CN113734202A

CN113734202A - Multi-vehicle cooperation method, device, system, equipment, medium and product

Info

Publication number: CN113734202A
Application number: CN202111109317.5A
Authority: CN
Inventors: 张帅; 周小成; 袁伟; 鲜余强
Original assignee: Uisee Technologies Beijing Co Ltd
Current assignee: Uisee Technologies Beijing Co Ltd
Priority date: 2021-09-22
Filing date: 2021-09-22
Publication date: 2021-12-03
Anticipated expiration: 2041-09-22
Also published as: CN113734202B

Abstract

The present disclosure relates to multi-vehicle coordination methods, apparatus, systems, devices, media, and products. The method can comprise the following steps executed in the cloud: acquiring planned path information and real-time state information of each vehicle in the Internet of vehicles; determining a coordination area between the vehicle and other vehicles based on the planned path information of each vehicle; determining a vehicle set needing to be cooperated with the vehicle based on the cooperation area and the real-time state information; and determining the passing authority of each vehicle based on the vehicle set. This is disclosed carries out many cars coprocessing through high in the clouds, has improved because the traffic efficiency that the vehicle all dodges each other and leads to is lower and the vehicle all snatchs the safety problem of going that leads to, has promoted traffic efficiency, has promoted the vehicle security of going simultaneously.

Description

Multi-vehicle cooperation method, device, system, equipment, medium and product

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to a multi-vehicle cooperation method, apparatus, system, device, medium, and product.

Background

The unmanned vehicle is one of intelligent vehicles, also called as a wheeled mobile robot, and mainly depends on an intelligent driver mainly based on a computer system to achieve the purpose of unmanned driving. Specifically, the unmanned vehicle may sense the surroundings of the vehicle using an on-vehicle sensor, and control the steering and speed of the vehicle according to the road, vehicle position, and obstacle information obtained by the sensing, thereby enabling the vehicle to travel on the road more safely and reliably.

However, when the unmanned vehicle is running, if the unmanned vehicle runs in a crossing area without signal lamps, such as a cross road, a T-shaped road, a herringbone road and the like, and if the unmanned vehicle only depends on a single vehicle for decision making, due to the limitation of the range which can be sensed by the vehicle-mounted sensor, the vehicles may avoid each other, so that the vehicles are blocked, and the traffic efficiency is low; or the vehicles may all rush to run, so that the vehicles collide, and in sum, the traffic efficiency and the running safety of the unmanned vehicles are affected.

Disclosure of Invention

To solve the above technical problems, or at least partially solve the above technical problems, the present disclosure provides a multi-vehicle cooperation method, apparatus, system, device, medium, and product.

The utility model provides a multi-vehicle cooperation method, which is applied to a cloud end and comprises the following steps:

acquiring planned path information and real-time state information of each vehicle in the Internet of vehicles;

determining a coordination area between the vehicle and the other vehicles based on the planned path information of each vehicle;

determining a vehicle set needing to be cooperated with the vehicle based on the cooperation area and the real-time state information;

and determining the passing authority of each vehicle based on the vehicle set.

In some embodiments, the planned path information includes a set of path points, each path point in the set of path points corresponding to a path point index; aiming at each planned path, the path point indexes are sequentially increased from the starting point to the end point;

wherein the determining a cooperation area between the vehicle and another vehicle based on the planned path information of each vehicle includes:

traversing the path point set of the vehicle and other vehicles;

judging whether a line segment between two continuous path points of the vehicle and a line segment between two continuous path points of other vehicles meet a coordination condition or not;

recording the path points meeting the cooperation conditions as cooperation path points;

generating the collaborative region based on the collaborative path points and the corresponding path point indexes;

wherein the collaborative condition comprises:

the line segment between two continuous path points of the vehicle is intersected with the line segment between two continuous path points of the other vehicle or the distance between the two line segments is smaller than a preset distance threshold value.

In some embodiments, the generating the collaborative region based on the collaborative waypoints and corresponding waypoint indices includes:

traversing the cooperative path points of the two vehicles;

and after determining that the path point indexes corresponding to at least two cooperative path points of the same vehicle are continuous, generating a corresponding matched cooperative area.

In some embodiments, the real-time status information includes real-time position, orientation, velocity, and desired acceleration;

wherein, the determining a vehicle set needing to cooperate with the vehicle based on the cooperation area and the real-time status information comprises:

determining an equivalent vehicle for each vehicle based on the real-time position, heading, speed, and desired acceleration; the equivalent vehicle is obtained by extending a safety distance forwards from the real-time position, and the safety distance is determined based on the speed, the acceleration and a preset safety distance;

aiming at a cooperation area, determining whether the vehicle needs to cooperate with other vehicles or not based on the equivalent vehicle of the vehicle and the equivalent vehicles of other vehicles;

and adding the vehicles needing to be coordinated with the host vehicle into a vehicle set needing to be coordinated with the host vehicle.

In some embodiments, the real-time status information includes a real-time location, and the determining, based on the cooperation area and the real-time status information, a set of vehicles that need to cooperate with the host vehicle includes:

aiming at the same cooperation area, determining whether the vehicle and other vehicles need to cooperate or not based on the real-time position of the vehicle and the real-time positions of other vehicles;

In some embodiments, the transit permissions include a default permission, a high priority, and a low priority; the determining the passing authority of each vehicle based on the vehicle set comprises:

after determining that the vehicle is in a state without coordination, setting the passing permission as a default permission;

after determining that the vehicles are in a state needing cooperation, determining the passing permission of each vehicle in the vehicle set for each cooperation area based on a first-come principle; after the passing authority of one vehicle is determined to be the high priority, the passing authority of the other vehicle is set to be the low priority.

In some embodiments, the method further comprises:

updating the state of the vehicle set based on the passing authority of the vehicle;

generating a cooperative instruction based on the passing authority of the vehicle;

when the passing authority of the vehicle is the default authority or the high priority, the cooperative instruction is a passing instruction; when the passing authority of the vehicle is in a low priority level, the cooperative instruction comprises a parking instruction and a parking position.

The present disclosure also provides a multi-vehicle cooperation method, which is applied to a vehicle end, and the method includes:

sending planning path information and real-time state information;

receiving a coordination instruction;

the cooperative instruction is generated based on the multi-vehicle cooperative method realized in the cloud.

The present disclosure further provides a multi-vehicle cooperation apparatus, which is applied to a cloud, the apparatus includes:

the information acquisition module is used for acquiring the planned path information and the real-time state information of each vehicle in the Internet of vehicles;

the first processing module is used for determining a coordination area between the vehicle and other vehicles based on the planned path information of each vehicle;

the second processing module is used for determining a vehicle set needing to be cooperated with the vehicle based on the cooperation area and the real-time state information;

and the permission determining module is used for determining the passing permission of each vehicle based on the vehicle set.

In some embodiments, the planned path information includes a set of path points, each path point in the set of path points corresponding to a path point index; aiming at each planned path, the path point indexes are sequentially increased from the starting point to the end point; the first processing module is specifically configured to:

traversing the path point set of the vehicle and other vehicles;

wherein the collaborative condition comprises:

In some embodiments, the first processing module is configured to generate the collaborative region based on the collaborative waypoints and corresponding waypoint indexes, and specifically includes:

traversing the cooperative path points of the two vehicles;

In some embodiments, the real-time status information includes real-time position, orientation, velocity, and desired acceleration; the second processing module is specifically configured to:

In some embodiments, the real-time status information includes a real-time location, and the second processing module is specifically configured to:

In some embodiments, the transit permissions include a default permission, a high priority, and a low priority; the permission determination module is specifically configured to:

In some embodiments, the apparatus further comprises:

the command generation module is used for generating a cooperative command based on the passing permission of the vehicle;

The present disclosure further provides a multi-vehicle cooperation apparatus, which is applied to a vehicle end, the apparatus includes:

the information sending module is used for sending the planning path information and the real-time state information;

the instruction receiving module is used for receiving the cooperative instruction;

the cooperative instruction is generated by applying the multi-vehicle cooperative device arranged at the cloud end.

