service control and vehicle manufacturing, strengthens the relation among vehicles, roads and users, and thus forms a safety-guaranteeing, efficiency-improving, environment-improving and energy-saving comprehensive Transportation System.
An Intelligent Vehicle Infrastructure Cooperative System (IVICS), referred to as a Vehicle Infrastructure Cooperative system for short, is a development direction of an Intelligent Transportation System (ITS). The vehicle-road cooperative system adopts the advanced wireless communication, new generation internet and other technologies, implements vehicle-vehicle and vehicle-road dynamic real-time information interaction in all directions, develops vehicle active safety control and road cooperative management on the basis of full-time dynamic traffic information acquisition and fusion, fully realizes effective cooperation of human and vehicle roads, ensures traffic safety, improves traffic efficiency, and thus forms a safe, efficient and environment-friendly road traffic system.
The method provided by the embodiment of the disclosure can be applied to an intelligent vehicle-road cooperative system in an intelligent traffic system. The system architecture diagram of the vehicle formation driving control method shown in fig. 3 is taken as an example for illustration.
In the embodiment of fig. 3, the autonomous trucks 311, 312, and 313 are taken as an example for illustration, the autonomous trucks 311, 312, and 313 form a formation, and travel in a cooperative autonomous formation, and it is assumed that the autonomous truck 311 is a lead truck and the autonomous trucks 312 and 313 are follower trucks.
It should be understood, however, that the present disclosure is not limited thereto, and the vehicle/vehicle in the embodiments of the present disclosure may be any type of vehicle adopting any driving method, for example, any one of automatic driving, semi-automatic driving, manual driving, and the like may be adopted, and any one of an automobile, a motorcycle, a bus, a taxi, and the like may also be adopted, but has a V2X communication capability.
The formation driving system of the automatic driving truck is shown in fig. 3, and may include a pilot Vehicle 311, following vehicles 312 and 313, a cloud platform 330, and a roadside unit 320, and through information interaction among the three, formation driving of vehicles is realized, and the communication modes may include V2V (Vehicle to Vehicle), V2I (Vehicle to Infrastructure), V2N (Vehicle to Network, Vehicle and Network), and the like.
The in-formation vehicles, also called formation driving vehicles, refer to vehicles in the cooperative autonomous formation, including a pilot vehicle 311 and following vehicles 312 and 313 (only two following vehicles are taken as an example, but the number of following vehicles is not limited in practice). The vehicles (including the pilot Vehicle 311 and the following vehicles 312 and 313) can perform information interaction and response through V2X (Vehicle to outside information interaction) communication equipment, so that a fleet management and control decision and information interaction between vehicles in the fleet are realized, and the formation driving requirement is met. And the vehicle and the cloud platform 330 deployed in the network can perform necessary information interaction to realize monitoring management of formation, such as obtaining real-time state information, inputting and outputting instructions, emergency management and control, and the like. The vehicle and roadside unit 320 may perform information transmission including information such as dynamic speed limit, vehicle state, traffic events, etc., to achieve vehicle-road coordination.
The pilot vehicle 311 is a vehicle located at the forefront in the formation relative to the driving direction, and is a decision maker of the driving behavior of the whole formation, and manages and decides the behavior of the fleet. The pilot vehicle 311 may be driven manually by the driver or may be driven automatically. The navigator 311 may have the following functions:
a) the pilot vehicle 311 has the function of recording the driving behavior in real time and sharing the driving behavior, and the driving behavior recording is accurate, effective and transmittable.
b) The navigator 311 has the ability to rationally plan a travel route and a formation travel behavior based on traffic conditions, and to effectively and accurately execute the behavior.
c) The navigator 311 performs information interaction with the following vehicles 312 and 313 through the V2X communication device, distributes information such as the track and the state thereof to each vehicle, and has the capability of receiving the driving state information reported by each following vehicle.
Follower vehicles 312 and 313 are all other vehicles in the formation that are behind the lead vehicle 311. The follower cars 312 and 313 may have the following functions:
a) the follower cars 312 and 313 are automatically driven by the system.
b) The follower vehicles 312 and 313 have the ability to rationally plan the driving route and behavior based on the traffic conditions and effectively and accurately execute the formation driving parameters sent by the pilot vehicle 311.
c) The follower vehicles 312 and 313 perform information interaction and information recording with other vehicles including the pilot vehicle 311 through the V2X communication device, and distribute information of their positions, statuses, and the like to the respective vehicles.
Fig. 4 schematically shows an interaction diagram of a vehicle formation driving control method according to an embodiment of the present disclosure. As shown in fig. 4, the method provided by the embodiment of the present disclosure may include the following steps.
In step S41, the pilot vehicle determines a change from the current travel lane to the target travel lane.
In the embodiment of the present disclosure, reference may be made to the above-described embodiment for how the pilot vehicle determines the manner of changing from the current driving lane to the target driving lane. The piloting vehicle can determine the lane to which the lane is changed according to the target planned route and the running vehicle information of the adjacent lanes, and can also receive information from the cloud platform or the road side unit, and the cloud platform or the road side unit informs the piloting vehicle of the lane to which the lane is changed.
In step S42, the navigator transmits a lane change negotiation message to its nearby vehicles.
