CN113734202B

CN113734202B - Multi-vehicle cooperation method, device, system, equipment, medium and product

Info

Publication number: CN113734202B
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: 2023-12-01
Anticipated expiration: 2041-09-22
Also published as: CN113734202A

Abstract

The present disclosure relates to multi-vehicle collaboration methods, apparatus, systems, devices, media, and products. The method may include the following steps performed in the cloud: acquiring planning path information and real-time state information of each vehicle in the Internet of vehicles; determining a cooperative area between the vehicle and the other vehicle based on the planned path information of each vehicle; determining a vehicle set which needs to be cooperated with the vehicle based on the cooperation area and the real-time state information; based on the vehicle set, a pass right of each vehicle is determined. According to the vehicle-mounted intelligent control system, the multi-vehicle cooperative processing is carried out through the cloud, so that the running safety problems caused by lower passing efficiency and vehicle uniform robbery due to mutual avoidance of vehicles are solved, the traffic efficiency is improved, and the running safety of the vehicles is improved.

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

Unmanned vehicles are one type of intelligent vehicles, also called wheeled mobile robots, which mainly rely on intelligent pilots, mainly computer systems, to achieve unmanned goals. Specifically, the unmanned vehicle can sense the surrounding environment of the vehicle by using an on-vehicle sensor, and control the steering and speed of the vehicle according to the road, the vehicle position and the obstacle information obtained by sensing, so that the vehicle can safely and reliably run on the road.

However, when the unmanned vehicle is running, if the unmanned vehicle is running at the intersection or the intersection, the herringbone intersection and other intersection areas without signal lamps, if the unmanned vehicle is only decided by a single vehicle, the vehicles can avoid each other due to the limitation of the perceivable range of the vehicle-mounted sensor, so that the vehicles are blocked, and the passing efficiency is lower; or the vehicles can rob uniformly, so that the vehicles collide, and the passing efficiency and the running safety of the unmanned vehicles can be influenced.

Disclosure of Invention

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

The disclosure provides a multi-vehicle cooperation method applied to a cloud, the method comprising the following steps:

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

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

determining a vehicle set which needs 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 one path point index; for each planned path, sequentially increasing the index of the path point from the starting point to the end point;

the determining the cooperation area between the own vehicle and the other vehicle based on the planned path information of each vehicle comprises the following steps:

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

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

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

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

wherein the collaborative condition includes:

the line segment between two continuous path points of the vehicle intersects 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 collaboration zone based on the collaboration path points and corresponding path point indexes includes:

traversing the cooperative path points of the two vehicles;

and after the path point indexes corresponding to at least two cooperative path points of the same vehicle are determined to be continuous, generating a cooperative area corresponding to the matching.

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

the determining, based on the cooperation area and the real-time status information, a vehicle set that needs to cooperate with the host vehicle includes:

determining an equivalent vehicle for each vehicle based on the real-time position, orientation, 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 cooperative area, determining whether the own vehicle and the other vehicle need to cooperate or not based on the equivalent vehicle of the own vehicle and the equivalent vehicle of the other vehicle;

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

In some embodiments, the real-time status information includes a real-time location, and the determining, based on the collaboration zone and the real-time status information, a set of vehicles that need to be collaborative with the host vehicle includes:

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

In some embodiments, the pass rights include default rights, high priority, and low priority; the determining the passing authority of each vehicle based on the vehicle set comprises the following steps:

after determining that the vehicle is in a state of not needing coordination, setting the passing authority as a default authority;

after determining that the vehicles are in a state requiring cooperation, determining the passing authority of each vehicle in the vehicle set according to a first-come first-go principle aiming at each cooperation area; after determining that the traffic right of the vehicle is high priority, the traffic right of the vehicle is set to be 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 a default authority or high priority, the cooperative instruction is a passing instruction; when the traffic authority of the vehicle is low priority, the cooperative instruction comprises a parking instruction and a parking position.

The disclosure also provides a multi-vehicle cooperation method applied to a vehicle end, the method comprising:

transmitting planning path information and real-time state information;

receiving a cooperative instruction;

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

The present disclosure also provides a multi-vehicle cooperative apparatus applied to a cloud, the apparatus comprising:

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

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

the second processing module is used for determining a vehicle set which needs 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 one path point index; for each planned path, sequentially increasing the index of the path point from the starting point to the end point; the first processing module is specifically configured to:

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

wherein the collaborative condition includes:

In some embodiments, the first processing module is configured to generate the collaboration area based on the collaboration path point and a corresponding path point index, and specifically includes:

traversing the cooperative path points of the two vehicles;

In some embodiments, the real-time status information includes real-time position, heading, speed, 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 pass rights include default rights, high priority, and 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 authority of the vehicle;

The present disclosure also provides a multi-vehicle cooperative apparatus applied to a vehicle end, the apparatus comprising:

the information sending module is used for sending planning path information and 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.

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

the cloud end is used for executing any multi-vehicle cooperation method;

the vehicle end is used for executing any multi-vehicle cooperation method.

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

The present disclosure also provides an electronic device, including:

a memory and one or more processors;

the electronic device is used for realizing any multi-vehicle cooperation method when the instructions are executed by the one or more processors.

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 collaboration methods when executed by a computer device.