The present disclosure also provides a multi-vehicle cooperation system, including: a cloud end and a vehicle end;

the cloud is used for executing any one of the multi-vehicle cooperation methods;

the vehicle end is used for executing any one of the multi-vehicle cooperation methods.

In some embodiments, the vehicle end and the cloud end communicate based on message queue telemetry transmissions.

The present disclosure also provides an electronic device, including:

a memory and one or more processors;

wherein the memory is communicatively coupled to the one or more processors, and the memory stores instructions executable by the one or more processors, and when the instructions are executed by the one or more processors, the electronic device is configured to implement any one of the multi-vehicle coordination methods described above.

The present disclosure also provides a computer-readable storage medium having stored thereon computer-executable instructions for implementing any of the above-described multi-vehicle coordination methods when executed by a computer device.

The present disclosure also provides a computer program product for performing any one of the above-described multi-vehicle coordination methods.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

the method comprises the steps that through communication between a vehicle end and a cloud end, a single vehicle decision-making traffic strategy is converted into a traffic strategy which is realized by the cloud end based on planned path information and real-time state information of each vehicle in the vehicle networking, namely, multi-vehicle cooperation based on information sensed by each vehicle in the vehicle networking is realized, the problem that vehicles dodge or rush each other due to the limited sensing range of a vehicle-mounted sensor can be avoided, and therefore the traffic efficiency and the driving safety of the vehicles are improved;

secondly, multi-vehicle cooperative data processing is carried out at the cloud, so that the data processing amount of the vehicle can be effectively reduced, the response speed of the vehicle can be improved, and the traffic efficiency and the driving safety can be improved;

thirdly, the cloud decides a coordination area based on the planned path information of the vehicle, the coordination area can be continuously adjusted along with the updating of the vehicle path, specific description on a specific conflict area is not needed, and the application scene of the method is wider;

in the method, for the determination of the passing authority, only vehicles which are possibly collided need to be calculated, and all vehicles do not need to be traversed, so that the data processing amount is reduced, and the calculation performance is improved;

and fifthly, the vehicle (namely the vehicle end) and the cloud end are communicated based on Message Queue Telemetry Transport (MQTT), and compared with the communication based on the LTE-V technology, the data transmission format can be customized and expanded by a user, so that the use flexibility is higher, and the cost is lower.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic view of an application scenario of a multi-vehicle coordination method according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of a multi-vehicle cooperation method according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a co-directional coordination area provided by an embodiment of the present disclosure;

fig. 4 is a schematic diagram of a reverse cooperation area according to an embodiment of the disclosure;

FIG. 5 is a schematic illustration of an equivalent vehicle provided by embodiments of the present disclosure;

FIG. 6 is a schematic diagram of a co-rotation scheme provided by embodiments of the present disclosure;

FIG. 7 is a schematic diagram of a reverse collaboration provided by an embodiment of the present disclosure;

fig. 8 is a schematic flowchart of a method for determining a vehicle set in a multi-vehicle coordination method according to an embodiment of the present disclosure;

fig. 9 is a schematic flowchart of another method for determining a vehicle set in a multi-vehicle coordination method according to an embodiment of the disclosure;

fig. 10 is a schematic diagram of a transit authority conversion relationship for the same vehicle in the multi-vehicle cooperation method provided by the embodiment of the disclosure;

fig. 11 is a schematic flow chart illustrating a process of determining vehicle passing authority in the multi-vehicle cooperation method according to the embodiment of the disclosure;

fig. 12 is a schematic flow chart illustrating a process of updating a vehicle cooperation status in a multi-vehicle cooperation method according to an embodiment of the disclosure;

FIG. 13 is a schematic flow chart diagram illustrating another multi-vehicle coordination method provided by the embodiment of the present disclosure;

fig. 14 is a schematic structural diagram of a multi-vehicle cooperation apparatus according to an embodiment of the disclosure;

FIG. 15 is a schematic structural diagram of another multi-vehicle cooperative apparatus provided in the embodiment of the present disclosure;

fig. 16 is a schematic structural diagram of a multi-vehicle coordination system according to an embodiment of the present disclosure;

FIG. 17 is a schematic flow chart diagram illustrating another multi-vehicle coordination method provided by the embodiment of the present disclosure;

fig. 18 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

The multi-vehicle cooperation method provided by the embodiment of the disclosure can be applied to a multi-vehicle cooperation scene, wherein, for example, the vehicles need to determine the passing authority of each vehicle at the intersection region of the paths (i.e. a "cooperation region" in the following text). The vehicle may include a driver-assisted vehicle, an unmanned vehicle, or other vehicle that may include a smart driving module, without limitation. The intersection region may include a region where there is a possibility of intersection of vehicle paths such as an intersection, a herringbone intersection, or a t-intersection.

For example, when vehicles are running, if the vehicles run to the vicinity of an intersection area without a signal lamp at the same time, if the vehicles make a decision only by means of a single vehicle, the vehicles can avoid or rob each other, and correspondingly, the vehicles can be blocked or collided finally, so that the traffic efficiency and the running safety of the vehicles are affected.

Exemplarily, fig. 1 illustrates an application scenario of the multi-vehicle coordination method provided by the embodiment of the present disclosure. Referring to fig. 1, 011, 012, and 013 each represent a running vehicle, and may be represented by a first vehicle 011, a second vehicle 012, and a third vehicle 013, respectively; the line segment with an arrow indicates the traveling direction corresponding to each vehicle, and correspondingly, 0112, 0122, and 0132 represent the positions of the first vehicle 011, the second vehicle 012, and the third vehicle 013 at the next time point, which are passed by each vehicle based on the single-vehicle decision. In this case, the three vehicles may avoid each other, so that the vehicles stop running forwards, and the vehicles cannot pass in a period of time, thereby affecting traffic; or three vehicles may mutually rush to each other, so that the vehicles collide, and the driving safety problem is caused.

In view of at least one of the above problems, the embodiment of the present disclosure provides a method for performing multi-vehicle coordination through a cloud, that is, each vehicle in an internet of vehicles uploads path planning information and real-time status information to the cloud for overall planning processing, relatively comprehensive information can be obtained through compensation among vehicle awareness information, and vehicle passing permissions among a first vehicle 011, a second vehicle 012, and a third vehicle 013 are determined based on the information, that is, priorities of intersections are passed through, so that mutual avoidance or mutual preemption among the vehicles can be avoided, a more reasonable coordination decision for passing decisions than a single vehicle can be provided, and the problems of low passing efficiency and low running safety caused by a limited vehicle end sensor awareness range are improved.

In some embodiments, vehicles in the same operation area (i.e. an area corresponding to the "internet of vehicles") may all access to the cloud-based cooperative service, and the same cloud-based vehicle performs multi-vehicle cooperative processing on all vehicles in the operation area. The cloud end collects data uploaded by each vehicle in the internet of vehicles, and performs multi-vehicle cooperative processing based on the data.