The above embodiments may be referred to for the way in which the navigator sends the lane change negotiation message to its neighboring vehicles, and the content carried in the lane change negotiation message.
In step S43, after receiving the lane change negotiation message sent by the pilot vehicle, the neighboring vehicle determines whether the lane change negotiation message will affect the lane change according to the lane change negotiation message, and if not, ignores the lane change negotiation message; if yes, adjusting the driving scheme of the driver to support lane changing, and generating a lane change permission response message.
The surrounding vehicles that would prevent the formation of the lane change by the vehicle fleet are the target vehicles. The above embodiments can be referred to how the nearby vehicle judges whether or not it affects lane change of the vehicle formation, and how to adjust its driving scheme.
In step S44, the target vehicle returns a lane change permission response message to the navigator.
If at least one target vehicle does not return a lane change permission response message to the pilot vehicle, the pilot vehicle may request assistance of the roadside unit to indicate that the target vehicle which obstructs lane change travels away from the lane change area.
In step S45, after receiving the return permission change response message from the target vehicle, the navigator transmits a target change instruction message to the target following vehicle.
After receiving the allowed lane change response messages returned by all target vehicles, the pilot vehicle may send an initial lane change instruction message to each following vehicle, and if each following vehicle returns an initial lane change response message to the pilot vehicle, the initial lane change instruction message is a target lane change instruction message, the following vehicle is a target following vehicle, and the initial lane change response message is a target lane change response message.
In step S46, after the target follower vehicle receives the target lane change instruction message sent by the pilot vehicle, a target lane change response message is returned to the pilot vehicle.
In step S47, the pilot vehicle changes from the current driving lane to the target driving lane after receiving the target lane change response message returned from the target following vehicle.
The target follower may start the lane change operation in order in the front-rear order of the traveling direction after the pilot vehicle starts the lane change operation. Or after the target following vehicle returns a target lane change response message to the pilot vehicle, each target following vehicle independently starts respective lane change operation.
In step S48, after the pilot vehicle changes from the current driving lane to the target driving lane, the pilot vehicle transmits a lane change completion status message to the target following vehicle.
In step S49, after the target follower vehicle changes from the current travel lane to the target travel lane, a lane change completion status message is returned to the pilot vehicle.
It can be understood that, if after the target following vehicle returns the target lane change response message to the pilot vehicle, each target following vehicle independently starts its own lane change operation, the execution sequence of step S48 and step S49 is not limited, and may be executed simultaneously, or may be a lane change completion status message that the target following vehicle completes the lane change first and returns to the pilot vehicle, and then the pilot vehicle completes the lane change and sends a lane change completion status message to the target following vehicle.
In step S410, after receiving the lane change completion status message returned by the target following vehicle, the pilot vehicle sends a fleet update message to the target following vehicle.
Other contents in the embodiment of fig. 4 may refer to the above-described embodiment.
Fig. 5 schematically shows a flowchart of a vehicle formation driving control method according to another embodiment of the present disclosure. In the FIG. 5 embodiment, a fleet of vehicles may include a lead vehicle and a follower of the lead vehicle
As shown in fig. 5, the method provided by the embodiment of the present disclosure may include the following steps.
In step S510, the vehicles around the pilot vehicle receive a lane change negotiation message sent by the pilot vehicle, where the lane change negotiation message includes traveling speed information, position information, and a target traveling lane of the pilot vehicle.
In step S520, the neighboring vehicle determines the neighboring vehicle in the lane change area where the lead vehicle changes from the current driving lane to the target driving lane as the target vehicle according to the lane change negotiation message, and the target vehicle is in the target driving lane of the lead vehicle.
In an exemplary embodiment, the determination of the nearby vehicle, which is within the lane change area where the lead vehicle changes from the current driving lane to the target driving lane, as the target vehicle according to the lane change negotiation message by the nearby vehicle may include: judging whether the peripheral vehicle obstructs the change of the pilot vehicle from the current driving lane to the target driving lane or not according to the driving speed information, the position information, the timestamp information and the target driving lane of the pilot vehicle in the lane change negotiation message; determining a peripheral vehicle which obstructs the change of the pilot vehicle from the current driving lane to the target driving lane to be in a lane change area; the nearby vehicle in the lane change area is taken as the target vehicle.
In an exemplary embodiment, the lane change negotiation message may further include information on the number of vehicles in a fleet in which the vehicles are formed and fleet queue length information, among others. Wherein, the determining, by the peripheral vehicle according to the lane change negotiation message, the peripheral vehicle in the lane change area where the pilot vehicle changes from the current driving lane to the target driving lane as the target vehicle may include: judging whether the surrounding vehicles block the pilot vehicle or follow-up vehicles change from the current driving lane to the target driving lane according to the driving speed information, the position information, the timestamp information, the target driving lane, the in-team vehicle number information and the fleet queue length information of the pilot vehicle in the lane change negotiation message; determining that a peripheral vehicle which obstructs the piloting vehicle or follows the vehicle to change from the current driving lane to the target driving lane is in a lane change area; the nearby vehicle in the lane change area is taken as the target vehicle.
In step S530, the control target vehicle travels out of the lane change area.
In step S540, after the target vehicle is outside the lane change area, the target vehicle returns a lane change permission response message to the pilot vehicle, so that the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the lane change permission response message.
