CN114373322A

CN114373322A - Method for managing formation of vehicles and related product

Info

Publication number: CN114373322A
Application number: CN202111670980.2A
Authority: CN
Inventors: 傅建雄; 刘新宇
Original assignee: Beijing Wanji Technology Co Ltd
Current assignee: Beijing Wanji Technology Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-04-19
Anticipated expiration: 2041-12-31
Also published as: CN114373322B

Abstract

The present disclosure relates to a method for fleet management of vehicles and related products. The method comprises the step of obtaining formation application information which is sent by an application vehicle and used for carrying out formation application on a target management vehicle. The formation application information comprises vehicle identification of the application vehicle, identity information of the application vehicle, vehicle state information of the application vehicle and vehicle fleet identification of the application target vehicle fleet. When the identity of the application vehicle is matched with the vehicle state according to the identity information and the vehicle state information of the application vehicle, judging whether the application target vehicle fleet is matched with the vehicle fleet according to the vehicle fleet identification of the application target vehicle fleet and the vehicle fleet identification of the vehicle fleet managed by the target management vehicle; if the vehicle identification of the application vehicle is matched with the vehicle identification of the vehicle fleet, the running information of the application vehicle and member vehicles in the vehicle fleet is obtained according to the vehicle identification of the application vehicle and the vehicle fleet identification of the vehicle fleet; and carrying out formation management on the vehicle fleet according to the vehicle state information of the application vehicles and the running information. The scheme can enable the vehicles to form a queue to run, so that the passing efficiency is improved.

Description

Method for managing formation of vehicles and related product

Technical Field

The present disclosure relates generally to the field of vehicle networking technology. More particularly, the present disclosure relates to a method for fleet management of vehicles, an onboard device, a non-transitory computer readable storage medium, and a system for fleet management of vehicles.

Background

With the rapid increase of the current automobile holding amount, the environmental pollution is increased and the over-utilization of fossil fuel is caused. In addition, the increase of vehicles may cause traffic jam and frequent traffic accidents, thereby causing severe traffic pressure.

For the above problems, improving the traffic efficiency of the highway is an effective way to save energy and relieve traffic pressure. However, there is no effective solution to this problem.

Disclosure of Invention

At least to address the above deficiencies in the background, embodiments of the present disclosure provide a method for fleet management of vehicles, an on-board device, a non-transitory computer-readable storage medium, and a system for fleet management of vehicles.

In a first aspect, the present disclosure provides a method for fleet management of vehicles, comprising: the method comprises the steps that formation application information which is sent by an application vehicle and used for carrying out formation application on a target management vehicle is obtained at a first vehicle-mounted device, wherein the formation application information comprises vehicle identification of the application vehicle, identity information of the application vehicle, vehicle state information of the application vehicle and vehicle fleet identification of a target vehicle fleet; when the identity of the application vehicle is judged to be matched with the vehicle state according to the identity information of the application vehicle and the vehicle state information of the application vehicle, judging whether the application target vehicle fleet is matched with the vehicle fleet according to the vehicle fleet identification of the application target vehicle fleet and the vehicle fleet identification of the vehicle fleet managed by the target management vehicle; responding to the matching of the application target motorcade and the motorcade of the vehicle, and acquiring the running information of the application vehicle and the running information of member vehicles in the motorcade of the vehicle from air interface resources according to the vehicle identification of the application vehicle and the motorcade identification of the motorcade of the vehicle; and performing formation management on the vehicle fleet according to the vehicle state information of the applied vehicles, the running information of the applied vehicles and the running information of member vehicles in the vehicle fleet.

In one embodiment, the first onboard device maintains a plurality of vehicle member lists of the target management vehicle, and the vehicle member lists include vehicle identifications, the method further comprising: when the vehicle state of the application vehicle is judged and known to be the application for joining or leaving the vehicle fleet according to the vehicle state information of the application vehicle, acquiring the relationship between the application vehicle and the vehicle fleet according to the driving information of the application vehicle and the driving information of member vehicles in the vehicle fleet; and responding to the relation that the preset condition is met, and updating the corresponding vehicle member list according to the vehicle state information of the application vehicle and the vehicle identification of the application vehicle.

In one embodiment, managing formation of the fleet of vehicles comprises: when the vehicle state of the application vehicle is judged and known to be joining the vehicle fleet according to the vehicle state information of the application vehicle, determining the formation sequence of current fleet members in the vehicle fleet according to the running information of the application vehicle and the running information of member vehicles in the vehicle fleet, wherein the current fleet members comprise the application vehicle and the member vehicles in the vehicle fleet; and performing formation management on the vehicle fleet according to the formation sequence.

In one embodiment, determining a formation rank of a current fleet member of the fleet of vehicles includes: determining a proposed enqueuing position of the application vehicle according to the driving information of the application vehicle and the driving information of the member vehicle; and determining the formation sequence of the current vehicle fleet members according to the suggested enqueue position of the applied vehicle and the running information of each member vehicle in the vehicle fleet.