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

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

1. through communication between the vehicle end and the cloud end, the traffic strategy of the single vehicle decision is converted into the traffic strategy realized by the cloud end based on the planning path information and the real-time state information of each vehicle in the vehicle networking, namely, the multi-vehicle cooperation based on the information perceived by each vehicle in the vehicle networking is realized, the problem that vehicles avoid each other or rob each other due to the limited perception range of the vehicle-mounted sensor can be avoided, and the traffic efficiency and the running safety of the vehicles are improved;

2. the data processing of the multi-vehicle cooperation is carried out at the cloud, so that the data processing capacity of the vehicle can be effectively reduced, the response speed of the vehicle can be improved, and the passing efficiency and the driving safety can be improved;

3. The cloud end decides out a cooperative area based on the planning path information of the vehicle, and the cooperative area can be continuously adjusted along with the updating of the vehicle path, so that specific description of specific conflict areas is not needed, and the method is wider in application scene;

4. in the method, for determining the passing authority, only vehicles which are likely to collide are needed 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;

5. compared with communication based on LTE-V technology, the communication based on message queue telemetry transmission (Message Queuing Telemetry Transport, MQTT) between the vehicle (namely the vehicle end) and the cloud end has the advantages that the transmission data format can be customized and expanded by a user, 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 disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

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

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

fig. 3 is a schematic diagram of a co-directional collaboration area according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a reverse cooperative area provided by an embodiment of the present disclosure;

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

FIG. 6 is a schematic diagram of a co-directional collaboration provided by an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of reverse synergy provided by embodiments of the present disclosure;

fig. 8 is a schematic flow chart of determining a vehicle set in the multi-vehicle cooperative method provided in the embodiment of the disclosure;

fig. 9 is a schematic flow chart of another method for determining a vehicle set in the multi-vehicle cooperative method according to the embodiment of the disclosure;

fig. 10 is a schematic diagram of a traffic right conversion relationship for the same vehicle in the multi-vehicle cooperation method provided in the embodiment of the present disclosure;

fig. 11 is a schematic flow chart of determining a vehicle passing right in the multi-vehicle cooperative method provided in the embodiment of the present disclosure;

fig. 12 is a schematic flow chart of updating a vehicle coordination state in the multi-vehicle coordination method according to the embodiment of the disclosure;

FIG. 13 is a flow chart of another multi-vehicle collaboration method provided by an embodiment of the present disclosure;

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

fig. 15 is a schematic structural diagram of another multi-vehicle cooperative apparatus according to an embodiment of the present disclosure;

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

FIG. 17 is a flow chart of another multi-vehicle collaboration method provided by an embodiment of the present disclosure;

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

Detailed Description

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

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 otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.

The multi-vehicle cooperative method provided by the embodiment of the disclosure can be applied to a multi-vehicle cooperative scene, wherein the multi-vehicle cooperative scene can comprise the fact that vehicles need to determine the passing authority of each vehicle at the crossing area (namely 'cooperative area' hereinafter) of the paths of the vehicles. The vehicle may include a driver-assisted vehicle, an unmanned vehicle, or other vehicle that may include an intelligent driving module, without limitation. The intersection area may include an area where there may be an intersection of vehicle paths such as an intersection, a herringbone intersection, or a t-intersection.

For example, when the vehicles travel, if the vehicles travel near the intersection area without the signal lamp at the same time, if the vehicles only rely on a single vehicle to make a decision, the vehicles can avoid or rob each other, correspondingly, the vehicles can be blocked or collide, and the passing efficiency and the traveling safety of the vehicles are affected.

Exemplary, fig. 1 shows an application scenario of the multi-vehicle collaboration method provided by the embodiment of the present disclosure. Referring to fig. 1, wherein 011, 012 and 013 each represent a traveling vehicle, 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 of each vehicle, and 0112, 0122, and 0132 respectively represent the positions of the first vehicle 011, the second vehicle 012, and the third vehicle 013, which are obtained by each vehicle passing based on a single vehicle decision, at the next time. Under the condition, three vehicles possibly avoid each other, so that the vehicles all stop to run forwards, and the vehicles cannot pass in a period of time, and the traffic is influenced; or three vehicles may rob each other, resulting in collision of the vehicles and thus running safety problems.

Aiming at least one problem, the embodiment of the disclosure proposes that the vehicles in the internet of vehicles upload path planning information and real-time state information to the cloud to perform overall processing through the cloud, relatively comprehensive information can be obtained through compensation among the sensing information of each vehicle, and the vehicle passing authorities in the first vehicle 011, the second vehicle 012 and the third vehicle 013 are determined based on the information, namely, the priority of the intersection is determined, so that mutual avoidance or mutual robbery among the vehicles can be avoided, more reasonable collaborative decision can be provided compared with that of a single vehicle, and the problems of lower passing efficiency and lower running safety caused by limited sensing range of a vehicle end sensor are improved.

In some embodiments, vehicles in the same operation area (i.e., an area corresponding to the internet of vehicles) may all be connected to a collaboration service of the cloud, and the same cloud performs multi-vehicle collaboration on all vehicles in the operation area. That is, the cloud acquires 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 end through a safe and reliable channel and protocol, so that data of the vehicle end can be uploaded to the cloud end through a corresponding communication mode; wherein the communication means is implemented based on channels and protocols, such as MQTT herein.

Exemplary data uploaded to the cloud by the vehicle end includes, but is not limited to:

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

2) The real-time state information of the vehicle comprises the current position, the direction, the speed, the acceleration, the electric quantity, the 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 there is human intervention in the automatic driving state. Based on the service state, whether the vehicle is controlled based on the control instruction of the cloud end or not is judged, and cooperative control is included.

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

Correspondingly, the cloud end can execute a multi-vehicle cooperative method based on the data uploaded by the vehicle end, so that the passing authority of each vehicle is obtained, the cooperative instruction corresponding to each vehicle can be further obtained, and the cooperative instruction is 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 vehicles based on global path planning information of the vehicles in the cloud, namely, a cooperation area is determined based on the planning path information; and the real-time state information of the vehicles, such as the position, speed, direction and the like, is combined to determine a coordinated vehicle set, and the passing authority of the vehicles is further determined. Therefore, vehicles can pass sequentially in the cooperation area, mutual blocking is avoided, passing efficiency is improved, and running safety is improved.