In an exemplary embodiment, the method may further include: if the target vehicle does not return a lane change permission response message to the pilot vehicle, the target vehicle receives a forced driving-off lane change area request message sent by a road side unit, wherein the forced driving-off lane change area request message is generated by the road side unit according to the driving-off lane change area request message received from the pilot vehicle, and the driving-off lane change area request message comprises vehicle formation information and target vehicle information; the target vehicle drives away from the lane change area according to the request message of the forced driving away lane change area; after the target vehicle is outside the lane change area, the target vehicle returns a response message of confirming the driving-off lane change area to the road side unit so that the road side unit sends a response message of confirming the driving-off lane change area to the pilot vehicle, and the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the response message of confirming the driving-off lane change area, wherein the response message of confirming the driving-off lane change area is used for indicating that the target vehicle has driven off the lane change area.
Other contents in the embodiment of fig. 5 may refer to the above-described embodiment.
Fig. 6 schematically shows a flowchart of a vehicle formation driving control method according to still another embodiment of the present disclosure. In the fig. 6 embodiment, a fleet of vehicles may include a lead vehicle and a follower of the lead vehicle.
As shown in fig. 6, the method provided by the embodiment of the present disclosure may include the following steps.
In step S610, a target following vehicle in the following vehicles receives a target lane change instruction message sent by the pilot vehicle, where the target lane change instruction message includes a target driving lane.
The target lane change instruction message is generated by the pilot vehicle according to the lane change permission response message, the lane change permission response message is sent to the pilot vehicle by a target vehicle in the vehicles around the pilot vehicle, the target vehicle is located in the target driving lane, the lane change permission response message is generated by the target vehicle according to the lane change negotiation message sent by the pilot vehicle, the target vehicle is located in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane before the lane change permission response message is sent, and the lane change permission response message is sent after the target vehicle is located outside the lane change area.
In an exemplary embodiment, before a target follower in the followers receives a target lane change instruction message sent by a pilot vehicle, the method may further include: the following vehicle receives an initial lane change instruction message sent by a pilot vehicle, wherein the initial lane change instruction message is generated by the pilot vehicle according to a lane change permission response message; the following vehicles which do not return the initial lane change response message to the pilot vehicle receive the vehicle clear and retreat message sent by the pilot vehicle so as to clear and retreat the following vehicles which do not return the initial lane change response message to the pilot vehicle from the vehicle formation; and receiving the message sent by the pilot vehicle by the target following vehicles except the cleared following vehicles so as to update the vehicle formation information of the vehicle formation.
In step S620, the target follower vehicle generates a target lane change response message according to the target lane change instruction message.
In step S630, the target follower transmits a target lane change response message to the pilot vehicle, so that the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the target lane change response message.
In an exemplary embodiment, the method may further include: after confirming that the pilot vehicle starts to change to the target driving lane from the current driving lane, controlling a first target following vehicle following the pilot vehicle to change to the target driving lane from the current driving lane after the pilot vehicle starts to change; and after confirming that the ith target-following vehicle starts the lane change operation from the current driving lane to the target driving lane, controlling the (i + 1) th target-following vehicle behind the ith target-following vehicle to follow the ith target-following vehicle to change from the current driving lane to the target driving lane, wherein i is a positive integer greater than or equal to 1.
In an exemplary embodiment, the method may further include: after transmitting the target lane change response message, the control target follows the change of the vehicle from the current driving lane to the target driving lane.
Other contents in the embodiment of fig. 6 may refer to the above-described embodiment.
Fig. 7 schematically shows a block diagram of a vehicle formation travel control apparatus according to an embodiment of the present disclosure. In the fig. 7 embodiment, a fleet of vehicles may include a lead vehicle and a follower of the lead vehicle. The vehicle formation travel control device 700 may be provided on a pilot vehicle.
The vehicle formation driving control apparatus 700 provided in the embodiment of fig. 7 may include a target driving lane determining unit 710, a lane change negotiation message transmitting unit 720, a lane change permission response message receiving unit 730, and a target driving lane changing unit 740.
In the disclosed embodiment, the target driving lane determining unit 710 may be configured to determine a change from the current driving lane to the target driving lane by the pilot vehicle. The lane change negotiation message transmission unit 720 may be configured to transmit a lane change negotiation message to its neighboring vehicles through the pilot vehicle. The lane change permission response message receiving unit 730 may be configured to receive a lane change permission response message returned by a target vehicle, including the target vehicle, by a navigator. The target driving lane changing unit 740 may be configured to control the pilot vehicle to change from the current driving lane to the target driving lane according to the lane change enable response message by the pilot vehicle.
The target vehicle is located in the target driving lane, the lane change permission response message is generated by the target vehicle according to the lane change negotiation message, the target vehicle is located in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane before the lane change permission response message is sent, and the lane change permission response message is sent after the target vehicle is located outside the lane change area.
In an exemplary embodiment, the lane change negotiation message may include driving speed information of the pilot vehicle, position information, time stamp information, and a target driving lane.