In one embodiment, the travel information of the member vehicles in the host vehicle fleet includes position information of the member vehicles, and the formation management of the host vehicle fleet includes: when the vehicle state of the application vehicle is judged and known to be away from the vehicle fleet according to the vehicle state information of the application vehicle, determining the formation sequence of the remaining member vehicles according to the position information of the remaining member vehicles except the application vehicle in the vehicle fleet; and performing formation management on the vehicle fleet according to the formation and arrangement sequence of the rest member vehicles.

In one embodiment, the first onboard device maintains a plurality of vehicle member lists of the target management vehicle, and the vehicle member lists include vehicle identifications, the method further comprising: and updating the corresponding vehicle member list according to the vehicle state information of the applied vehicle and the vehicle identification of the applied vehicle.

In a second aspect, the present disclosure also provides a method for fleet management of vehicles, comprising: acquiring formation management information which is sent by a target management vehicle and used for performing formation management on the target vehicle at a second vehicle-mounted device, wherein the formation management information comprises identity information of the target management vehicle, vehicle state information of the target management vehicle and vehicle fleet identification of a vehicle fleet managed by the target management vehicle; judging whether the identities and the vehicle states of the target management vehicle and the target vehicle are respectively matched according to the identity information of the target management vehicle, the vehicle state information of the target management vehicle, the identity information of the target vehicle and the vehicle state information of the target vehicle; responding to the matching of the identities and the vehicle states of the target management vehicle and the target vehicle, and judging whether the fleet identifier of the fleet managed by the target management vehicle is matched with the fleet identifier of the target vehicle according to the fleet identifier of the fleet managed by the target management vehicle and the fleet identifier of the target vehicle, wherein the fleet identifier of the target vehicle is the fleet to which the target vehicle belongs currently or applies for adding into the fleet; and responding to the matching of the fleet identification of the fleet managed by the target management vehicle and the fleet identification of the target vehicle, and performing formation management according to the vehicle state information of the target management vehicle and the vehicle state information of the target vehicle.

In one embodiment, the second on-board device maintains vehicle status information and/or identity information of the target vehicle, and performing the formation management includes: judging whether the vehicle state of the target management vehicle is a fleet managed by the target management vehicle according to the vehicle state information of the target management vehicle; in response to the fact that the vehicle state of the target management vehicle is that the fleet managed by the target management vehicle is dispersed, updating the identity information of the target vehicle according to the vehicle state information of the target management vehicle; and in response to the vehicle state of the target management vehicle not resolving the fleet managed by the target management vehicle, updating the vehicle state information and/or the identity information of the target vehicle according to the vehicle state information of the target vehicle.

In a third aspect, the present disclosure also provides an in-vehicle apparatus including: at least one processor; and at least one memory communicatively coupled to the processor, wherein: the memory stores program instructions executable by the processor, the processor calling the program instructions to perform a method as in any of the embodiments described above.

In a fourth aspect, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the method of any of the embodiments described above.

In a fifth aspect, the present disclosure also provides a system for performing formation management on vehicles, including the vehicle-mounted device according to any one of the above embodiments.

Based on the above description of the present disclosure, those skilled in the art will appreciate that the present disclosure may utilize information of the requesting vehicle, information of the requesting target vehicle fleet, information of member vehicles in the vehicle fleet managed by the target management vehicle, and information of the vehicle fleet to form a formation management for the vehicle fleet. Through the formation management, vehicles within a preset range can form a queue to run, so that the following distance of a motorcade can be effectively shortened, the driving density is increased, and the traffic efficiency of roads is improved. The improvement of the traffic efficiency can ensure the driving safety of vehicles and improve the utilization rate of roads, thereby effectively avoiding traffic accidents and reducing the energy consumption in the driving process.

Drawings

The above and other objects, features and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. In the drawings, several embodiments of the disclosure are illustrated by way of example and not by way of limitation, and like or corresponding reference numerals indicate like or corresponding parts and in which:

FIG. 1 shows a schematic diagram of a vehicle system;

FIG. 2 illustrates a functional block diagram of a communication system;

FIG. 3 illustrates a flow diagram of a method for fleet management of vehicles provided by an embodiment of the present disclosure;

4-7 respectively illustrate a flow diagram of a method for fleet management of vehicles provided by another embodiment of the present disclosure;

fig. 8 shows a block diagram of an in-vehicle device provided in an embodiment of the present disclosure; .

FIG. 9 illustrates a flow diagram of a method for fleet management of vehicles provided by an embodiment of the present disclosure;

fig. 10 shows a flow chart of a method for fleet management of vehicles according to another embodiment of the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

In order to alleviate current traffic pressure, this disclosure can carry out formation management to the traffic flow through the mode of car networking to increase driving density, and then reach the purpose of effectively avoiding the traffic accident and improving road traffic efficiency.