Each vehicle is connected to the cloud terminal through a safe and reliable channel and protocol, so that data of the vehicle terminal can be uploaded to the cloud terminal through a corresponding communication mode; wherein the communication mode is realized based on channels and protocols, such as MQTT in this text.

Exemplary data uploaded to the cloud by the vehicle end include, but are not limited to:

1) the planned path of the vehicle, the information, the current driving destination, the departure place and the like;

2) and the real-time state information of the vehicle comprises the current position, orientation, speed, acceleration, electric quantity, cruising information, the current service state, the service request to be processed and the like of the vehicle.

The current service state may be, for example, a human control state or an automatic driving state, or whether human intervention exists in the automatic driving state. And judging whether the vehicle is controlled based on the control instruction of the cloud based on the service state, including cooperative control.

The service request to be processed may be, for example, an identity authentication request, an authorization request, a control request, and the like.

Correspondingly, the cloud end can execute a multi-vehicle cooperation method based on data uploaded by the vehicle end, so that the passing permission of each vehicle is obtained, and a cooperation instruction corresponding to each vehicle can be further obtained and issued to the corresponding vehicle.

Specifically, the cloud receives data of each vehicle in the same operation area, and calculates an area needing cooperation between the vehicles based on the vehicle global path planning information, namely, determining a cooperation area based on the planning path information; and determining a cooperative vehicle set by combining the real-time state information of the vehicles, such as the position, the speed, the orientation and other information of the vehicles, and further deciding the passing authority of the vehicles. Therefore, vehicles can be ensured to pass through in the cooperation area in sequence, mutual blocking is avoided, passing efficiency is improved, and running safety is improved.

The multi-vehicle cooperation method, apparatus, system, electronic device, computer-readable storage medium, and computer program product provided by the embodiments of the present disclosure are exemplarily described below with reference to fig. 2 to 18.

Exemplarily, fig. 2 shows a flow chart of a multi-vehicle cooperation method provided by the embodiment of the present disclosure. Referring to fig. 2, the method may include the following steps.

S101, obtaining planned path information and real-time state information of each vehicle in the Internet of vehicles.

The vehicle networking system comprises a plurality of vehicles, a data processing system and a data processing system, wherein the vehicles can be collectively managed by the same cloud or a plurality of cloud communicating with each other, the data of each vehicle can be reported to the cloud, and the cloud is collectively managed.

The data of the vehicle may include planned path information and real-time status information of the vehicle.

The planning path information is global planning path information. For example, before the vehicle is started, path planning can be performed locally at the vehicle end based on the departure place, the destination and the real-time road condition, and the planned path information is transmitted to the cloud end in a long time; or, in the vehicle traveling process, periodically uploading the planned path information to the cloud according to a preset time interval, for example, 5 minutes, 10 minutes or other time intervals; or, in the vehicle traveling process, the updated planned path information is uploaded to the cloud based on the change of the real-time road condition. Therefore, the cloud end can update the cooperation area of the vehicle and other vehicles based on the planning path information uploaded by the vehicle.

The real-time state information may include various real-time information related to the vehicle state, such as real-time information related to the vehicle motion state, real-time information related to the vehicle driving state, real-time information related to the cockpit comfort state of the vehicle, and the like; the real-time information related to the motion state may include speed, orientation, acceleration, and the like, the real-time information related to the driving state may include automatic driving, artificial driving, and the like, and the real-time information related to the comfort state of the cockpit may include temperature, humidity, brightness, and the like in the cockpit.

In other embodiments, the real-time status information may further include information of other dimensions for representing the real-time status of the vehicle, which is neither described nor limited herein.

And the vehicle end collects the planning path information and the real-time state information of the vehicle end and uploads the collected planning path information and the real-time state information to the cloud end. Correspondingly, the cloud end receives the planning path information and the real-time state information uploaded by the vehicle end.

And S102, determining a coordination area between the vehicle and the other vehicles based on the planned path information of each vehicle.

The cooperation area is a crossing or similar area in a vehicle path, and the vehicles may collide in the cooperation area, so that multi-vehicle cooperation processing needs to be performed on the cooperation area.

Specifically, based on the planned path information of the vehicle, the planned path of the vehicle may be determined. And the cloud end calculates the planned path of the vehicle and the planned paths of other vehicles to obtain a collaborative area between the vehicle and the other vehicles.

Exemplarily, the specific steps of determining the collaborative area are exemplarily described below by taking the case that the planning path information includes a set of path points.

S103, determining a vehicle set needing to be coordinated with the vehicle based on the coordination area and the real-time state information.

The cooperation area determined in the step S102 is a cooperation area of the own vehicle and another vehicle determined based on the global planned path information, and may be understood as a static cooperation area; with the update of the real-time status information of the vehicles, for a certain coordination area, coordination may or may not be required between the vehicles. Therefore, in addition to determining the cooperation area, it is necessary to determine the vehicles that need to cooperate with the host vehicle, that is, to form a vehicle set that needs to cooperate with the host vehicle, in combination with the real-time status information.

The specific manner of determining the set of vehicles is illustratively described below in conjunction with "equivalent vehicles" and the real-time locations of the vehicles.

And S104, determining the passing authority of each vehicle based on the vehicle set.

The passing authority of the vehicle can be determined based on the real-time state of each vehicle in the vehicle set, when the vehicle set is empty, namely when no vehicles need to be coordinated, the vehicle has the passing authority, and the passing authority can be a default authority and can be represented by INIT; when the vehicle set is not empty, namely, when vehicles needing coordination exist, if the vehicle can pass preferentially, the passing authority of the vehicle is higher, the passing authority can be high priority and can be represented by CROSSING; when the vehicle set is not empty, but the passing authority of the vehicle is low, namely other vehicles need to wait for passing, the passing authority can be low priority and can be represented by WAITING. The specific determination of the right of way is exemplified hereinafter.

The multi-vehicle cooperation method provided by the embodiment of the disclosure can be executed based on a cloud end, the cloud end receives planned path information and real-time state information uploaded by each vehicle in the internet of vehicles, and determines cooperation areas of the vehicle and other vehicles based on the planned path information; further, determining a vehicle set needing to be coordinated with the vehicle by combining the real-time state information; and determining the passing authority of each vehicle based on the vehicle set. From this, carry out many cars coprocessing through the high in the clouds, compensatied the limitation of on-vehicle sensor perception scope, can obtain more comprehensive information promptly to the current authority of each vehicle of collaborative distribution has improved and has dodged each other or snatch the problem that the traffic efficiency is lower and the safety of traveling is lower that brings because of the vehicle that the decision-making leads to is carried out to the bicycle, is favorable to improving communication efficiency, promotes the safety of traveling.

In some embodiments, the planned path information includes a set of path points, each path point in the set of path points corresponding to a path point index; and aiming at each planned path, sequentially increasing the path point index from the starting point to the end point.

Illustratively, the waypoints may be represented by coordinates and the waypoint index may be represented by an alphanumeric number. The path point index corresponding to the starting point may be 0, and as the path extends, the path point indexes are sequentially 1, 2, 3, 4, … …, until the path point index corresponding to the end point.

In other embodiments, the route point index may also be represented by letters, a combination of letters and numbers, or other forms known to those skilled in the art, and is not limited herein.

For the same path, the distance between two adjacent path point indexes may be the same or different; the data of the path point index may be the same or different for different paths, and is not limited herein.

Thus, for example, in the method shown in fig. 2, the obtaining of the planned path information of the vehicle in S101 may specifically include: the cloud end receives current planning path information reported by the vehicle end, the planning path information is represented in a coordinate point mode, and path point indexes are sequentially increased from a starting point to an end point from 0.