In an exemplary embodiment, the target driving lane determining unit 710 may include: a target driving route acquiring unit, which can be used for acquiring a target driving route of a vehicle formation through a pilot vehicle; a driving vehicle information acquisition unit which can be used for acquiring driving vehicle information of a lane adjacent to the current driving lane through a pilot vehicle; and the target driving lane selection unit can be used for determining the target driving lane from the adjacent lanes according to the target driving route and the driving vehicle information of the adjacent lanes by the pilot vehicle.
In an exemplary embodiment, the lane change negotiation message transmitting unit 720 may include: the peripheral vehicle driving parameter acquisition unit can be used for acquiring driving parameters of a peripheral vehicle of the peripheral vehicle through a pilot vehicle; the target vehicle determination unit can be used for determining a target vehicle which is in a target driving lane and is positioned in a lane change area from surrounding vehicles of the target vehicle through a pilot vehicle according to driving parameters; and the lane change negotiation message transmission unit can be used for sending a lane change negotiation message to the target vehicle through the pilot vehicle.
In an exemplary embodiment, the vehicle formation driving control apparatus 700 may further include: the driving-away lane-changing area request message sending unit may be configured to send a driving-away lane-changing area request message to the roadside unit if the pilot vehicle does not receive a lane-changing permission response message returned by the target vehicle, where the driving-away lane-changing area request message includes vehicle formation information and target vehicle information, so that the roadside unit sends a forced driving-away lane-changing area request message to the target vehicle according to the driving-away lane-changing area request message, and the target vehicle drives away the lane-changing area according to the forced driving-away lane-changing area request message and returns a response message confirming the driving-away lane-changing area to the roadside unit; the driving-away lane change area confirmation response message receiving unit can be used for receiving a driving-away lane change area confirmation response message returned by the road side unit through the pilot vehicle, wherein the driving-away lane change area confirmation response message is used for indicating that the target vehicle drives away the lane change area; and the lane change operation unit can be used for controlling the pilot vehicle to change from the current driving lane to the target driving lane according to the response message of confirming the departure of the pilot vehicle from the lane change area.
In an exemplary embodiment, the target driving lane change unit 740 may include: the target lane change instruction message sending unit can be used for sending a target lane change instruction message to a target following vehicle through the pilot vehicle according to the lane change permission response message, wherein the target lane change instruction message comprises a target driving lane, and the following vehicle comprises the target following vehicle; the target lane change response message receiving unit can be used for receiving a target lane change response message returned by the target following vehicle through the pilot vehicle, wherein the target lane change response message is generated by the target following vehicle according to the target lane change instruction message; and the pilot vehicle lane change control unit can be used for controlling the pilot vehicle to change from the current driving lane to the target driving lane according to the target lane change response message through the pilot vehicle.
In an exemplary embodiment, the vehicle formation driving control apparatus 700 may further include: the system comprises a pilot vehicle lane change completion state message sending unit, a target follow-up vehicle and a control unit, wherein the pilot vehicle lane change completion state message sending unit can be used for sending a lane change completion state message to the target follow-up vehicle after the pilot vehicle changes from a current driving lane to a target driving lane; the following vehicle lane change completion state message receiving unit can be used for receiving a lane change completion state message sent by a target following vehicle through a pilot vehicle; and the motorcade update message sending unit can be used for sending the motorcade update message to the target follow-up vehicle through the piloting vehicle according to the lane change completion state message sent by the target follow-up vehicle.
In an exemplary embodiment, the vehicle formation driving control apparatus 700 may further include: the initial lane change instruction message sending unit is used for sending the initial lane change instruction message to the following vehicle by the pilot vehicle according to the lane change permission response message before the pilot vehicle sends the target lane change instruction message to the target following vehicle according to the lane change permission response message; the vehicle clear-back message sending unit can be used for sending a vehicle clear-back message to the following vehicle which does not return the initial lane change response message through the piloted vehicle so as to clear back the following vehicle which does not return the initial lane change response message to the piloted vehicle from the vehicle formation; and the message sending unit can be used for sending a message to a target following vehicle except the cleared following vehicle through the pilot vehicle so as to update the vehicle formation information of the vehicle formation.
In an exemplary embodiment, the specific implementation of each unit in the vehicle formation driving control device provided by the embodiment of the present disclosure may refer to the content in the vehicle formation driving control method, and is not described herein again.
Fig. 8 schematically shows a block diagram of a vehicle formation travel control apparatus according to an embodiment of the present disclosure. In the fig. 8 embodiment, a fleet of vehicles may include a lead vehicle and a follower of the lead vehicle. The vehicle formation travel control device 800 may be provided in a vehicle in the vicinity of the pilot vehicle or a target vehicle in the vicinity of the pilot vehicle.
As shown in fig. 8, a vehicle formation driving control apparatus 800 provided by an embodiment of the present disclosure may include a lane change negotiation message receiving unit 810, a target vehicle determination unit 820, a lane change area driving-out control unit 830, and a lane change permission response message returning unit 840.
In the embodiment of the present disclosure, the lane change negotiation message receiving unit 810 may be configured to receive a lane change negotiation message sent by a pilot vehicle through a vehicle in the vicinity of the pilot vehicle. The target vehicle determination unit 820 may be configured to determine, as the target vehicle, the neighboring vehicle that is within a lane change area where the navigator changes from the current travel lane to the target travel lane, the target vehicle being in the target travel lane of the navigator, according to the lane change negotiation message by the neighboring vehicle. The lane-change-area drive-off control unit 830 may be used to control the target vehicle to drive off the lane-change area. The lane change permission response message returning unit 840 may be configured to return the lane change permission response message to the pilot vehicle after the target vehicle is outside the lane change area, so that the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the lane change permission response message.