It will be appreciated that on roads (e.g. highways), there are often times when multiple vehicles are traveling in the same lane or in adjacent lanes at the same time. At the moment, if a plurality of vehicles form a queue to run through a certain rule by the formation management method, the energy consumption in the running process can be effectively reduced, and meanwhile, the running safety of the highway is ensured and the utilization rate of the road is improved. The following description will first be made with reference to fig. 1 and 2 to describe a vehicle system and a triggering method of formation management to which the embodiment of the present disclosure is applied.

FIG. 1 shows a schematic diagram of a vehicle system 100 to which embodiments of the present disclosure may be applied. As shown in fig. 1, the vehicle system 100 may include a pilot vehicle a located within a preset range, a following vehicle B, C, D located in the same platoon as the pilot vehicle a (as indicated by the dashed box in the figure) and following the pilot vehicle a, and a free vehicle E, F not in the platoon.

Fig. 2 illustrates a functional block diagram of a communication system 200 to which embodiments of the present disclosure may be applied.

As shown in fig. 2, the communication system 200 may include a human machine interaction device 201, an in-vehicle device 202 of a first vehicle, and an in-vehicle device 203 of a second vehicle, which are connected in sequence. The first vehicle may be, for example, the aforementioned pilot vehicle a, follower vehicle B, C, D or free vehicle E, F, and the On-board device 202 of the first vehicle may be an On-board Unit ("OBU") of the first vehicle.

The second vehicle may be another vehicle than the first vehicle in the vehicle system 100 described above. For example, when the first vehicle is the lead vehicle a, the second vehicle may be any one of the following vehicle B, C, D and the free vehicle E, F. When the first vehicle is the following vehicle B, the second vehicle may be any one of the lead vehicle a, the following vehicle C, D, and the free vehicle E, F. In addition, when the first vehicle is the free vehicle E, the second vehicle may be any one of the lead vehicle a and the following vehicle B, C, D. The on-board device 203 of the second vehicle may be an OBU of the second vehicle.

The following describes a trigger method of formation management by taking the first vehicle as an example.

First, the human-computer interaction device 201 may send a human-computer interaction instruction to the in-vehicle device 202 of the first vehicle according to the vehicle identifier of the first vehicle. The human-machine interaction instructions may include a variety of instructions, and may include, for example, create a fleet instruction, join a fleet instruction, dismiss a fleet instruction, and leave a fleet instruction.

After receiving the human-computer interaction instruction, the on-board device 202 of the first vehicle may analyze the human-computer interaction instruction, and determine whether the identity and/or the vehicle state of the first vehicle matches the human-computer interaction instruction according to the analyzed human-computer interaction instruction and the identity information and/or the vehicle state information of the first vehicle. It is understood that the identity information and the vehicle state information of the first vehicle may be set according to the human-computer interaction instruction or generated through interaction of the on-board device 202 of the first vehicle and the on-board device 203 of the second vehicle.

In one implementation scenario, the identity information of the first vehicle may indicate an identity of the vehicle, which may include the aforementioned lead vehicle, follow-up vehicle, and free vehicle. The vehicle state information may indicate a vehicle state, which may include a piloting state, a decommissioning fleet state, a following state, an application joining state, an application leaving state, a left state, a free state, and the like.

Based on this, the matching of the identity and/or vehicle state of the first vehicle to the human machine interaction instruction may comprise: and when the man-machine interaction instruction is a motorcade creating instruction and a motorcade joining instruction, if the vehicle state of the first vehicle is a free state and/or the identity of the first vehicle is a free vehicle, the two are confirmed to be matched. Accordingly, if the vehicle status of the first vehicle is a non-free status (e.g., a piloting status, a dismissal fleet status, or a following status) and/or the identity of the first vehicle is a non-free vehicle (e.g., a piloting vehicle or a following vehicle), then a mismatch between the two is confirmed.

Similarly, when the human-computer interaction instruction is a fleet dissembling instruction, if the vehicle state of the first vehicle is a piloting state and/or the identity of the first vehicle is a piloting vehicle, the two are confirmed to be matched. Accordingly, if the vehicle status of the first vehicle is a non-piloted status (e.g., following status, joining application status, joining status, leaving application status, leaving status, or free status) and/or the identity of the first vehicle is a non-piloted vehicle (e.g., following vehicle or free vehicle), then it is determined that the two are not matched.

Further, when the human-computer interaction instruction is a command of leaving the fleet, if the vehicle state of the first vehicle is a following state and/or the identity of the first vehicle is a following vehicle, the two are confirmed to be matched. Accordingly, if the vehicle status of the first vehicle is a non-following status (e.g., a piloting status, a dismissal fleet status, an application for joining status, a joining status, an application for leaving status, a left status, or a free status) and/or the identity of the first vehicle is a non-following vehicle (e.g., a piloting vehicle or a free vehicle), then the two are determined to be not matched.