Based on the method, planned path information of each vehicle is overall processed, and a cooperation area between the vehicle is determined, namely the cooperation area between the vehicle and other vehicles is obtained.

Specifically, the process of determining the cooperation area may include the following steps.

And calculating a set of path points needing to be coordinated between the planned path of the vehicle and the planned paths of other vehicles and corresponding path point indexes. The specific calculation method can be selected as follows: traversing the path point set of the vehicle and other vehicles, and judging whether a line segment formed by two continuous path points of the vehicle needs to be coordinated with a line segment formed by two continuous path points of other vehicles, wherein the judgment condition is as follows: the intersection between two line segments or the distance between two line segments is less than a certain threshold (hereinafter described in connection with "preset distance threshold"). And storing the path points meeting the judgment condition and the corresponding path point index records, namely forming a set of the path points needing to be coordinated and the corresponding path point indexes. Wherein, the intersection of the two line segments means that an intersection point exists between the two line segments; if the distance between two line segments is less than a certain threshold value, it can be understood that the two line segments are close to each other, and the safe distance between two vehicles is defined by considering the vehicle width, the road width and other factors. When the multi-vehicle cooperation method is implemented, the safety distance may be a fixed value or may vary with factors such as vehicle width and road width, and is not limited herein.

And generating information of the cooperation area based on the path points needing cooperation and the corresponding sets of path point indexes. The specific method can be selected as follows: traversing the set of the two vehicle collaborative path points and the corresponding path point indexes, if the path point indexes are continuous, considering that the path point indexes belong to the same collaborative area, increasing the matched collaborative area, and recording the increasing direction and the number of the increased path point indexes; when the path point index is not continuous, the path point index is the starting point of the new collaborative area.

And judging the direction of the cooperation area. The specific method can be selected as follows: judging according to the growth direction of the cooperation area, if the growth direction of the cooperation area of the vehicle is the same as the growth direction of the cooperation area of other vehicles, the vehicle is a same-direction cooperation area, and as shown in fig. 3, the two vehicles run in the same direction in the area; if the increasing direction of the cooperative area of the host vehicle is opposite to the increasing direction of the cooperative area of the other vehicle, the host vehicle is a reverse cooperative area, and as shown in fig. 4, the two vehicles run in reverse in the area.

Illustratively, referring to fig. 3 and 4, wherein a and B represent two vehicles, a01 represents a coordination zone of a and B, and a11 represents a growth direction of the coordination zone; b01 represents the cooperative region of B and A, and B11 represents the growing direction of the cooperative region. Based on this, in fig. 3, the growth directions of the two cooperation regions are the same, showing the cooperation regions in the same direction; in fig. 4, the two cooperation areas are in opposite directions, and the reverse cooperation area is shown.

Illustratively, the cooperation area may include: a vehicle cooperation area [ begin1, end1] and other vehicle cooperation areas [ begin2, end2 ]. Specifically, for the same cooperation area, if the path point indexes corresponding to the cooperation areas of the vehicle are 5, 6, 7, 8, 9 and 10 in sequence, namely [ begin1, end1] is [5 and 10], and the path point indexes corresponding to the cooperation areas of the other vehicles are 20, 21, 22 and 23 in sequence, namely [ begin2 and end2] are [20 and 23], the cooperation areas between the two vehicles are the cooperation areas in the same direction; if the path point indexes corresponding to the coordination areas of the vehicle are 5, 6, 7, 8, 9 and 10 in sequence, namely [ begin1 and end1] are [5 and 10], the path point indexes corresponding to the coordination areas of other vehicles are 29, 28, 27 and 26 in sequence, namely [ begin2 and end2] are [29 and 26], the coordination areas between the two vehicles are reverse coordination areas. This is merely an exemplary illustration, in other embodiments, the data of the path index points of different vehicles corresponding to the same coordination area may also be in any other number, and the number of the path index points of the own vehicle and the other vehicles corresponding thereto may be the same or different, and may be determined based on the planned path information actually uploaded by the vehicles, which is not limited herein.

When the planned path information is uploaded by the vehicles, path points between the vehicles and corresponding path point indexes do not completely correspond to each other, so that the boundary information of the same cooperation area between the vehicle and another vehicle may be different. In some embodiments, the boundary information of the host vehicle and the other vehicles corresponding to the same coordination area may also be the same, and is not limited herein. Further optionally, the path point index may be used to calculate corresponding spatial coordinates, and the first intersection point coordinate of the cooperation area is a coordinate of a first intersection point in the continuous path expressed in coordinates.

In some embodiments, on the basis of fig. 2, S102 may further include the following steps.

Traversing the path point set of the vehicle and other vehicles;

recording path points meeting the cooperation conditions as cooperation path points;

generating a collaborative area based on the collaborative path points and the corresponding path point indexes;

wherein the synergistic conditions include: the line segment between two continuous path points of the vehicle is intersected with the line segment between two continuous path points of the other vehicle or the distance between the two line segments is smaller than a preset distance threshold value.

Specifically, calculating a set of path points and corresponding path point indexes which need to be coordinated between the planned path of the vehicle and the planned paths of other vehicles; generating information of a collaborative area based on the path points needing to be collaborative and the corresponding sets of path point indexes; and judging the direction of the cooperation area based on the information of the cooperation area to generate the cooperation area, wherein the cooperation area comprises a same-direction cooperation area and a reverse cooperation area.

The preset distance threshold is a threshold for limiting a safety distance between two vehicles in consideration of factors such as vehicle width and road width, and may be a fixed distance value, or a distance value that varies with factors such as vehicle width and road width, for example, may be 1 meter, 2 meters or other distance values, and specific values thereof are not limited in the embodiments of the present disclosure.

In some embodiments, the "generating a collaborative region based on the collaborative waypoints and the corresponding waypoint indexes" in the above steps may specifically include:

traversing the cooperative path points of the two vehicles;

and after determining that the path point indexes corresponding to at least two collaborative path points of the same vehicle are continuous, generating a collaborative area which is correspondingly matched.

Specifically, the path points with continuous path point indexes are matched in the same cooperation area, and if the path point indexes are discontinuous, the path points corresponding to the discontinuous path point indexes are the starting points of a new cooperation area, so that the cooperation area is generated.

In addition to the above embodiments, after the cooperation area is generated, a set of vehicles that need to cooperate with the host vehicle may be determined in conjunction with the real-time status information.

In some embodiments, the real-time status information includes real-time position, orientation, velocity, and desired acceleration.

Based on this, in some embodiments, on the basis of fig. 2, S103 may specifically include:

determining an equivalent vehicle for each vehicle based on the real-time position, heading, speed, and desired acceleration;

The equivalent vehicle is obtained by extending a safety distance forwards from a real-time position, and the safety distance is determined based on the speed, the acceleration and a preset safety distance.

For example, fig. 5 shows a schematic view of an equivalent vehicle. Referring to FIG. 5, the real-time location of the first vehicle 011 is shown at 021, and the real-time location of its equivalent vehicle is shown at 022, which can be derived by extending the safe distance forward from the real-time location 021. I.e., the safe distance is the distance the vehicle extends forward, which can be obtained by:

the safety distance is max (v × v/2a, preset safety distance);

the preset safe distance is a minimum distance threshold value which can ensure the safety of the vehicle under the conventional condition. For example, the preset safe distance may be a distance value obtained based on statistical rules of vehicles in the same batch, or a distance value determined by a vehicle developer based on empirical values, or a threshold determined by a vehicle driver based on driving experience, and is not limited herein; the distance value can be any distance value meeting the safety requirement of the vehicle, and the value is not limited.