The following describes exemplary multi-vehicle collaboration methods, apparatuses, systems, electronic devices, computer-readable storage media, and computer program products provided by embodiments of the present disclosure in connection with fig. 2-18.

Exemplary, fig. 2 shows a flow chart of a multi-vehicle collaboration method provided in an embodiment of the disclosure. Referring to fig. 2, the method may include the following steps.

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

The internet of vehicles can comprise a plurality of vehicles which are integrally processed by the same cloud or a plurality of cloud terminals which are mutually communicated, and the data of each vehicle can be reported to the cloud terminals to be integrally processed at the cloud terminals.

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

The planned path information is global planned path information. For example, before the vehicle starts, 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; or, in the vehicle running process, periodically uploading the planned path information to the cloud end according to a preset time interval, such as 5 minutes, 10 minutes or other time intervals; or in the vehicle traveling process, based on the change of the real-time road condition, uploading updated planning path information to the cloud. Therefore, the cloud end can update the cooperative areas of the vehicle and other vehicles based on the planning path information uploaded by the vehicle.

Wherein, the real-time status information may include various real-time information related to the status of the vehicle, such as real-time information related to the movement status of the vehicle, real-time information related to the driving status of the vehicle, real-time information related to the comfort status of the cabin of the vehicle, etc.; the real-time information related to the motion state may include speed, direction, acceleration, etc., the real-time information related to the driving state may include automatic driving, manual driving, etc., the real-time information related to the comfort state of the cockpit may include temperature, humidity, brightness, etc. in the cockpit, and in this embodiment, the real-time state information participating in the multi-vehicle cooperative processing mainly includes real-time information related to the motion state and the driving state.

In other embodiments, the real-time status information may also include information for characterizing other dimensions of the real-time status of the vehicle, which is not described in detail herein or limited.

The vehicle end gathers the respective planning path information and the real-time status information and uploads the information to the cloud end. Correspondingly, the cloud receives the planning path information and the real-time state information uploaded by the vehicle end.

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

The cooperative areas are crossed or similar areas in the vehicle paths, and vehicles possibly collide in the cooperative areas, so that multi-vehicle cooperative processing is required for the cooperative areas.

Specifically, a planned path of the vehicle may be determined based on the planned path information of the vehicle. And the cloud calculates the planning path of the host vehicle and the planning path of the other vehicle, so that a cooperation area between the host vehicle and the other vehicle can be obtained.

Illustratively, specific steps of determining the collaboration zone are described below by way of example in which the planning path information includes a set of path points.

S103, determining a vehicle set which needs to be cooperated with the vehicle based on the cooperation area and the real-time state information.

The collaboration area determined in S102 is a collaboration area between the own vehicle and the other vehicle determined based on the global planning path information, which may be understood as a static collaboration area; along with the updating of the real-time state information of the vehicles, the vehicles may or may not need to cooperate with each other for a certain cooperation area. Therefore, on the basis of determining the cooperative areas, the vehicles which need to cooperate with the vehicle are determined by combining the real-time state information, namely, the vehicle set which needs to cooperate with the vehicle is formed.

By way of example, the specific manner in which the set of vehicles is determined is described below by way of example in connection with "equivalent vehicles" and the real-time location of the vehicles.

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

The passing authority of the vehicles can be determined based on the real-time state of each vehicle in the vehicle set, and when the vehicle set is empty, namely, no vehicles needing cooperation exist, the vehicle has passing authority which can be a default authority and can be expressed by INIT; when the vehicle collection is not empty, namely, vehicles needing to cooperate exist, if the vehicles can pass preferentially, the passing authority of the vehicles is higher, the passing authority can be high-priority, and the vehicles can be represented by cross; when the vehicle collection is not empty, but the passing authority of the vehicle is lower, namely, the vehicle needs to wait for other vehicles to pass, the passing authority can be of low priority and can be expressed by WAITING. Specific ways of determining the right of way are described in the following by way of example.

The multi-vehicle cooperation method provided by the embodiment of the disclosure can be executed based on the cloud, the cloud receives planning path information and real-time state information uploaded by each vehicle in the internet of vehicles, and a cooperation area of the vehicle and other vehicles is determined based on the planning path information; further, combining the real-time state information to determine a vehicle set which needs to be cooperated with the vehicle; based on the vehicle set, a pass right of each vehicle is determined. Therefore, the cloud end is used for carrying out multi-vehicle cooperative processing, so that the limitation of the sensing range of the vehicle-mounted sensor is made up, namely, more comprehensive information can be obtained, the passing authority of each vehicle is cooperatively distributed, the problems of lower passing efficiency and lower running safety caused by mutual avoidance or robbery of vehicles due to decision making of a single vehicle are solved, the communication efficiency is improved, and the running safety is improved.

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; for each planned path, the path point index is sequentially increased from the start point to the end point.

For example, the path points may be represented by coordinate points, and the path point index may be represented by arabic numerals. The index of the path point corresponding to the starting point may be 0, and along with the extension of the path, the indexes of the path points are sequentially 1, 2, 3, 4 and … … until the index of the path point corresponding to the ending point.

In other embodiments, the waypoint index may also be represented in letters, a combination of letters and numbers, or other forms known to those skilled in the art, without limitation.

Illustratively, 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, in the method illustrated in fig. 2, the acquiring the planned path information of the vehicle in S101 may specifically include: the cloud end receives the current planning path information reported by the vehicle end, the planning path information is expressed in a coordinate point mode, and the path point index is sequentially increased from the starting point to the end point from 0.

Based on the above, overall processing is carried out on the planning path information of each vehicle, and a cooperation area between the vehicles is determined, so that the cooperation area of the vehicle and the other vehicle is obtained.

Specifically, the procedure of determining the cooperative area may include the following steps.