And when the identity and/or the vehicle state of the first vehicle is determined to be not matched with the human-computer interaction instruction according to the matching, broadcasting the formation management information to an air interface. The formation management information may include a variety of information, and may include, for example, a vehicle identification of the first vehicle, identity information of the first vehicle, vehicle status information of the first vehicle, and a fleet identification of the target fleet. Here, the vehicle identification of the first vehicle may be a vehicle ID of the first vehicle set in advance.

The target fleet may be different fleets depending on the vehicle status and/or identity of the first vehicle. Taking the identity as an example, when the identity of the first vehicle is the pilot vehicle, the target vehicle fleet may be the own vehicle fleet created by the first vehicle; when the identity of the first vehicle is the following vehicle, the target fleet may be the fleet to which the first vehicle currently belongs; further, when the identity of the first vehicle is free vehicle, the target fleet may apply for a joining fleet for it. Additionally, the fleet identification may be a fleet ID.

And when the identity and/or the vehicle state of the first vehicle is confirmed to be matched with the human-computer interaction instruction according to the matching, corresponding operation can be executed according to the human-computer interaction instruction. The corresponding operations herein may include, for example, creating or updating a list of vehicle members, setting a fleet identification for a target fleet, setting fleet patency, and broadcasting fleet management information to the air interface.

Specifically, when the human-computer interaction instruction is a create fleet instruction, the vehicle state information of the first vehicle may be updated to first state information, and the first state information may indicate that the vehicle state is a piloted state (i.e., the free state is updated to the piloted state). In addition, the identity information of the first vehicle may be updated to be the first identity information, and the first identity information may indicate that the identity of the vehicle is a lead vehicle (i.e., the free vehicle is updated to be the lead vehicle).

Further, a fleet identification of the created fleet of vehicles and a list of vehicle members who create the fleet of vehicles may also be set. The vehicle member list may include a fleet member list, a joining member list, and a leaving member list. In addition to the above, the fleet open status may be set to allow joining of the fleet for joining by other vehicles. Finally, the formation management information may be broadcast to the air interface.

Here, the formation management information may include a vehicle identification of the first vehicle, identity information of the first vehicle, vehicle status information of the first vehicle, and a created fleet identification of the fleet of host vehicles.

When the human-computer interaction instruction is a motorcade joining instruction, the running information of the first vehicle can be acquired from the air interface resource according to the vehicle identifier of the first vehicle, and the running information of member vehicles in the target motorcade can be acquired from the air interface resource according to the motorcade identifier of the target motorcade. Then, whether the first vehicle is in the effective range of the target vehicle fleet can be judged according to the running information of the first vehicle and the running information of each member vehicle in the target vehicle fleet.

And if the first vehicle is confirmed to be in the effective range of the target fleet, updating the vehicle state information of the first vehicle into second state information, wherein the second state information can indicate that the vehicle state is an application joining state, and then broadcasting the formation management information to an air interface.

Here, the formation management information may include a vehicle identification of the first vehicle, identity information of the first vehicle, vehicle status information of the first vehicle, and a fleet identification of the target fleet.

Further, when the human-computer interaction instruction is a vehicle fleet dissembling instruction, the running information of each member vehicle can be acquired from the air interface resource according to the vehicle identification of each member vehicle in a vehicle fleet member list of the vehicle fleet managed by the first vehicle. Then, whether each member vehicle is in the own vehicle fleet can be judged according to the running information of each member vehicle. And if the member vehicles are confirmed to be in the vehicle fleet, updating the vehicle state of the first vehicle into third state information, wherein the third state information can indicate that the vehicle state is dispersed from the fleet state. Then, the fleet open status may be set to disallow joining the fleet and the formation management information may be broadcast to the air interface.

Here, the formation management information may include a vehicle identification of the first vehicle, identity information of the first vehicle, vehicle status information of the first vehicle, and a fleet identification of a fleet of host vehicles created by the first vehicle.

When the human-computer interaction instruction is a motorcade leaving instruction, the vehicle state of the first vehicle can be updated to fourth state information, the fourth state information can indicate that the vehicle state is a leaving application state, and the formation management information can be broadcast to an air interface. Here, the formation management information may include a vehicle identification of the first vehicle, identity information of the first vehicle, vehicle status information of the first vehicle, and a fleet identification of a fleet to which the first vehicle currently belongs.

The vehicle system 100, the communication system 200, and the triggering manner of the formation management related to the embodiment of the present disclosure are exemplarily described above with reference to fig. 1 and 2. It is to be understood that the above-mentioned contents do not constitute a limitation to the embodiments of the present disclosure, and those skilled in the art may also make variations or modifications to the above-mentioned contents to adapt to the requirements of different application scenarios.

The technical solution of the present disclosure will be described with reference to the following embodiments. The present scheme may be understood as interaction of the in-vehicle device 202 of the first vehicle and the in-vehicle device 203 of the second vehicle in the aforementioned communication system 200.