Wherein, v × v/2a represents the vehicle speed v and the expected acceleration a to drive forwards according to the direction of the vehicle, and the distance from the real-time position when the speed is reduced to 0 can be called as a real-time safety distance; the direction of acceleration of the vehicle is opposite to the direction of speed, also referred to as deceleration, with respect to the direction of vehicle speed, to achieve deceleration of the vehicle.

The safety distance is max (v × v/2a, minimum threshold value) and represents the maximum value of the real-time safety distance and the preset safety distance, so as to ensure the safety of the vehicle.

Based on the method, whether the vehicle needs to be coordinated with other vehicles or not is judged for the same coordination area, and the vehicles needing to be coordinated are added into a vehicle set.

Illustratively, fig. 6 and 7 show co-directional and counter-directional coordinated vehicles, respectively.

Referring to fig. 6, vehicles traveling in the same direction that are about to be in the coordination area but are not currently in the coordination area are vehicles that require coordination, and if the vehicles are already in the coordination area (shown as a') or already cross the coordination area (shown as a "), coordination is not required. Further, the area which needs to compete for the right of passage in the same direction, that is, the area which needs to cooperate in the same direction is a partial area from the cooperation area, for example, when the vehicle a has the right of passage with high priority, the vehicle B may drive after entering the cooperation area.

Referring to fig. 7, vehicles traveling in reverse, which are about to be in the cooperation area or are already in the cooperation area, are vehicles requiring cooperation because they cannot be in the cooperation area at the same time. Further, the area where the competing right of way is reversely required is the whole cooperation area, that is, since two vehicles cannot be in the cooperation area at the same time, for example, when the vehicle a has the right of way with high priority, the vehicle B needs to wait until the vehicle a completely passes through the cooperation area, and then the vehicle B can enter the cooperation area.

In the above description of fig. 6 and fig. 7, the vehicle about to be in the cooperative area may be determined according to the real-time position of the equivalent vehicle, that is, if the position where the vehicle is stopped after decelerating according to the expected acceleration is in the cooperative area, the vehicle is considered to be about to be in the cooperative area; or, the vehicle that is about to be in the collaborative area may also be determined according to the real-time position of the vehicle itself, that is, when the distance between the real-time position of the vehicle and the collaborative area is less than a certain distance (the specific value is not limited), it is considered that the vehicle is about to be in the collaborative area.

Thus, in some embodiments, S103 in fig. 2 may specifically further include:

Therefore, for a certain vehicle, a vehicle set which needs to be coordinated with the own vehicle actually can be obtained based on the coordination area of the vehicle and other vehicles and the combination of the real-time state information.

Exemplarily, fig. 8 and 9 show two procedures for determining a vehicle set, respectively.

Referring to fig. 8, in the multi-vehicle cooperation method provided by the embodiment of the present disclosure, a specific process for determining a vehicle set may include the following steps.

And S210, starting.

And S211, traversing the cooperative area set of the vehicle and all other vehicles.

S212, traversing a coordination area set of the vehicle and a certain vehicle.

And S213, judging whether the vehicle needs to cooperate or not.

If the judgment result is yes (Y), executing the subsequent steps; otherwise, the process returns to the step S212.

And S214, judging whether the other vehicles need to cooperate.

And S215, the opposite vehicles.

Namely, whether the two vehicles are opposite vehicles is judged. If yes, go to subsequent S218; if not, the subsequent judgment is continued, i.e., S216 is executed.

S216, judging whether other vehicles are in the cooperation area.

If the judgment result is negative (N), continuing the subsequent judgment, namely executing S217; if yes, go back to the previous traversal steps, i.e., S211 and S212.

S217, judging whether the vehicle is in the cooperative area.

If the determination result is no (N), continuing to execute the following S218; if yes, go back to the previous traversal steps, i.e., S211 and S212.

And S218, adding other vehicles into the cooperative vehicle set.

Traversing all the cooperative areas of the vehicle and all other vehicles, and if the vehicles need to be cooperative in opposite directions (namely reverse directions), directly adding other vehicles into a cooperative vehicle set; and if the vehicles need to be coordinated in the same direction, judging whether the two vehicles are in the coordination area, if not, adding the other vehicle into the coordination vehicle set, and if one vehicle is in the coordination area, then the other vehicle follows the other vehicle without adding the other vehicle into the coordination vehicle set.

In this manner, the process of determining the set of vehicles is completed.

In the latter case, referring to fig. 9, in the multi-vehicle cooperation method provided by the embodiment of the present disclosure, the specific process of determining the vehicle set may include the following steps.

And S220, starting.

And S221, judging whether the vehicle is in a normal running state.

If the judgment result is yes (Y), executing the subsequent steps; if not, the process is ended directly.

And S222, traversing the vehicle cooperation area set.

Namely, for the vehicle, the cooperation area of the vehicle and other vehicles is traversed.

And S223, judging whether the current position of the other vehicle is effective.

If the judgment result is yes (Y), executing the subsequent steps; if not (N), the vehicle is skipped and the next vehicle is determined, i.e., the process returns to S222.

And S224, traversing the cooperation area with other vehicles.

There may be a plurality of cooperation areas between the vehicle and another vehicle, and the cooperation areas need to be traversed.

And S225, judging whether the vehicle crosses the area or cannot reach the area in the future.

If the judgment result is yes (Y), no cooperation is needed for the cooperation area, and S224 is executed; if not, continuing to execute the subsequent steps.

S226, judging whether other vehicles cross the area or cannot reach the area in the future.

And S227, the opposite vehicle.

Namely, whether the two vehicles are opposite vehicles is judged. If yes (Y), the following S228 and S229 are performed; if not (N), the following S230-S232 are executed. Namely, the determination is made for the opposite vehicle and the same-direction vehicle, respectively.

And S228, judging whether the two vehicles are in the cooperation area.

If the judgment result is yes (Y), the cooperation is not required, and the process returns to S224; if not (N), the subsequent determination is continued, i.e., S229 is executed.

And S229, judging whether the two vehicles drive out of the own cooperative area.

If the determination result is yes (Y), the traversal step is returned to without cooperation, i.e., S224; if not (N), it indicates that the host vehicle and the other vehicle traveling in opposite directions need to cooperate, that is, the following step S233 is executed.

In this manner, the cooperative determination of the opposing vehicle is completed in conjunction with S228 and S229.

And S230, judging whether other vehicles are in the cooperation area.

If the determination result is no (N), continuing the subsequent determination, i.e., executing S231; if yes, go back to the previous step of traversal, i.e., S224.

S231, judging whether the vehicle is in the cooperative area.

If the judgment result is negative (N), continuing the subsequent judgment, namely executing S232; if yes, go back to the previous step of traversal, i.e., S224.

And S232, judging whether the vehicle exits the own cooperative area.

If the judgment result is yes (Y), it indicates that there is a cooperative area where the vehicle exits from the own vehicle in the own vehicle or another vehicle for the cooperative area, and at this time, the traversal step is returned to, i.e., S224, without cooperation; if not (N), the subsequent S233 is executed.

Thus, the cooperative judgment of the vehicles in the same direction is completed by combining S230-S232.

And S233, adding other vehicles into the cooperative vehicle set.

Thus, vehicles needing the same coordination in the same direction and vehicles needing coordination in the opposite direction are added into the coordination vehicle set.

And S234, ending.

At this point, the process of determining the set of vehicles is completed.