In an exemplary embodiment, the vehicle formation driving control apparatus 800 may further include: the forced-driving-away lane-changing area request message sending unit may be configured to receive, by the target vehicle, a forced-driving-away lane-changing area request message sent by the road side unit if the target vehicle does not return a lane-changing permission response message to the pilot vehicle, where the forced-driving-away lane-changing area request message is generated by the road side unit according to a driving-away lane-changing area request message received from the pilot vehicle, and the driving-away lane-changing area request message includes vehicle formation information and target vehicle information; the lane-changing area driving-away response unit can be used for driving away the lane-changing area through the target vehicle according to the request message of the forced driving-away lane-changing area; and the departure-confirmed lane-change-area response message returning unit may be configured to, after the target vehicle is outside the lane-change area, return the departure-confirmed lane-change-area response message to the roadside unit by the target vehicle, so that the roadside unit sends a departure-confirmed lane-change-area response message to the pilot vehicle, and the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the departure-confirmed lane-change-area response message, where the departure-confirmed lane-change-area response message is used to indicate that the target vehicle has traveled away from the lane-change area.
In an exemplary embodiment, the lane change negotiation message may include driving speed information of the pilot vehicle, position information, and a target driving lane. The target vehicle determination unit 820 may include: the device comprises a lane change prevention judgment unit, a lane change prevention judgment unit and a lane change control unit, wherein the lane change prevention judgment unit can be used for judging whether the peripheral vehicle prevents the pilot vehicle from changing from the current driving lane to the target driving lane according to the driving speed information, the position information and the target driving lane of the pilot vehicle in the lane change negotiation message; the lane change preventing vehicle determination unit may be configured to determine that a peripheral vehicle that changes the obstacle navigator from the current driving lane to the target driving lane is within a lane change area; the first target vehicle determination unit may be configured to determine a nearby vehicle that is within the lane change area as the target vehicle.
In an exemplary embodiment, the lane change negotiation message may include traveling speed information of a pilot vehicle, position information, time stamp information, a target traveling lane, in-line vehicle number information of a formation of vehicles, and fleet queue length information. The target vehicle determination unit 820 may include: the navigation blocking follow-up vehicle lane change judging unit can be used for judging whether the surrounding vehicles block the pilot vehicle or the follow-up vehicle changes from the current driving lane to the target driving lane according to the driving speed information, the position information, the timestamp information, the target driving lane, the number information of the vehicles in the team and the queue length information of the fleet of the pilot vehicle in the lane change negotiation message; the lane change prevention following vehicle determination unit may be configured to determine that a neighboring vehicle that changes the guidance-prevention following vehicle or the following vehicle from the current driving lane to the target driving lane is within a lane change area; and a second target vehicle determination unit operable to take the nearby vehicle that is in the lane change area as the target vehicle.
In an exemplary embodiment, the specific implementation of each unit in the vehicle formation driving control device provided by the embodiment of the present disclosure may refer to the content in the vehicle formation driving control method, and is not described herein again.
Fig. 9 schematically shows a block diagram of a vehicle formation travel control apparatus according to an embodiment of the present disclosure. In the fig. 9 embodiment, the formation of vehicles may include a lead vehicle and a follower of the lead vehicle. The vehicle formation driving control apparatus 900 may be provided on the following vehicle or a target following vehicle in the following vehicle.
As shown in fig. 9, a vehicle formation driving control apparatus 900 according to an embodiment of the present disclosure may include: a target lane change instruction message receiving unit 910, a target lane change response message generating unit 920, and a target lane change response message transmitting unit 930.
In this disclosure, the target lane change instruction message receiving unit 910 may be configured to receive a target lane change instruction message sent by a pilot vehicle through a target following vehicle in the following vehicles, where the target lane change instruction message includes a target driving lane. The target lane change response message generating unit 920 may be configured to generate a target lane change response message according to the target lane change instruction message through the target follower. The target lane change response message sending unit 930 may be configured to send the target lane change response message to the pilot vehicle through the target follower vehicle, so that the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the target lane change response message.
The target lane change instruction message is generated by the pilot vehicle according to the lane change permission response message, the lane change permission response message is sent to the pilot vehicle by a target vehicle in the vehicles around the pilot vehicle, the target vehicle is located in the target driving lane, the lane change permission response message is generated by the target vehicle according to the lane change negotiation message sent by the pilot vehicle, the target vehicle is located in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane before the lane change permission response message is sent, and the lane change permission response message is sent after the target vehicle is located outside the lane change area.
In an exemplary embodiment, the vehicle formation driving control apparatus 900 may further include: the system comprises an initial lane change instruction message receiving unit, a destination lane change instruction message sending unit and a destination lane change instruction message sending unit, wherein the initial lane change instruction message is sent by a pilot vehicle; the vehicle clearing and returning message receiving unit can be used for receiving a vehicle clearing and returning message sent by the pilot vehicle by a following vehicle which does not return an initial lane change response message to the pilot vehicle so as to clear and return the following vehicle which does not return the initial lane change response message to the pilot vehicle from the vehicle formation; and the message receiving unit can be used for receiving the message sent by the pilot vehicle by the target following vehicle except the cleared following vehicle so as to update the vehicle formation information of the vehicle formation.