Fig. 3 shows a flowchart of a method 300 for fleet management of vehicles according to an embodiment of the present disclosure.

As shown in fig. 3, the method 300 may include acquiring, at a first onboard device, formation application information sent by an application vehicle for formation application to a target management vehicle at step S301. The applicant car herein may include a following car (e.g., following car B) or an free car (e.g., free car E) in the aforementioned vehicle system 100, while the target management car may be a pilot car (e.g., pilot car a) in the vehicle system 100. Based on this, the first onboard device may be an OBU of the target management vehicle.

The formation application information in this embodiment may be broadcasted to the air interface by the vehicle-mounted device of the vehicle application in the manner described in the foregoing embodiment, and acquired from the air interface resource by the first vehicle-mounted device. In this embodiment, the formation application information may include a vehicle identifier of the application vehicle, identity information of the application vehicle, vehicle status information of the application vehicle, and a vehicle fleet identifier of the application target vehicle fleet. The vehicle identification of the vehicle application can comprise the vehicle ID of the vehicle application.

The identity information of the applicant car may indicate the identity of the applicant car, which may be, for example, the aforementioned pilot car, follower car, and free car. In addition, the vehicle state information of the requesting vehicle may indicate a vehicle state of the requesting vehicle. The vehicle state may be, for example, the aforementioned piloting state, following state, applying for joining state, applying for leaving state, having left state, and dissembling fleet state.

As can be seen from the foregoing description of the embodiments, the application target fleet may vary according to the identity of the application vehicle. For example, when the identity of the requesting vehicle is the following vehicle, the requesting target fleet may be the fleet to which it currently belongs; when the identity of the application vehicle is free vehicle, the application target vehicle fleet can apply for the joining vehicle fleet. As can be seen from the description of the foregoing embodiments, the fleet identification may be a fleet ID.

After the formation application information is acquired, the scheme can carry out safety check on the vehicle state of the application vehicle and the matching condition of the vehicle fleet managed by the application target fleet and the target management vehicle so as to ensure the normal operation of formation management. Specifically, at step S302, when it is determined that the identity and the vehicle state of the application vehicle match each other according to the identity information of the application vehicle and the vehicle state information of the application vehicle, it is determined whether the application target vehicle fleet and the vehicle fleet match each other according to a fleet identifier of the application target vehicle fleet and a fleet identifier of the vehicle fleet managed by the target management vehicle.

In one implementation scenario, performing a matching check of the identity of the requesting vehicle and the vehicle status may include: and if the identity of the application vehicle is a pilot vehicle and the vehicle state of the application vehicle is a non-pilot or non-disaggregated vehicle fleet state (such as following, applying for joining, applying for leaving or leaving states), confirming that the identity of the application vehicle is not matched with the vehicle state. Correspondingly, if the identity of the application vehicle is the pilot vehicle and the vehicle state of the application vehicle is the pilot or the state of the disassembled fleet, the identity of the application vehicle is confirmed to be matched with the vehicle state.

In addition, if the identity of the application vehicle is the following vehicle and the vehicle state is the non-leaving state, the non-application leaving state or the non-following state (such as the state of piloting, dismissing the motorcade, applying for joining or joining), the identity of the application vehicle is determined to be not matched with the vehicle state. Correspondingly, if the identity of the application vehicle is the following vehicle and the vehicle state of the application vehicle is the leaving, leaving or following state, the identity of the application vehicle is confirmed to be matched with the vehicle state.

Further, if the identity of the requesting vehicle is a free vehicle and the vehicle status is a non-joining or non-joining status (such as piloting, dismissing the fleet, following, requesting for leaving, or leaving status), it is determined that the identity of the requesting vehicle does not match the vehicle status. Correspondingly, if the identity of the application vehicle is the free vehicle and the vehicle state is the application joining or joining state, the identity of the application vehicle is confirmed to be matched with the vehicle state.

When the identity of the application vehicle is not matched with the vehicle state, the formation application information can be broadcasted to the air interface so as to be used in other formation management processes.

In performing the security check of the application for matching between the target vehicle fleet and the vehicle fleet managed by the target management vehicle, the fleet identification of the vehicle fleet may be a fleet identification of the vehicle fleet created by the target management vehicle, and the fleet identification may be a fleet ID. The consistency of the application target motorcade and the motorcade of the vehicle can be ensured through the check, so that the normal operation of formation management can be ensured.

In response to the matching between the application target vehicle fleet and the vehicle fleet, the method 300 may proceed to step S303, where the driving information of the application vehicle and the driving information of the member vehicles in the vehicle fleet are obtained from the air interface resource according to the vehicle identifier of the application vehicle and the vehicle fleet identifier of the vehicle fleet.