In the above embodiment, the right of passage of the vehicle may include: default authority (INIT), high priority (cross), and low priority (wait). Based on this, the vehicles in the vehicle set can be divided into two different sets according to the passing authority, and the sets are respectively shown as partner _ including vehicles with higher priority than the vehicle and interject _ including vehicles with lower priority than the vehicle.

When the vehicle set is empty, it indicates that there is no vehicle needing to cooperate with the vehicle, at this time, the partner _ and the interject _ are both empty, the vehicle can pass through, and the passing authority is INIT; when the vehicle set is not empty, determining the passing permission of the host vehicle and other vehicles needing coordination, namely the priority is high or low, the high-priority vehicle enters the partner _, the low-priority vehicle enters the intersector _, the vehicle in the partner _ can pass, and the vehicle in the intersector _ needs waiting; for the same vehicle, it enters partner _ or interject _, and can pass directly or need to wait.

Correspondingly, when the passing authority of the vehicle is INIT, the vehicle is in a state without coordination, at the moment, the partner _ and the interject _ are both empty, and the vehicle can pass; when the passing authority is CROSSING, the vehicle can pass, the partner _ is empty, and the interject _ is not empty; when the traffic authority is WAITING, the host vehicle needs to wait for other vehicles to pass, the partner _ is not empty, and the interject _ is empty.

For each cooperation area, only one vehicle with the right of passage of CROSSING can exist. The conversion relationship of the respective passage authorities for the same vehicle is shown in fig. 10. Wherein the relationship transformation may include: the mutual conversion between the default permission INIT and the high priority cross, and the mutual conversion between the default permission INIT and the low priority wait.

In some embodiments, the process of competing for right of way, i.e., determining right of way, is shown in fig. 11, and may specifically include the following steps.

And S240, starting.

And S241, judging whether the cooperative vehicle set is not empty.

If the judgment result is yes (Y), the fact that the vehicle needs to be cooperated with other vehicles is indicated, and the follow-up steps are continuously executed; and if not, the two vehicles do not need to cooperate and can be directly finished.

And S242, the state of the vehicle INIT or CROSSING.

Namely, whether the passing authority of the vehicle is INIT or CROSSING is judged. If yes, executing the subsequent steps; if not, the process is ended directly.

And S243, traversing the collaborative vehicle set.

S244, judging whether other vehicles are in the vehicle Interselect _ or not.

If the determination result is yes (Y), returning to execute the traversal step, i.e., S243; if not, continuing to perform the subsequent judging step.

S245, judging whether the vehicle is in the partner _ of the other vehicle.

And S246, judging whether the other vehicles are in the WAITING state.

If the determination result is yes (Y), the following S249 is executed; if not, continuing to perform the subsequent judging step.

And S247, judging whether the vehicle is in the own cooperative area.

If the determination result is yes (Y), returning to execute the traversal step, i.e., S243; if not, the subsequent step, i.e., S248, is continuously executed.

And S248, determining the right of passage according to the FIFO principle and adding the vehicles to the corresponding set.

The FIFO principle is a First in First out (First in First out) principle, and by adopting the FIFO principle, high passing efficiency is provided for crossing passing when the traffic density is not high. The method specifically comprises the following steps: if the two vehicles need to cooperate, the distance between the vehicles and the starting point of the cooperation area after the vehicles are decelerated and stopped according to the expected acceleration is calculated, and the person closer to the vehicles has high-priority passing permission.

And S249, if the vehicle is in the cooperation area and the state is not WAITING, associating the vehicle with the cooperation area, and otherwise, skipping.

The associating of the two vehicles means associating the host vehicle with the other vehicles, and specifically includes adding a vehicle with a high priority to partner _ and adding a vehicle with a low priority to intersector _ respectively.

And S250, ending.

At this point, the process of determining the right of passage of the vehicle is completed.

Based on this, in some embodiments, on the basis of fig. 2, S104 may specifically include:

after the vehicles are determined to be in a state needing cooperation, the passing permission of each vehicle in the vehicle set is determined for each cooperation area based on a first-come principle; after the passing authority of one vehicle is determined to be the high priority, the passing authority of the other vehicle is set to be the low priority.

On the basis, the cooperative collection state of the vehicles can be updated based on the passing authority of the vehicles, and the actions to be executed by the vehicles are sent to the vehicle end.

In some embodiments, the method may further comprise:

when the passing authority of the vehicle is the default authority or the high priority, the cooperative instruction is a passing instruction; correspondingly, the vehicle may receive a pass command and pass based on the command. When the passing authority of the vehicle is in the low priority, the cooperative instruction comprises a parking instruction and a parking position; accordingly, the vehicle may receive the cooperative instruction and park to the parking position based on the instruction to wait for the passage of another vehicle. For example, the parking position may be at the starting point position of the cooperation area or at another position before the cooperation area and apart from the starting point of the cooperation area by a preset distance, and it is sufficient that other vehicles pass through the cooperation area without being affected, and the specific position is not limited in the embodiment of the present disclosure.

The state of the vehicle group is updated as shown in fig. 12. The process can comprise the following steps:

for the vehicle with the traffic right of CROSSING, the method can comprise the following steps:

traversing the interselect _ vehicle set;

determining whether the other vehicle is in the set of cooperating vehicles;

if the judgment result is negative (N), namely the other vehicle is not in the cooperative vehicle set, the other vehicle is not in the intersector _ and needs to be deleted from the intersector _; if the judgment result is yes (Y), the intersector _ vehicle set is continuously traversed.

Meanwhile, for the vehicle with the traffic right of CROSSING, the method also comprises the following steps:

traversing the collaborative vehicle set;

judging whether other vehicles are not in the interject _ vehicle set;

if the judgment result is yes (Y), namely the other vehicle is in the cooperative vehicle set but not in the intersector _ vehicle set, the other vehicle needs to be synchronized into the intersector _ and is added into the intersector _; and if the judgment result is negative (N), continuously traversing the cooperative vehicle set.

For the vehicle with the traffic authority of WAITING, the method can comprise the following steps:

traversing the partner _ vehicle set;

determining whether the other vehicle is in the set of cooperating vehicles;

if the judgment result is negative (N), namely the other vehicle is not in the cooperative vehicle set, the other vehicle is not in the partner _ and needs to be deleted from the partner _ either; if the judgment result is yes (Y), the partner _ vehicle set is continuously traversed.

In this way, the vehicle set is updated based on the passing authority of the vehicle.

The multi-vehicle cooperation method provided by the embodiment of the disclosure can upload vehicle end data to the cloud end by using vehicle cloud communication, and perform multi-vehicle cooperative processing at the cloud end to obtain a cooperative passing decision, so that the calculation amount of a single vehicle can be effectively reduced, that is, the data processing amount of the single vehicle is reduced, and the improvement of the response speed of the vehicle is facilitated. Secondly, in the multi-vehicle cooperation method, the cooperation area can be determined based on the planned path information of the vehicle, the cooperation area can be continuously adjusted along with the updating of the vehicle path, specific description on a specific conflict area is not needed, and the application scene is wider. Meanwhile, in the multi-vehicle cooperation method, only vehicles which possibly conflict need to be calculated, namely only the determined vehicles which need to cooperate with the vehicle need to be subjected to the logical judgment of the passing permission, and the data of all the vehicles do not need to be processed, namely all the vehicle data do not need to be traversed again, so that the data processing amount is reduced, the data processing speed is increased, the vehicle passing efficiency is improved, and the driving safety is improved.

The embodiment of the disclosure further provides a multi-vehicle cooperation method, which is applied to a vehicle end and is matched with the cloud execution method to realize cooperative passing of multiple vehicles.