And calculating the path points needing to cooperate between the planning path of the vehicle and the planning paths of other vehicles and the corresponding path point index set. The specific calculation method comprises the following steps: traversing the path point set of the host vehicle and the other vehicle, judging whether the line segment formed by two continuous path points of the host vehicle and the line segment formed by two continuous path points of the other vehicle need to cooperate or not, wherein the judging conditions are 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 a "preset distance threshold"). And storing the path points meeting the judgment conditions 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; the distance between two line segments is smaller than a certain threshold value, which can be understood that the two line segments are similar, and the safety distance between two vehicles is limited by considering factors such as vehicle width, road width and the like. When the multi-vehicle cooperative method is implemented, the safety distance can be a certain value, can also be changed along with factors such as vehicle width, road width and the like, and is not limited herein.

And generating information of the collaborative region based on the path points needing to be collaborative and the corresponding path point index set. The specific method comprises the following steps: traversing the two-vehicle cooperative path points and the corresponding path point index set, if the path point indexes are continuous, considering that the two-vehicle cooperative path points belong to the same cooperative area, increasing the matched cooperative area, and recording the increasing direction and the number of the increased path point indexes; when a discontinuity in the waypoint index occurs, then the waypoint index is the start of the new collaborative region.

And judging the direction of the cooperative area. The specific method comprises the following steps: judging according to the growth direction of the cooperative area, if the growth direction of the cooperative area of the own vehicle is the same as that of the cooperative area of the other vehicle, the cooperative area is the same direction cooperative area, and as shown in fig. 3, two vehicles run in the same direction in the area; if the direction of the cooperative area growth of the own vehicle is opposite to that of the cooperative area growth of the other vehicle, the cooperative area is a reverse cooperative area, and as shown in fig. 4, two vehicles travel in the reverse direction in the area.

For example, referring to fig. 3 and 4, wherein a and B represent two vehicles, a01 represents a cooperative area of a and B, and a11 represents a growth direction of the cooperative area; b01 represents the synergistic region of B and a, and B11 represents the growth direction of the synergistic region. Based on this, in fig. 3, the growth directions of the two co-regions are the same, and the co-regions are shown; in fig. 4, the two co-regions are in opposite directions, showing the opposite co-regions.

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

When the vehicles upload the planned path information, the path points between the vehicles and the corresponding path point indexes do not completely correspond, so that the boundary information of the own vehicle and the other vehicle corresponding to the same cooperative area may have a difference. In some embodiments, the boundary information of the host vehicle and the other vehicle corresponding to the same cooperative area may also be the same, which is not limited herein. Further alternatively, the path point index may be used to calculate corresponding spatial coordinates, where the coordinate of the first intersection point of the co-region is the coordinate of the first intersection point in the continuous path represented by the coordinates.

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

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

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

wherein, the collaborative condition includes: the line segment between two continuous path points of the vehicle intersects 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 cooperate between a planned path of the vehicle and planned paths of other vehicles; generating information of a collaborative region based on a set of path points needing to be collaborative and corresponding path point indexes; and judging the direction of the cooperative area based on the information of the cooperative area to generate the cooperative area, wherein the cooperative area comprises a same-direction cooperative area and a reverse cooperative area.

The preset distance threshold is a threshold for limiting the safety distance between two vehicles by considering factors such as vehicle width and road width, and may be a fixed distance value, or may be 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, which is not limited in the embodiment of the present disclosure.

In some embodiments, the generating the collaboration area based on the collaboration path point and the corresponding path point index in the above steps may specifically include:

traversing the cooperative path points of the two vehicles;

Specifically, the path points with continuous path point indexes are matched in the same collaborative region, if the path point indexes are discontinuous, the path points corresponding to the discontinuous path point indexes are the starting points of a new collaborative region, and thus, the collaborative region is generated.

On the basis of the embodiment, after the cooperative areas are generated, the vehicle set which needs to be cooperated with the vehicle can be determined by combining the real-time state information.

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

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

determining an equivalent vehicle for each vehicle based on the real-time position, orientation, 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.

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

safe distance=max (v×v/2a, preset safe distance);

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

Where v×v/2a represents the distance from the real-time position when the vehicle speed v and the desired acceleration a travel forward in accordance with the direction of the vehicle, and the speed is decelerated to 0, which may be referred to as a real-time safe distance; the acceleration direction of the vehicle is opposite to the speed direction, also referred to as deceleration, with respect to the vehicle speed direction, to achieve deceleration of the vehicle.

Wherein, the safety distance=max (v×v/2a, minimum threshold) represents that the safety distance takes 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 own vehicle and the other vehicle need to cooperate or not is judged according to the same cooperation area, and the vehicles needing to cooperate are added into the vehicle set.

For example, fig. 6 and 7 illustrate co-and reverse-coordinated vehicles, respectively.

Referring to fig. 6, a vehicle that is about to travel in the same direction but is not currently in the cooperative zone is a vehicle that requires cooperation, and if the vehicle is already in the cooperative zone (shown as a') or has crossed the cooperative zone (shown as a "), no cooperation is required. Further, the area where the same direction needs to compete for the right of passage, that is, the area where the same direction needs to cooperate is a partial area where the cooperation area starts, for example, when the vehicle a has the right of passage with high priority, the vehicle B may travel after entering the cooperation area.

Referring to fig. 7, vehicles that are about to travel in the cooperative area or are already in the cooperative area in the reverse direction are vehicles that require cooperation because two vehicles cannot be simultaneously in the cooperative area. Further, the area where the competing traffic rights are needed in the reverse direction is the whole cooperative area, i.e. since two vehicles cannot be in the cooperative area at the same time, for example, when the vehicle a has the traffic rights with high priority, the vehicle B needs to wait for the vehicle a to completely pass through the cooperative area, and then the vehicle B can enter the cooperative area.