In one implementation, the present solution may obtain the driving information of each vehicle (e.g., the application vehicle in this embodiment and each member vehicle in the own vehicle fleet) in the foregoing vehicle system at a preset time interval (e.g., 1s), and broadcast the driving information to the air interface, so as to be called from air interface resources during fleet management. In the present aspect, the travel information may include one or more of position information, speed, travel direction, and vehicle length of the vehicle. In addition, the position information may be position information in a rectangular coordinate system. Specifically, the position information of the vehicle in the spherical coordinate system may be acquired first, and then converted into the position in the rectangular coordinate system.

After obtaining the driving information of the requested vehicles and the member vehicles in the vehicle fleet, the method 300 may proceed to step S304, where the vehicle fleet is managed according to the vehicle state information of the requested vehicles, the driving information of the requested vehicles, and the driving information of the member vehicles in the vehicle fleet. The formation management of the fleet of vehicles may include re-formation ordering of member vehicles of the fleet of vehicles, etc., so that the vehicles of the fleet of vehicles may travel in order.

Therefore, the embodiment of the disclosure can utilize the information of the application vehicle, the information of the application target vehicle group, the information of member vehicles in the vehicle group managed by the target management vehicle and the information of the vehicle group to form and manage the vehicle group. Vehicles within a preset range, such as vehicles traveling in the same lane or in adjacent lanes with the target management vehicle, may form a queue (e.g., a vehicle fleet) for traveling through the formation management. Therefore, the following distance of the motorcade can be effectively shortened, the driving density is increased, and the traffic passing efficiency of the road is improved. In addition, the improvement of the traffic efficiency can ensure the driving safety of vehicles and improve the utilization rate of roads, thereby effectively avoiding traffic accidents and reducing the energy consumption in the driving process.

To facilitate formation management, the first onboard device may maintain a plurality of vehicle membership lists of the target management vehicle, such as the vehicle fleet membership list, joining membership list, and leaving membership list of the own vehicle fleet as described in the previous embodiments, and the vehicle identifications may be included in the vehicle membership lists.

Based on this, the method 400 of the embodiment of the present disclosure may further include, as shown in fig. 4, a step S401 of acquiring the relationship between the application vehicle and the own vehicle fleet according to the driving information of the application vehicle and the driving information of the member vehicles in the own vehicle fleet when it is determined that the vehicle status of the application vehicle is applying for joining or leaving the own vehicle fleet according to the vehicle status information of the application vehicle.

Specifically, when the vehicle status of the application vehicle is that the application vehicle is added to the vehicle fleet, the relationship between the application vehicle and the vehicle fleet may be whether the application vehicle is located within a preset range of the vehicle fleet. The preset range can be a range with the position of the tail car in the vehicle fleet as the center of a circle and the formation car distance of the tail car as the preset length. It is understood that the tail vehicle is a member vehicle in the host vehicle fleet that is farthest from the lead vehicle (the target management vehicle in this embodiment).

In one implementation, the formation vehicle distance of the tail vehicle can be obtained by calculating the following formula (one)

Wherein, dist_PlatoonTailFormation track, dist, for the tail cars_PlatoonGapFor formation distance gap, length_defaultVehLength for applying for the length of a vehicle_tailVehThe vehicle length of the trailer.

The formation distance gap may be different according to the speed of the application vehicle, in particular:

when the speed of the vehicle is less than or equal to the basic vehicle speed, the formation distance gap can be calculated by the formula (II)

dist_PlatoonGap＝dist_basicSafety(II)

Wherein, dist_basicSafetyThe base safety distance is a preset value, which may be, for example, 10 m.

When the speed of the vehicle is higher than the basic vehicle speed, the formation distance gap can be calculated by the formula (III)

Wherein speed_thisvehFor applying for the speed of the vehicle; speed_basicSafetyA base vehicle speed, which is a preset value, which may be 20km/h, for example;

the configuration parameters may be obtained by table lookup.

After the formation vehicle distance of the tail vehicle is calculated, the distance between the application vehicle and the tail vehicle can be calculated according to the position information of the application vehicle and the position information of the tail vehicle, and the size relation between the distance and the formation vehicle distance of the tail vehicle is calculated. And when the distance between the application vehicle and the tail vehicle is smaller than or equal to the formation vehicle distance of the tail vehicle, confirming that the relationship between the application vehicle and the vehicle fleet meets the preset condition. Correspondingly, when the distance between the application vehicle and the tail vehicle is larger than the formation vehicle distance of the tail vehicle, the condition that the relationship between the application vehicle and the vehicle fleet does not meet the preset condition is confirmed.

The above describes a method for determining the relationship between an application vehicle and a vehicle fleet when the vehicle status of the application vehicle is for joining the vehicle fleet. The following further describes a method for determining the relationship between an application vehicle and a vehicle fleet when the vehicle status of the application vehicle is to be requested to leave the vehicle fleet. Specifically, the determination may be made by using, as the criterion, the offset distance in different directions and the traveling direction of the lead vehicle (i.e., the target management vehicle) in the requesting vehicle and the own vehicle fleet.