In some embodiments, fig. 14 is a schematic flow chart of another multi-vehicle cooperation method provided in the embodiments of the present disclosure, and illustrates a method performed at a vehicle end. Illustratively, referring to fig. 14, the method may include the following steps.

And S201, sending the planning path information and the real-time state information.

The vehicle can summarize the planned path information and the real-time status information and then send the summarized planned path information and the real-time status information to the cloud; or the vehicle may send the planned path information and the real-time status information to the cloud, which is not limited herein. Correspondingly, the cloud end receives the planning path information and the real-time state information sent by the vehicle end.

And S202, receiving a coordination command.

Specifically, the cloud executes the steps of the multi-vehicle cooperation method implemented at the cloud based on the received planning path information and the real-time state information sent by the vehicle end to obtain a cooperation instruction, and sends the cooperation instruction to the vehicle end. Correspondingly, the vehicle end receives the cooperative instruction issued by the cloud end, and then can execute corresponding operation based on the received cooperative instruction.

When the passing authority of the vehicle is INIT or CROSSING, the cooperative instruction received by the vehicle is a passing instruction, the cooperative instruction does not include a parking position, the vehicle maintains a running state, and other special operations are not performed; when the passing authority of the vehicle is WAITING, the cooperation command received by the vehicle comprises a parking command and a parking position, and the vehicle end parks at the parking position based on the cooperation command to wait for other vehicles to pass through the cooperation area.

In the multi-vehicle cooperation method provided by the embodiment of the disclosure, the vehicle end sends the planned path information and the real-time state information to the cloud end and receives the cooperation instruction sent by the cloud end, so that the data processing amount of the vehicle end can be reduced, and the response speed of the vehicle end is improved; simultaneously, the high in the clouds carries out many cars coprocessing based on each vehicle end data in the car networking, is about to carry out overall processing on each vehicle data in the car networking, confirms the instruction in coordination of each vehicle, obtains the current order that each vehicle was synergized simultaneously, has avoided dodging each other or has robbed the line each other between the vehicle, is favorable to improving current efficiency, promotes the safety of traveling.

The embodiment of the disclosure further provides a multi-vehicle cooperation device, which is applied to a cloud end and used for executing any one of the steps of the multi-vehicle cooperation method realized at the cloud end to realize a corresponding effect.

In some embodiments, fig. 14 is a schematic structural diagram of a multi-vehicle cooperation apparatus provided in an embodiment of the present disclosure. Referring to fig. 14, the apparatus may include: the information acquisition module 310 is configured to acquire planned path information and real-time state information of each vehicle in the internet of vehicles; the first processing module 320 is configured to determine a coordination area between the host vehicle and another vehicle based on planned path information of each vehicle; the second processing module 330 is configured to determine a set of vehicles that need to cooperate with the host vehicle based on the cooperation area and the real-time status information; and the permission determining module 340 is used for determining the passing permission of each vehicle based on the vehicle set.

The utility model provides a set up in many cars of high in clouds cooperative device, through the synergism between each function module of the aforesaid, carry out many cars cooperative processing through the high in the clouds, compensate the limitation of on-vehicle sensor perception scope, can obtain more comprehensive information promptly, so that the current authority of each vehicle is distributed in coordination, the lower and lower problem of safety of going of the lower traffic efficiency that has improved to dodge or snatch each other and bring based on the vehicle that the single car makes a decision, be favorable to improving communication efficiency, promote the safety of going.

In some embodiments, the planned path information includes a set of path points, each path point in the set of path points corresponding to a path point index; and aiming at each planned path, sequentially increasing the path point index from the starting point to the end point. Based on this, the first processing module 320 may be specifically configured to:

traversing the path point set of the vehicle and other vehicles;

wherein the synergistic conditions include:

In this way, the cooperation area between the own vehicle and the other vehicle can be determined based on the path point and the path point index.

In some embodiments, the first processing module 320 is configured to generate the cooperation area based on the cooperation waypoint and the corresponding waypoint index, and specifically may include:

traversing the cooperative path points of the two vehicles;

In this way, each collaborative region may be determined based on the calculated collaborative path points.

In some embodiments, the real-time status information includes real-time position, orientation, velocity, and desired acceleration. Based on this, the second processing module 330 may be specifically configured to:

determining an equivalent vehicle for each vehicle based on the real-time position, heading, speed, and desired acceleration; the equivalent vehicle is obtained by extending a safety distance forwards from a real-time position, and the safety distance is determined based on the speed, the acceleration and a preset safety distance;

In this way, the equivalent vehicles can be determined by combining the real-time state information, and a vehicle set needing to be coordinated with the host vehicle can be further determined.

In some embodiments, the real-time status information includes a real-time location, and the second processing module 330 is further specifically configured to:

In this way, a set of vehicles that need to be coordinated with the host vehicle can be determined in conjunction with the real-time location.

In some embodiments, the pass permissions include a default permission, a high priority, and a low priority.

Based on this, the permission determination module 340 may be specifically configured to:

As such, the right of passage for each vehicle may be determined based on the set of vehicles.

In some embodiments, on the basis of fig. 14, the multi-vehicle cooperation apparatus may further include:

In this way, the cooperative instruction can be generated based on the passage authority of each vehicle. The cooperative instruction can be issued to each corresponding vehicle end by the cloud.

It should be noted that the multi-vehicle cooperation apparatus shown in the embodiment of the present disclosure may perform each step in the above-shown method embodiment, and implement each process and effect in the above-shown method embodiment, which are not described herein again.

The embodiment of the disclosure further provides a multi-vehicle cooperation device, which is applied to a vehicle end, and is used for executing any one of the steps of the multi-vehicle cooperation method implemented at the vehicle end to achieve a corresponding effect.

In some embodiments, fig. 15 is a schematic structural diagram of another multi-vehicle cooperation apparatus provided in the embodiments of the present disclosure. Referring to fig. 15, the apparatus may include:

an information sending module 410, configured to send planned path information and real-time status information;

an instruction receiving module 420, configured to receive a coordination instruction;

According to the multi-vehicle cooperative device arranged at the vehicle end, through the cooperative action of the functional modules, the planning path information and the real-time state information of the vehicle end can be sent to the cloud end, and the cooperative instruction sent by the cloud end is received, so that the data processing amount of the vehicle end can be reduced, and the response speed of the vehicle end is improved; simultaneously, many cars of high in clouds setting are in coordination the device and can be based on each car end data in the car networking carry out many cars coprocessing, are about to carry out overall processing on each vehicle data in the car networking, confirm the cooperation instruction of each vehicle, obtain the current order that each vehicle was in coordination simultaneously, avoided dodging each other between the vehicle or robbed the line each other, are favorable to improving current efficiency, promote the safety of traveling.

On the basis of the foregoing embodiment, the embodiment of the present disclosure further provides a multi-vehicle cooperation system, which may include a cloud end and a vehicle end, and are respectively used to correspondingly execute the steps of any one of the multi-vehicle cooperation methods implemented at the cloud end or the vehicle end, so as to achieve a corresponding effect.

In some embodiments, fig. 16 is a schematic structural diagram of a multi-vehicle coordination system provided in an embodiment of the present disclosure. Referring to fig. 16, the multi-vehicle cooperation system may include: cloud 02 and vehicle end 01; the cloud 02 is used for executing any one of the multi-vehicle cooperation methods realized at the cloud, and the vehicle end 01 is used for executing any one of the multi-vehicle cooperation methods realized at the vehicle end.