In the above description of fig. 6 and 7, the vehicle to be in the cooperative area may be judged 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 in the cooperative area; or, the vehicle to be in the cooperative area may also be determined according to the real-time position of the vehicle, that is, when the distance between the real-time position of the vehicle and the cooperative area is smaller than a certain distance (specific value is not limited), the vehicle is considered to be in the cooperative area.

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

Therefore, for a certain vehicle, based on the cooperation area of the vehicle and other vehicles and by combining the real-time state information, a vehicle set which is actually required to cooperate with the vehicle can be obtained.

By way of example, fig. 8 and 9 show two flows of determining a set of vehicles, respectively.

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

S210, starting.

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

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

S213, judging whether the vehicle needs cooperation.

If the judgment result is Y, executing the subsequent steps; if not (N), the process returns to S212.

S214, judging whether the other vehicles need to cooperate.

S215, facing the vehicle.

Namely, whether the two vehicles are opposite vehicles or not is judged. If yes, (Y), then execute the following S218; if not (N), the subsequent judgment is continued, that is, S216 is executed.

S216, judging whether the vehicle is in the cooperative area.

If the judgment result is no (N), continuing the subsequent judgment, namely executing S217; if yes, the aforementioned traversing steps, S211 and S212, are performed back.

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

If the determination result is no (N), continuing to execute the subsequent S218; if yes, the aforementioned traversing steps, S211 and S212, are performed back.

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

Traversing all the cooperative areas of the vehicle and other vehicles, and if the vehicles are vehicles which are opposite (namely 'reverse') and need to cooperate, directly adding the other vehicles into a cooperative vehicle set; if the vehicles are vehicles needing to be cooperated in the same direction, judging whether the two vehicles are in a cooperated area, if the two vehicles are not in the cooperated area, adding the other vehicle into a cooperated vehicle set, and if one vehicle is in the cooperated area, the other vehicle is followed, so that the other vehicle is not required to be added into the cooperated vehicle set.

In this way, the process of determining the vehicle set is completed.

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

S220, starting.

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

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

S222, traversing the own vehicle cooperation area set.

Namely, aiming at the own vehicle, traversing the cooperative areas of the own vehicle and other vehicles.

S223, judging whether the current position of the vehicle is valid.

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

S224, traversing the cooperative areas with other vehicles.

The cooperative area of the vehicle and a certain other vehicle may be multiple, and the vehicle needs to traverse.

S225, judging whether the vehicle has crossed the area or cannot reach the area in the future.

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

S226, judging whether the vehicle straddles the area or cannot reach the area in the future.

S227, facing the vehicle.

Namely, whether the two vehicles are opposite vehicles or not is judged. If yes (Y), then the following S228 and S229 are performed; if not (N), the following S230-S232 are performed. Namely, the judgment is carried out on the opposite vehicles and the same-direction vehicles respectively.

S228, judging whether the two vehicles are in the cooperative area.

If the judgment result is yes (Y), no cooperation is needed, and the process returns to S224; if not (N), the subsequent determination is continued, that is, S229 is executed.

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

If the result is yes (Y), the foregoing traversing step is executed 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 S233 is executed.

Thus, in combination with S228 and S229, the cooperative judgment of the facing vehicle is completed.

S230, judging whether the vehicle is in the cooperative area.

If the determination result is no (N), continuing the subsequent determination, that is, executing S231; if yes, the aforementioned traversing step is returned to S224.

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

If the judgment result is no (N), continuing the subsequent judgment, namely executing S232; if yes, the aforementioned traversing step is returned to S224.

S232, judging whether the vehicle exits from the cooperative area.

If the judgment result is yes, indicating that the vehicle in the vehicle or other vehicles exits from the own cooperative area aiming at the cooperative area, and returning to execute the traversing step, namely S224 without cooperation at the moment; if not (N), the following S233 is executed.

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

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

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

S234, ending.

Thus, the process of determining the vehicle set is completed.

In the above embodiment, the passing right of the vehicle may include: default permissions (INIT), high priority (cross), and low priority (wait). Based on this, the vehicles in the vehicle collection can be divided into two different collections according to their right of way, shown as partner_and interect_respectively, wherein partner_comprises vehicles with a higher priority than it and interect_comprises vehicles with a lower priority than it.

When the vehicle set is empty, indicating that no vehicle needs to cooperate with the vehicle, at the moment, both the partner_and the interect_are empty, the vehicle can pass, and the passing authority is INIT; when the vehicle set is not empty, determining the passing authority of the vehicle and other vehicles needing to cooperate, namely, the priority level, the vehicle with high priority level, the vehicle with low priority level, the vehicle in the partner_can pass, and the vehicle in the partner_needs to wait; for the same vehicle, the vehicle can directly pass through or need to wait after entering the partner or the interject.

Correspondingly, when the passing authority of the vehicle is INIT, the vehicle is in a state of no need of cooperation, and at the moment, both the partner_and the interect_are empty, so that the vehicle can pass; when the passing authority is cross, the vehicle can pass, the partner_is empty, and the interect_is not empty; when the passing authority is WAITING, the vehicle needs to wait for other vehicles to pass, and the partner_is not empty and the interject_is empty.

For each cooperative area, only one vehicle with the right of passage of cross can be provided. The conversion relationship of the passing rights of the same vehicle is shown in fig. 10. Wherein, the relationship transformation may include: the default rights INIT and high priority cross, and the default rights INIT and low priority wait.

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

S240, starting.

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

If the judgment result is that the vehicle is (Y), the vehicle and other vehicles need to cooperate, and the subsequent steps are continuously executed; if not (N), the two vehicles do not need to cooperate and can be directly ended.

S242, the state of the vehicle INIT or CROSSING.

Namely, judging whether the passing authority of the vehicle is INIT or CROSSING. If yes, executing the subsequent steps; if not (N), the process is directly finished.