When the determination is made using the offset distance as a determination reference, the determination may be made based on the lateral offset distance and/or the longitudinal offset distance of the requesting vehicle and the target management vehicle. The longitudinal offset distance of the application vehicle and the target management vehicle may be an offset distance of the two vehicles in a lane line direction of the road, and the transverse offset distance may be an offset distance in a lane line direction perpendicular to the road.

Specifically, the longitudinal offset distance and the lateral offset distance of the two vehicles may be acquired from the position information of the requesting vehicle and the target management vehicle. And when the longitudinal offset distance meets a longitudinal offset threshold value and/or the transverse offset distance meets a transverse offset threshold value, determining that the application vehicle meets the requirement of the offset distance. Accordingly, when the longitudinal offset distance does not meet the longitudinal offset threshold and/or the transverse offset distance does not meet the transverse offset threshold, the application vehicle is determined not to meet the requirement of the offset distance.

When the determination is made using the traveling direction as a determination criterion, the angle between the traveling directions of the two vehicles can be calculated from the traveling directions of the requesting vehicle and the target management vehicle. And when the included angle between the driving directions of the two vehicles meets the included angle threshold value, determining that the application vehicle meets the requirement of the driving direction. Correspondingly, when the included angle between the driving directions of the two vehicles does not meet the included angle threshold value, the application vehicle is determined not to meet the requirement of the driving direction.

In addition to the above two determination criteria, the determination may be made using the speed as a determination criterion. At the moment, the speed difference of the two vehicles can be calculated according to the speeds of the application vehicle and the target management vehicle, and when the speed difference meets the speed threshold value, the application vehicle is determined to meet the speed requirement. Accordingly, when the speed difference does not meet the speed threshold, the requesting vehicle is determined not to meet the speed requirement.

The above describes three criteria for determining the relationship between the application vehicle and the own vehicle fleet. When the judgment is carried out, one or more of the operations can be selected according to different requirements. For example, when the requirement on the accuracy of the determination result is low, one of them may be selected, and for example, the offset distance may be selected as the determination reference. That is, when the application vehicle meets the requirements of the lateral offset distance and/or the longitudinal offset distance, the relationship between the application vehicle and the vehicle fleet is confirmed to meet the preset condition, otherwise, the relationship is confirmed to not meet the preset condition.

In addition, the driving direction can also be selected as a judgment standard, namely when the application vehicle meets the requirement of the driving direction, the relationship between the application vehicle and the vehicle fleet is confirmed to meet the preset condition, otherwise, the preset condition is confirmed not to be met.

Further, the speed can be selected as a judgment reference, namely when the applied vehicle meets the speed requirement, the relationship between the applied vehicle and the vehicle fleet is confirmed to meet the preset condition, otherwise, the relationship is confirmed to not meet the preset condition.

When the requirement on the accuracy of the judgment result is high, two of the judgment results can be selected as the judgment reference. For example, the offset distance and the driving direction may be selected as the determination reference, that is, when the application vehicle meets the requirements of the offset distance and the driving direction, it is determined that the relationship between the application vehicle and the vehicle fleet meets the preset condition, otherwise, it is determined that the preset condition is not met.

The offset distance and the speed can also be selected as the judgment reference, namely when the application vehicle meets the requirements of the offset distance and the speed, the relationship between the application vehicle and the vehicle fleet meets the preset condition, otherwise, the preset condition is not met.

In addition, the driving direction and the speed can be selected as the judgment reference, namely when the application vehicle meets the driving direction and the speed requirement, the relationship between the application vehicle and the vehicle fleet is confirmed to meet the preset condition, otherwise, the preset condition is confirmed not to be met.

When the requirement on the accuracy of the judgment result is higher, the three types can be selected to be used as the judgment reference, namely when the application vehicle meets the requirements on the offset distance, the driving direction and the speed, the relationship between the application vehicle and the vehicle fleet is confirmed to meet the preset condition, otherwise, the relationship is confirmed to not meet the preset condition.

After the determination of the relationship is completed, the process returns to the method 400. At step S402, in response to the relationship satisfying the corresponding preset condition, the corresponding vehicle member list is updated according to the vehicle state information of the application vehicle and the vehicle identifier of the application vehicle.

Specifically, when the vehicle status of the application vehicle is that the application vehicle joins the own vehicle fleet and the relationship satisfies the preset condition, the vehicle identifier of the application vehicle may be added to a fleet member list of the own vehicle fleet. Similarly, when the vehicle status of the application vehicle is that the application vehicle leaves the own vehicle fleet and the relationship meets the preset condition, the vehicle identification of the application vehicle can be added into the leaving member list. The management of the vehicles applying for joining and leaving can be facilitated by the maintenance of the member list.

The above describes, with reference to the embodiments, a method for updating a vehicle member list when a vehicle state of an application vehicle is an application for joining and an application for leaving. The formation management method of the present disclosure will be described below by applying for the vehicle status of a vehicle as two vehicle statuses of joining and having left the own vehicle fleet, respectively. Fig. 5 shows a specific implementation method of step S304 when the vehicle state of the requested vehicle is requested to be added.