Specifically, the vehicle end 01 may refer to each vehicle in the internet of vehicles, which are respectively shown as vehicle 1, vehicle 2 … …, and vehicle n, and the vehicle end 01 sends the planned path information and the real-time status information to the cloud end 02; correspondingly, the cloud 02 performs multi-vehicle cooperative processing based on the information reported by the vehicle end 01, so as to realize the distribution of the passing permission, further generate a cooperative instruction, and issue the cooperative instruction to the corresponding vehicle end 01.

Optionally, the cloud 02 can also directly issue the passing permission to the vehicle end 01, and the vehicle end 01 performs the cooperative passing based on the passing permission issued by the cloud 01 in cooperation.

Wherein, in this system, can upload car end data to the high in the clouds, carry out overall planning at the high in the clouds and handle to realize that many cars are current in coordination, improve current efficiency, promote the safety of traveling. Specifically, the cloud end can receive planned path information and real-time state information of all running vehicles in the internet of vehicles, and accordingly decides a cooperative area of each vehicle and other vehicles, when cooperative processing is carried out on the other vehicles and the vehicle in the same cooperative area, a passing sequence can be quickly decided, namely the passing authority of the vehicles is determined, a cooperative instruction is generated and issued to corresponding vehicle ends, and therefore multi-vehicle cooperative passing is achieved.

In some embodiments, the vehicle end communicates with the cloud based on message queue telemetry transmissions.

Therefore, the vehicle end and the cloud end can communicate based on the MQTT, and compared with the LTE-V communication technology, the data transmission format can be customized and expanded by a user, so that the use is more flexible, and the cost is lower.

Illustratively, fig. 17 illustrates a multi-vehicle cooperation method that can be implemented by the multi-vehicle cooperation system provided by the embodiment of the present disclosure. Referring to fig. 17, the method may include the following steps.

And S501, reporting the planning path information when the vehicle-end path is updated.

And S502, reporting the real-time state information of the vehicle periodically or on request.

S503, calculating the intersection area of the vehicle and other vehicles based on the planned path information reported by the vehicle end, and saving the intersection area as a cooperation area.

And S504, calculating a vehicle set needing to be cooperated with the vehicle by combining the real-time state information reported by the vehicle end.

And S505, determining the passing authority of the vehicle based on the set rule.

Illustratively, the set rule may be a FIFO rule, and the pass permissions may include a default permission, a high priority, and a low priority.

And S506, sending the parking position to the vehicle with low priority, and sending a starting command to the vehicle needing to be started.

The cloud end sends the parking position to the corresponding vehicle so as to enable the vehicle to park at the position where the vehicle does not influence the traffic of other vehicles; after the other vehicles pass through the coordination area, the cloud end sends a starting instruction to the parked vehicle, so that the vehicle can be restarted in response to the starting instruction.

Meanwhile, the step may affect the real-time status of the vehicle, update the real-time status information of the vehicle end based on the step, and return to update the real-time status information in S504.

From this, can realize the multi-vehicle coprocessing of each vehicle based on the high in the clouds.

The embodiment of the disclosure further provides an electronic device, which can be used for realizing the steps of any one of the above multi-vehicle cooperation methods, so as to realize corresponding effects. The electronic device may include:

a memory (which may include ROM, RAM, etc.) and one or more processors (which may include a CPU);

the storage is in communication connection with the one or more processors, the storage stores instructions executable by the one or more processors, and when the instructions are executed by the one or more processors, the electronic device is used for implementing any one of the multi-vehicle cooperation methods.

Exemplarily, fig. 18 shows a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. Referring to fig. 18, an electronic apparatus 600 includes a Central Processing Unit (CPU)601 that can perform various processes in the embodiments shown in fig. 2 or 5 described above according to a program stored in a Read Only Memory (ROM)602 or a program loaded from a storage device 608 into a Random Access Memory (RAM) 603. In the RAM603, various programs and data necessary for the operation of the electronic apparatus 600 are also stored. The CPU601, ROM602, and RAM603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

The following components are connected to the I/O interface 605: an input device 606 including a keyboard, mouse, etc.; output devices 607 including devices such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage device 608 including a hard disk and the like; and a communication device 609 including a network interface card such as a LAN card, modem, or the like. The communication device 609 performs communication processing via a network such as the internet. The driver 610 is also connected to the I/O interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 610 as necessary, so that a computer program read out therefrom is mounted in the storage device 608 as necessary.

In particular, the methods described above with reference to fig. 2 or 13 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 tangibly embodied on a medium readable thereby, the computer program comprising program code for performing the method of fig. 2 or 13. In such embodiments, the computer program may be downloaded and installed from a network through the communication device 609 and/or installed from the removable media 611.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units or modules described in the embodiments of the present disclosure may be implemented by software or hardware. The units or modules described may also be provided in a processor, and the names of the units or modules do not in some cases constitute a limitation of the units or modules themselves.

As another aspect, the present disclosure also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the apparatus in the above-described embodiment; or it may be a separate computer readable storage medium not incorporated into the device. The computer readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the present disclosure.

In summary, the present disclosure provides a multi-vehicle cooperation method, apparatus, system, electronic device, and computer-readable storage medium and computer program product thereof. The multi-vehicle cooperative processing of each vehicle can be realized by combining the planning path information and the real-time state information of each vehicle in the internet of vehicles through the multi-vehicle cooperative processing executed at the cloud end, so that the multi-vehicle cooperation is carried out among the vehicles, and the traffic efficiency is improved.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-vehicle cooperation method is applied to a cloud end, and comprises the following steps:

and determining the passing authority of each vehicle based on the vehicle set.

2. The method of claim 1, wherein the planned path information comprises a set of waypoints, each waypoint in the set of waypoints corresponding to a waypoint index; aiming at each planned path, the path point indexes are sequentially increased from the starting point to the end point;

traversing the path point set of the vehicle and other vehicles;

wherein the collaborative condition comprises:

Preferably, the generating the collaborative region based on the collaborative path point and the corresponding path point index includes:

traversing the cooperative path points of the two vehicles;

Preferably, the real-time status information includes real-time position, orientation, speed, and desired acceleration;

Preferably, the determining the set of vehicles needing to cooperate with the host vehicle based on the cooperation area and the real-time status information includes:

3. The method of any of claims 1-2, wherein the passage right includes a default right, a high priority, and a low priority; the determining the passing authority of each vehicle based on the vehicle set comprises:

4. The method of claim 3, further comprising:

5. A multi-vehicle cooperation method is applied to a vehicle end, and comprises the following steps:

sending planning path information and real-time state information;

receiving a coordination instruction;

wherein the collaboration instruction is generated based on the method of claim 4.

6. The utility model provides a multi-vehicle cooperative apparatus, is applied to the high in the clouds, the device includes:

7. A multi-vehicle cooperation system is characterized by comprising a cloud end and a vehicle end;

the cloud is used for executing the multi-vehicle cooperation method of any one of claims 1-4;

the vehicle end is used for executing the multi-vehicle cooperation method in claim 5.

8. An electronic device, comprising:

a memory and one or more processors;

wherein the memory is communicatively coupled to the one or more processors, the memory having stored therein instructions executable by the one or more processors, the instructions, when executed by the one or more processors, the electronic device to implement the multi-vehicle coordination method of any of claims 1-5.

9. A computer-readable storage medium having computer-executable instructions stored thereon for implementing the multi-vehicle coordination method of any one of claims 1-5 when the computer-executable instructions are executed by a computer device.

10. A computer program product for performing the multi-vehicle coordination method according to any one of claims 1 to 5.