In an exemplary embodiment, the vehicle formation driving control apparatus 900 may further include: a first target-following-vehicle lane-changing operation unit operable to control a first target-following-vehicle navigator following the navigator to change from the current travel lane to the target travel lane after it is confirmed that the navigator starts a lane-changing operation for changing from the current travel lane to the target travel lane; and an i +1 th target-following lane change operation unit which may be configured to control an i +1 th target-following vehicle following the i-th target-following vehicle after the i-th target-following vehicle is confirmed to start a lane change operation from the current driving lane to the target driving lane, wherein i is a positive integer greater than or equal to 1.
In an exemplary embodiment, the vehicle formation driving control apparatus 900 may further include: and the fleet lane change operation unit can be used for controlling the target following vehicle to change from the current driving lane to the target driving lane after the target lane change response message is sent.
In an exemplary embodiment, the specific implementation of each unit in the vehicle formation driving control device provided by the embodiment of the present disclosure may refer to the content in the vehicle formation driving control method, and is not described herein again.
FIG. 10 shows a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure.
It should be noted that the electronic device 100 shown in fig. 10 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 10, the electronic apparatus 100 includes a Central Processing Unit (CPU)101 that can perform various appropriate actions and processes in accordance with a program stored in a Read-Only Memory (ROM) 102 or a program loaded from a storage section 108 into a Random Access Memory (RAM) 103. In the RAM 103, various programs and data necessary for system operation are also stored. The CPU101, ROM 102, and RAM 103 are connected to each other via a bus 104. An input/output (I/O) interface 105 is also connected to bus 104.
The following components are connected to the I/O interface 105: an input portion 106 including a keyboard, a mouse, and the like; an output section 107 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 108 including a hard disk and the like; and a communication section 109 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 109 performs communication processing via a network such as the internet. A drive 110 is also connected to the I/O interface 105 as needed. A removable medium 111 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 110 as necessary, so that a computer program read out therefrom is mounted into the storage section 108 as necessary.
In particular, the processes described below with reference to the flowcharts may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 109, and/or installed from the removable medium 111. The computer program, when executed by a Central Processing Unit (CPU)101, performs various functions defined in the methods and/or apparatus of the present application.
It should be noted that the computer readable storage medium shown in the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing.
As another aspect, the present application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer-readable storage medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method as described in the embodiments below. For example, the electronic device may implement the steps shown in fig. 1 or fig. 4 or fig. 5 or fig. 6. The technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

Claims (20)

1. The vehicle formation driving control method is characterized in that vehicle formation comprises a pilot vehicle and a follow-up vehicle of the pilot vehicle; wherein the method comprises the following steps:
the pilot vehicle determines to change from a current driving lane to a target driving lane;
the pilot vehicle sends a lane change negotiation message to the surrounding vehicles;
the pilot vehicle receives a lane change permission response message returned by a target vehicle, wherein the surrounding vehicle comprises the target vehicle;
the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the lane change permission response message;
the target vehicle is located in the target driving lane, the lane change permission response message is generated by the target vehicle according to the lane change negotiation message, the target vehicle is located in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane before the lane change permission response message is sent, and the lane change permission response message is sent after the target vehicle is located outside the lane change area.
2. The method of claim 1, wherein the pilot vehicle determining a change from a current driving lane to a target driving lane comprises:
the pilot vehicle acquires a target driving route of the vehicle formation;
the pilot vehicle acquires running vehicle information of a lane adjacent to the current running lane;
and the pilot vehicle determines the target driving lane from the adjacent lanes according to the target driving route and the driving vehicle information of the adjacent lanes.
3. The method of claim 1, wherein the pilot vehicle sends a lane change negotiation message to its neighboring vehicles, comprising:
the method comprises the following steps that the pilot vehicle obtains driving parameters of vehicles around the pilot vehicle;
the pilot vehicle determines a target vehicle which is in the target driving lane and is located in the lane change area from the surrounding vehicles according to the driving parameters;
and the pilot vehicle sends the lane change negotiation message to the target vehicle.
4. The method of claim 1, further comprising:
if the pilot vehicle does not receive a lane change permission response message returned by the target vehicle, the pilot vehicle sends a request message of a driving-off lane change area to a road side unit, wherein the request message of the driving-off lane change area comprises vehicle formation information and target vehicle information, so that the road side unit sends a request message of a forced driving-off lane change area to the target vehicle according to the request message of the driving-off lane change area, and the target vehicle drives off the lane change area according to the request message of the forced driving-off lane change area and returns a response message of confirming the driving-off lane change area to the road side unit;
the pilot vehicle receives a response message of confirming that the vehicle leaves the lane change area, which is returned by the road side unit, wherein the response message of confirming that the vehicle leaves the lane change area is used for indicating that the target vehicle leaves the lane change area;
and the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the response message of confirming the departure lane change area.