S243, traversing the collaborative vehicle set.

S244, judging whether the other vehicle is in the vehicle intersection.

If the judgment result is yes (Y), returning to execute the traversing step, namely S243; if not (N), continuing the subsequent judging step.

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

S246, judging whether the other vehicle is in the WAITING state.

If the determination result is yes (Y), executing the subsequent S249; if not (N), continuing the subsequent judging step.

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

If the judgment result is yes (Y), returning to execute the traversing step, namely S243; if not (N), the following steps are continued, S248.

S248, determining the passing authority according to the principle of the FIFO and adding the vehicles to the corresponding set.

The FIFO principle is the first-come-first (First in First out) principle, and by adopting the FIFO principle, higher traffic efficiency is provided for the traffic of the intersection when the traffic density is not very high. The method comprises the following steps: if two vehicles need to cooperate, the distance from the vehicle to the starting point of the cooperation area after the vehicles are decelerated and stopped according to the expected acceleration is calculated, and the vehicles closer to the starting point have high-priority passing authorities.

S249, if the vehicle is in the cooperative area and the state is not WAITING, the two are associated, otherwise, the vehicle is skipped.

Wherein, associating the two refers to associating the own vehicle with the other vehicle, and specifically includes adding a vehicle with a high priority to the partner_and adding a vehicle with a low priority to the interject_.

S250, ending.

Thus, the process of determining the passing right of the vehicle is completed.

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

after determining that the vehicles are in a state requiring cooperation, determining the passing authority of each vehicle in the vehicle set according to the first-come principle aiming at each cooperation area; after determining that the traffic right of the vehicle is high priority, the traffic right of the vehicle is set to be low priority.

Based on the vehicle traffic authority, the vehicle collaborative aggregation state can be updated, and actions which the vehicle should execute are sent to the vehicle end.

In some embodiments, the method may further comprise:

When the passing authority of the vehicle is a default authority or high priority, the cooperative instruction is a passing instruction; correspondingly, the vehicle may receive a pass instruction and pass based on the instruction. When the passing authority of the vehicle is low priority, the cooperative instruction comprises a parking instruction and a parking position; correspondingly, the vehicle may receive a cooperative instruction and park to a park position based on the instruction to await passage of other vehicles. For example, the parking position may be a position at the start point of the cooperative area or other positions at a preset distance from the start point of the cooperative area before the cooperative area, which does not affect other vehicles to pass through the cooperative area, and the embodiment of the present disclosure does not limit the specific position.

The status update of the vehicle set is shown in fig. 12. The process can comprise the following steps:

for a vehicle with a right of way cross, it may include:

traversing an inter_vehicle set;

judging whether the other vehicle is in the cooperative vehicle set;

if the judgment result is no (N), i.e. the other vehicle is not in the cooperative vehicle set, the other vehicle is not in the intersect_and needs to be deleted from the intersect_; if the judgment result is Y, continuing to traverse the intersect_vehicle set.

Meanwhile, for the vehicle with the passing authority of cross, the method may further include:

Traversing a collaborative vehicle collection;

judging whether the other vehicle is not in the inter_vehicle set;

if the judgment result is Y, that is, the other vehicle is in the cooperative vehicle set but not in the inter-vehicle set, the other vehicle is required to be synchronized into the inter-vehicle set, that is, the other vehicle is added into the inter-vehicle set; if the judgment result is negative (N), continuing to traverse the collaborative vehicle set.

For vehicles with traffic rights WAITING, it may include:

traversing the partner_vehicle collection;

judging whether the other vehicle is in the cooperative vehicle set;

if the judgment result is no (N), i.e. 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_; if the judgment result is Y, continuing to traverse the partner_vehicle set.

Thus, the vehicle collection is updated based on the passing authority of the vehicle.

According to the multi-vehicle cooperation method provided by the embodiment of the disclosure, vehicle end data can be uploaded to the cloud end by utilizing vehicle cloud communication, multi-vehicle cooperation processing is carried out on the cloud end, a cooperation passing decision is obtained, the calculated quantity of a single vehicle can be effectively reduced, namely, the data processing quantity of the single vehicle is reduced, and the response speed of the vehicle is improved. In the multi-vehicle cooperation method, the cooperation area can be determined based on the planning path information of the vehicle, the cooperation area can be continuously adjusted along with the updating of the vehicle path, specific description of specific conflict areas is not needed, and the application scene is wider. Meanwhile, in the multi-vehicle cooperation method, only vehicles which are likely to collide need to be calculated, namely, only the determined vehicles which need to cooperate with the vehicle need to be logically judged in terms of passing authority, and data of all vehicles do not need to be processed, namely, all vehicle data do not need to be traversed again, so that the data processing amount is reduced, the data processing speed is improved, the passing efficiency of the vehicles is improved, and the running safety is improved.

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

In some embodiments, fig. 14 is a flow chart of another multi-vehicle collaboration method provided in an embodiment of the disclosure, which illustrates a method performed at a vehicle end. For example, referring to fig. 14, the method may include the following steps.

S201, planning path information and real-time state information are sent.

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

S202, receiving a cooperative instruction.

Specifically, the cloud end executes the steps of the multi-vehicle cooperation method realized at the cloud end based on the received planning path information and the real-time state information sent by the vehicle end, obtains 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 the corresponding operation can be executed subsequently 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 comprise a parking position, the vehicle maintains a running state, and other special operations are not carried out; when the passing authority of the vehicle is WAITING, the cooperative instruction received by the vehicle comprises a parking instruction and a parking position, and the vehicle end parks at the parking position based on the cooperative instruction so as to wait for other vehicles to pass through the cooperative 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 issued 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; meanwhile, the cloud end performs multi-vehicle cooperative processing based on the data of each vehicle end in the internet of vehicles, namely, overall processing is performed on the data of each vehicle in the internet of vehicles, and cooperative instructions of each vehicle are determined, so that the passing sequence of each vehicle in cooperation is obtained, mutual avoidance or mutual robbery among vehicles is avoided, the passing efficiency is improved, and the running safety is improved.

The embodiment of the disclosure also provides a multi-vehicle cooperation device applied to the cloud end, which is used for executing the steps of any multi-vehicle cooperation method realized in the cloud end to realize corresponding effects.

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

According to the multi-vehicle cooperative device arranged at the cloud, through the cooperative effect among the functional modules, the multi-vehicle cooperative processing is carried out through the cloud, so that the limitation of the sensing range of the vehicle-mounted sensor is overcome, namely, more comprehensive information can be obtained, the passing authority of each vehicle is cooperatively distributed, the problems of lower passing efficiency and lower running safety caused by mutual avoidance or robbery of vehicles due to decision making based on a single vehicle are solved, the communication efficiency is improved, and the running safety is improved.

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; for each planned path, the path point index is sequentially increased from the start point to the end point. Based on this, the first processing module 320 is specifically operable to:

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

wherein, the collaborative condition includes:

In this way, the cooperation area between the host vehicle and the other vehicle can be determined based on the route points and the route point index.

In some embodiments, the first processing module 320 is configured to generate the collaboration area based on the collaboration path point and the corresponding path point index, which may specifically include:

traversing the cooperative path points of the two vehicles;

Thus, each cooperative area can be determined based on the calculated cooperative path points.

In some embodiments, the real-time status information includes real-time position, heading, speed, and desired acceleration. Based on this, the second processing module 330 is specifically operable to:

determining an equivalent vehicle for each vehicle based on the real-time position, orientation, 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, an equivalent vehicle may be determined in conjunction with the real-time status information, and further a set of vehicles that need to cooperate with the host vehicle.

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

In this manner, a set of vehicles that need to cooperate with the host vehicle may be determined in conjunction with the real-time location.

In some embodiments, the pass rights include default rights, high priority, and low priority.

Based on this, the rights determination module 340 is specifically operable to:

In this manner, the right of way of each vehicle may be determined based on the collection of vehicles.

In some embodiments, based on fig. 14, the multi-vehicle cooperative apparatus may further include:

when the passing authority of the vehicle is a default authority or high priority, the cooperative instruction is a passing instruction; when the traffic right of the vehicle is low priority, the cooperative instruction includes a parking instruction and a parking position.

In this way, a cooperative instruction can be generated based on the passing right of each vehicle. The cooperative instruction can be issued to each corresponding vehicle end from the cloud.

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

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

In some embodiments, fig. 15 is a schematic structural diagram of another multi-vehicle cooperative apparatus according to an embodiment of the disclosure. Referring to fig. 15, the apparatus may include:

an information transmitting module 410 for transmitting the planned path information and the real-time status information;

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

According to the multi-vehicle cooperative device arranged at the vehicle end, through the cooperative action of the functional modules, planned path information and real-time state information of the vehicle end can be sent to the cloud end, and a cooperative instruction issued by the cloud end is received, so that the data processing capacity of the vehicle end can be reduced, and the response speed of the vehicle end is improved; meanwhile, the multi-vehicle cooperative device arranged at the cloud can perform multi-vehicle cooperative processing based on the data of each vehicle end in the Internet of vehicles, namely, overall processing is performed on the data of each vehicle in the Internet of vehicles, and cooperative instructions of each vehicle are determined, so that the passing sequence of each vehicle in cooperation is obtained, mutual avoidance or mutual robbery among vehicles is avoided, the passing efficiency is improved, and the running safety is improved.

On the basis of the foregoing implementation manner, the embodiment of the present disclosure further provides a multi-vehicle collaboration system, where the multi-vehicle collaboration system may include a cloud end and a vehicle end, and the multi-vehicle collaboration system is respectively configured to correspondingly execute the steps of any multi-vehicle collaboration method implemented at the cloud end or the vehicle end, so as to achieve corresponding effects.

In some embodiments, fig. 16 is a schematic structural diagram of a multi-vehicle cooperative system according to an embodiment of the disclosure. Referring to fig. 16, the multi-car cooperative system may include: cloud 02 and vehicle end 01; the cloud end 02 is configured to execute any of the above multi-vehicle cooperation methods implemented at the cloud end, and the vehicle end 01 is configured to execute any of the above multi-vehicle cooperation methods implemented at the vehicle end.

Specifically, the vehicle end 01 may refer to each vehicle in the internet of vehicles, which are respectively shown as a vehicle 1, a vehicle 2 … … and a vehicle n, and the vehicle end 01 sends the planned path information and the real-time state information to the cloud 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 send the cooperative instruction to the corresponding vehicle end 01.

Optionally, the cloud end 02 can directly issue the passing authority to the vehicle end 01, and the vehicle end 01 performs cooperative passing based on the passing authority issued by the cloud end 01 in a cooperative manner.

In the system, vehicle end data can be uploaded to the cloud end, overall processing is conducted on the cloud end, and therefore multi-vehicle cooperative passing is achieved, passing efficiency is improved, and running safety is improved. Specifically, the cloud end can receive planning path information and real-time state information of all running vehicles in the internet of vehicles, and decide a cooperative area of each vehicle and other vehicles with the planning path information and the real-time state information, and when the cooperative area is processed by the other vehicles and the vehicle, the cloud end can quickly decide a passing sequence, namely determine the passing authority of the vehicles, generate a cooperative instruction and send the cooperative instruction to a corresponding vehicle end, so that the cooperative passing of multiple vehicles is realized.

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

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

Illustratively, fig. 17 shows a multi-vehicle collaboration method that may be implemented by the multi-vehicle collaboration system provided in the embodiments of the present disclosure. Referring to fig. 17, the method may include the following steps.