5. The method of claim 1, wherein the pilot vehicle controlling the pilot vehicle to change from the current driving lane to the target driving lane according to the lane change enable response message comprises:
the pilot vehicle sends a target lane change instruction message to a target following vehicle according to the lane change permission response message, wherein the target lane change instruction message comprises the target driving lane, and the following vehicle comprises the target following vehicle;
the pilot vehicle receives a target lane change response message returned by the target following vehicle, wherein the target lane change response message is generated by the target following vehicle according to the target lane change instruction message;
and the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the target lane changing response message.
6. The method of claim 5, further comprising:
after the pilot vehicle changes from the current driving lane to the target driving lane, the pilot vehicle sends a lane change completion state message to the target follower vehicle;
the pilot vehicle receives a lane change completion state message sent by the target following vehicle;
and the pilot vehicle sends a fleet update message to the target follow-up vehicle according to the lane change completion state message sent by the target follow-up vehicle.
7. The method of claim 5, wherein before the pilot vehicle sends a target lane change instruction message to a target follower vehicle according to the lane change permission response message, the method further comprises:
the pilot vehicle sends an initial lane change instruction message to the following vehicle according to the lane change permission response message;
the pilot vehicle sends a vehicle clear-back message to the following vehicles which do not return the initial lane change response message so as to clear back the following vehicles which do not return the initial lane change response message to the pilot vehicle from the vehicle formation;
and the pilot vehicle sends a message to the target following vehicles except the cleared following vehicles so as to update the vehicle formation information of the vehicle formation.
8. The vehicle formation driving control method is characterized in that vehicle formation comprises a pilot vehicle and a follow-up vehicle of the pilot vehicle; wherein the method comprises the following steps:
the peripheral vehicles of the pilot vehicle receive the lane change negotiation message sent by the pilot vehicle;
the peripheral vehicle determines the peripheral vehicle in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane as a target vehicle according to the lane change negotiation message, wherein the target vehicle is in the target driving lane of the pilot vehicle;
controlling the target vehicle to drive away from the lane change area;
and after the target vehicle is outside the lane change area, returning a lane change permission response message to the pilot vehicle by the target vehicle, so that the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the lane change permission response message.
9. The method of claim 8, further comprising:
if the target vehicle does not return the lane change permission response message to the pilot vehicle, the target vehicle receives a forced-driving-away lane change area request message sent by a road side unit, wherein the forced-driving-away lane change area request message is generated by the road side unit according to the driving-away lane change area request message received from the pilot vehicle, and the driving-away lane change area request message comprises vehicle formation information and target vehicle information;
the target vehicle drives away from the lane change area according to the request message of the forced driving away lane change area;
after the target vehicle is located outside the lane change area, the target vehicle returns a response message of confirming the driving-off lane change area to the road side unit, so that the road side unit sends a response message of confirming the driving-off lane change area to the pilot vehicle, and the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the response message of confirming the driving-off lane change area, wherein the response message of confirming the driving-off lane change area is used for indicating that the target vehicle has driven off the lane change area.
10. The method of claim 8, wherein the lane change negotiation message includes travel speed information, position information, time stamp information, and the target travel lane of the pilot vehicle; wherein, the peripheral vehicle determines the peripheral vehicle in the lane change area where the pilot vehicle changes from the current driving lane to the target driving lane as the target vehicle according to the lane change negotiation message, and includes:
judging whether the peripheral vehicle obstructs the change of the pilot vehicle from the current driving lane to the target driving lane or not according to the driving speed information, the position information, the timestamp information and the target driving lane of the pilot vehicle in the lane change negotiation message;
determining a nearby vehicle that obstructs the change of the pilot vehicle from the current driving lane to the target driving lane to be within the lane change area;
and taking the peripheral vehicle in the lane change area as the target vehicle.
11. The method of claim 8, wherein the lane change negotiation message comprises travel speed information of the pilot vehicle, position information, timestamp information, the target travel lane, in-fleet vehicle number information of the formation of vehicles, and fleet queue length information; wherein, the peripheral vehicle determines the peripheral vehicle in the lane change area where the pilot vehicle changes from the current driving lane to the target driving lane as the target vehicle according to the lane change negotiation message, and includes:
judging whether the surrounding vehicles block the pilot vehicle or the following vehicle changes from the current driving lane to the target driving lane according to the driving speed information, the position information, the timestamp information, the target driving lane, the in-team vehicle quantity information and the fleet queue length information of the pilot vehicle in the lane change negotiation message;
determining a neighboring vehicle that obstructs the change of the lead vehicle or the follower vehicle from the current driving lane to the target driving lane as being within the lane change area;
and taking the peripheral vehicle in the lane change area as the target vehicle.
12. The vehicle formation driving control method is characterized in that vehicle formation comprises a pilot vehicle and a follow-up vehicle of the pilot vehicle; wherein the method comprises the following steps:
a target follower in the followers receives a target lane change instruction message sent by the pilot vehicle, wherein the target lane change instruction message comprises a target driving lane;
the target follower car generates a target lane change response message according to the target lane change instruction message;
the target follower vehicle sends the target lane change response message to the pilot vehicle so that the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the target lane change response message;
the target lane change instruction message is generated by the pilot vehicle according to a lane change permission response message, the lane change permission response message is sent to the pilot vehicle by a target vehicle in the vehicles around the pilot vehicle, the target vehicle is in the target driving lane, the lane change permission response message is generated by the target vehicle according to a lane change negotiation message sent by the pilot vehicle, the target vehicle is in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane before sending the lane change permission response message, and the lane change permission response message is sent after the target vehicle is out of the lane change area.