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

S502, reporting real-time state information of the vehicle at fixed period or on request.

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

S504, calculating a vehicle set which needs to be cooperated with the vehicle according to the real-time state information reported by the vehicle end.

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 rights may include default rights, high priority, and low priority.

S506, sending the parking position to the low-priority vehicle, and sending a starting instruction to the vehicle needing to be started.

The cloud end sends the parking position to the corresponding vehicle so as to park the vehicle at a position which does not influence the passing of other vehicles; after the other vehicles pass through the cooperative 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, this step affects the real-time status of the vehicle, updates the real-time status information of the vehicle end based on this, and returns to update the real-time status information in S504.

Therefore, the multi-vehicle cooperative processing of each vehicle can be realized based on the cloud.

The embodiment of the disclosure also provides an electronic device, which can be used for realizing the steps of any multi-vehicle cooperation method and realizing corresponding effects. The electronic device may include:

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

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

Illustratively, fig. 18 shows a schematic structural diagram of an electronic device provided in an embodiment of the disclosure. Referring to fig. 18, the electronic apparatus 600 includes a Central Processing Unit (CPU) 601, which can execute 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 required for the operation of the electronic apparatus 600 are also stored. The CPU601, ROM602, and RAM603 are connected to each other through 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: input devices 606 including a keyboard, mouse, etc.; an output device 607 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; storage 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 drive 610 is also connected to the I/O interface 605 as needed. Removable media 611, such as a magnetic disk, optical disk, magneto-optical disk, semiconductor memory, etc., is mounted on drive 610 as needed so that a computer program read therefrom is mounted into storage device 608 as needed.

In particular, the method described above with reference to fig. 2 or 13 may be implemented as a computer software program 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 via communications device 609, and/or installed from removable medium 611.

The flowcharts 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 may be implemented by hardware. The units or modules described may also be provided in a processor, the names of which in some cases do not constitute a limitation of the unit or module itself.

As another aspect, the present disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the apparatus described in the above embodiment; or may be a computer-readable storage medium, alone, that is not assembled into a 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 proposes a multi-vehicle collaboration method, apparatus, system, electronic device, and computer readable storage medium and computer program product thereof. According to the embodiment of the disclosure, the multi-vehicle cooperative processing is executed in the cloud, and the cloud can combine the planning path information and the real-time state information of each vehicle in the Internet of vehicles to realize the multi-vehicle cooperative processing of each vehicle, so that the multi-vehicle cooperation is carried out among the vehicles, and the traffic efficiency is improved.

It should be noted that in this document, relational terms such as "first" and "second" and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the 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 and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-vehicle collaboration method, characterized by being applied to a cloud, the method comprising:

determining the passing authority of each vehicle based on the vehicle set;

the planning path information comprises a path point set, wherein each path point in the path point set corresponds to one path point index; for each planned path, sequentially increasing the index of the path point from the starting point to the end point;

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

wherein the collaborative condition includes:

the line segment between two continuous path points of the vehicle intersects 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;

the generating the collaboration area based on the collaboration path point and the corresponding path point index includes:

traversing a set of two-vehicle cooperative path points and corresponding path point indexes;

if the path point indexes for the same vehicle are continuous, growing the matched cooperative area;

if a discontinuity in the waypoint index occurs, the waypoint index is the start of a new collaborative region.

2. The method of claim 1, wherein the real-time status information includes real-time position, heading, speed, and desired acceleration;

3. The method of claim 1, wherein the real-time status information comprises a real-time location, and wherein the determining a set of vehicles that need to cooperate with the host vehicle based on the cooperation area and the real-time status information comprises:

4. A method according to any of claims 1-3, wherein the pass rights comprise default rights, high priority and low priority; the determining the passing authority of each vehicle based on the vehicle set comprises the following steps:

5. The method as recited in claim 4, further comprising:

6. A multi-vehicle collaboration method, characterized by being applied to a vehicle end, the method comprising:

transmitting planning path information and real-time state information;

Receiving a cooperative instruction;

wherein the collaborative instruction is generated based on the method of claim 5.

7. A multi-vehicle collaboration device, characterized by being applied to a cloud, the device comprising:

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

the planning path information comprises a path point set, wherein each path point in the path point set corresponds to one path point index; for each planned path, sequentially increasing the index of the path point from the starting point to the end point; the first processing module is specifically configured to:

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

wherein the collaborative condition includes:

the first processing module is configured to generate the collaboration area based on the collaboration path point and a corresponding path point index, and specifically includes:

8. The apparatus of claim 7, wherein the real-time status information includes real-time position, heading, speed, and desired acceleration; the second processing module is specifically configured to:

9. The apparatus of claim 7, wherein the real-time status information comprises a real-time location, and wherein the second processing module is specifically configured to:

10. The apparatus of any of claims 7-9, wherein the pass rights comprise a default right, a high priority, and a low priority; the permission determination module is specifically configured to:

11. The apparatus as recited in claim 10, further comprising:

12. A multi-vehicle cooperative apparatus, for application to a vehicle end, the apparatus comprising:

wherein the co-instruction is generated using the apparatus of claim 11.

13. The multi-vehicle cooperative system is characterized by comprising a cloud end and a vehicle end;

the cloud end is used for executing the multi-vehicle cooperation method according to any one of claims 1 to 5;

the vehicle end is used for executing the multi-vehicle cooperation method of claim 6.

14. The system of claim 13, wherein the vehicle end communicates with the cloud end based on message queue telemetry transmissions.

15. 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 electronic device configured to implement the multi-vehicle coordination method of any of claims 1-6 when the instructions are executed by the one or more processors.

16. A computer readable storage medium having stored thereon computer executable instructions for implementing the multi-vehicle coordination method of any of claims 1-6 when executed by a computer device.