13. The method of claim 12, wherein before a target one of the follower vehicles receives a target lane change instruction message sent by the pilot vehicle, the method further comprises:
the following vehicle receives an initial lane change instruction message sent by the pilot vehicle, wherein the initial lane change instruction message is generated by the pilot vehicle according to the lane change permission response message;
a following vehicle which does not return an initial lane change response message to the pilot vehicle receives a vehicle clear-back message sent by the pilot vehicle so as to clear back the following vehicle which does not return the initial lane change response message to the pilot vehicle from the vehicle formation;
and the target following vehicles except the cleared following vehicles receive the message sent by the pilot vehicle to update the vehicle formation information of the vehicle formation.
14. The method of claim 12, further comprising:
after confirming that the pilot vehicle starts the lane change operation of changing from the current driving lane to the target driving lane, controlling a first target following vehicle behind the pilot vehicle to follow the pilot vehicle to change from the current driving lane to the target driving lane;
and after confirming that the ith target-following vehicle starts a lane change operation from the current driving lane to the target driving lane, controlling an (i + 1) th target-following vehicle behind the ith target-following vehicle to follow the ith target-following vehicle to change from the current driving lane to the target driving lane, wherein i is a positive integer greater than or equal to 1.
15. The method of claim 12, further comprising:
after the target lane change response message is sent, controlling the target follower to change from the current driving lane to the target driving lane.
16. A vehicle formation driving control device is characterized in that a vehicle formation comprises a pilot vehicle and a follower vehicle of the pilot vehicle; wherein the apparatus comprises:
a target driving lane determining unit for determining a change from a current driving lane to a target driving lane by the navigator;
the lane change negotiation message sending unit is used for sending a lane change negotiation message to the surrounding vehicles through the pilot vehicle;
a lane change permission response message receiving unit, configured to receive, by the navigator, a lane change permission response message returned by a target vehicle, where the neighboring vehicle includes the target vehicle;
a target driving lane changing unit, configured to control, by the navigator, the navigator to change from the current driving lane to the target driving lane according to the lane change permission response message;
the target vehicle is located in the target driving lane, the lane change permission response message is generated by the target vehicle according to the lane change negotiation message, the target vehicle is located in a lane change area where the pilot vehicle changes from the current driving lane to the target driving lane before the lane change permission response message is sent, and the lane change permission response message is sent after the target vehicle is located outside the lane change area.
17. A vehicle formation driving control device is characterized in that a vehicle formation comprises a pilot vehicle and a follower vehicle of the pilot vehicle; wherein the apparatus comprises:
the lane change negotiation message receiving unit is used for receiving a lane change negotiation message sent by the pilot vehicle through the vehicles around the pilot vehicle;
a target vehicle determination unit, configured to determine, by the neighboring vehicle according to the lane change negotiation message, a neighboring vehicle in a lane change area where the pilot vehicle changes from a current driving lane to the target driving lane as a target vehicle, where the target vehicle is in the target driving lane of the pilot vehicle;
the lane change area driving-away control unit is used for controlling the target vehicle to drive away from the lane change area;
and the lane change permission response message returning unit is used for returning a lane change permission response message to the pilot vehicle by the target vehicle after the target vehicle is outside the lane change area, so that the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the lane change permission response message.
18. A vehicle formation driving control device is characterized in that a vehicle formation comprises a pilot vehicle and a follower vehicle of the pilot vehicle; wherein the apparatus comprises:
a target lane change instruction message receiving unit, configured to receive, by a target following vehicle in the following vehicles, a target lane change instruction message sent by the pilot vehicle, where the target lane change instruction message includes a target driving lane;
the target lane change response message generating unit is used for generating a target lane change response message according to the target lane change instruction message by the target follower;
a target lane change response message sending unit, configured to send the target lane change response message to the pilot vehicle through the target follower vehicle, so that the pilot vehicle controls the pilot vehicle to change from the current driving lane to the target driving lane according to the target lane change response message;
the target lane change instruction message is generated by the pilot vehicle according to a lane change permission response message, the lane change permission response message is sent to the pilot vehicle by a target vehicle in the surrounding vehicles of the pilot vehicle, the target vehicle is in the target driving lane, the lane change permission response message is generated by the target vehicle according to a lane change negotiation message sent by the pilot vehicle, the target vehicle is in a lane change area of the pilot vehicle changing from the current driving lane to the target driving lane before sending the lane change permission response message, and the lane change permission response message is sent after the target vehicle is out of the lane change area.
19. An electronic device, comprising:
one or more processors;
a storage device configured to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the vehicle formation travel control method of any one of claims 1 to 7 or the vehicle formation travel control method of any one of claims 8 to 11 or the vehicle formation travel control method of any one of claims 12 to 15.
20. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements a vehicle formation travel control method according to any one of claims 1 to 7, or a vehicle formation travel control method according to any one of claims 8 to 11, or a vehicle formation travel control method according to any one of claims 12 to 15.
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