As shown in fig. 5, the above-described formation management of the own vehicle fleet may include steps S501 and S502. In step S501, when it is determined that the vehicle status of the requesting vehicle is joining the vehicle fleet according to the vehicle status information of the requesting vehicle, a formation order of current fleet members in the vehicle fleet is determined according to the driving information of the requesting vehicle and the driving information of member vehicles in the vehicle fleet. It will be appreciated that the current fleet member herein may include both the requesting vehicle and the member vehicles in the fleet of vehicles.

Next, the method may proceed to step S502, where the fleet of vehicles are managed according to the formation order. The formation management here may assign a number to each member car. The scheme can ensure that the current motorcade forms an ordered queue to run by determining the formation and the ordering of the current motorcade members in the motorcade of the vehicle, thereby improving the traffic efficiency. In one embodiment, the formation order of current fleet members in the fleet of vehicles may be determined by the travel information of the requesting vehicle and the travel information of the member vehicles in the fleet of vehicles. Based thereon, determining a formation rank of a current fleet member in the fleet of host vehicles may include steps S601 and S602 shown in FIG. 6.

At step S601, a proposed enqueue location of the requesting vehicle is determined based on the travel information of the requesting vehicle and the travel information of the member vehicles. In one implementation scenario, the proposed enqueue position of the application vehicle may be calculated according to the driving information of the application vehicle and the driving information of the member vehicles, and then the proposed enqueue position of the application vehicle is calculated according to the formation vehicle distance of the tail vehicle in the vehicle fleet. The calculation method of the formation vehicle distance of the tail vehicle can be referred to the description of the previous embodiment, and is not detailed here.

After the formation vehicle distance of the tail vehicle is calculated, the proposed enqueue position of the application vehicle can be calculated by the following formula (IV)

x' ═ R | T ] × x (four)

Wherein x' is the proposed enqueue position of the applicant car.

In one implementation, the proposed enqueue location may be determined by latitude and longitude coordinates. That is, x may include a longitude coordinate a.x and a latitude coordinate a.y. Based on this, x can be calculated by the following formula (five).

Where Δ θ is a direction opposite to a traveling direction of the tail vehicle in the vehicle fleet.

After determining the proposed enqueue position of the vehicle application, the method may proceed to step S602, where the formation ranking of the current vehicle fleet members is determined according to the proposed enqueue position of the vehicle application and the driving information of each member vehicle in the vehicle fleet. In one implementation scenario, the distances between other member vehicles in the host vehicle fleet and the pilot vehicle (i.e., the target management vehicle in this embodiment) may be calculated, and then the respective distances are sorted according to magnitude, so as to obtain the formation ranking of the current fleet member.

Specifically, the distance between the other member vehicle and the target management vehicle may be calculated by the following formula (six)

Wherein d is the distance between the member vehicle and the target management vehicle, rho₁As latitude coordinate of the member car, ρ₂Managing the latitude coordinate, λ, of the vehicle for the target₁Is the longitude coordinate, λ, of the member vehicle₂Longitude coordinates of the vehicle are managed for the target.

After the distance between each member vehicle and the pilot vehicle is calculated, the corresponding member vehicles can be arranged in a formation sequence from small to large.

The above describes a formation management method when the vehicle status of an application vehicle is joining the own vehicle fleet. A formation management method when the vehicle status of the requesting vehicle is that the own vehicle fleet has been left will be described below. In this case, the travel information of the member vehicles in the own vehicle fleet may include position information of the member vehicles. Based on this, the above-described formation management of the own vehicle fleet may include steps S701 and S702 as shown in fig. 7. In step S701, when it is determined that the vehicle state of the application vehicle is known to be away from the vehicle fleet according to the vehicle state information of the application vehicle, determining formation ranking of the remaining member vehicles according to the position information of the remaining member vehicles excluding the application vehicle in the vehicle fleet.

Specifically, the distance between the position information of the remaining member vehicles and the target management vehicle may be calculated, and then the remaining member vehicles may be sequentially queued and sorted according to the magnitude of each distance, as in the foregoing embodiment.

Next, the method may proceed to step S702, where the fleet of vehicles are managed according to the formation order of the remaining member vehicles. The formation management here may also assign a number to each member car. The scheme can enable the current motorcade to form an ordered queue to drive by re-formation and sequencing for the rest member vehicles, so that the passing efficiency can be improved.

As can be appreciated from the foregoing description of embodiments, the first onboard device may maintain a plurality of vehicle membership lists of the target management vehicle, such as a fleet membership list, a joining membership list, and a leaving membership list of the fleet of host vehicles, and the vehicle identifications may be included in the vehicle membership lists. Based on this, when the vehicle status of the application vehicle is joining and has left, the method may further include updating the corresponding vehicle member list according to the vehicle status information of the application vehicle and the vehicle identification of the application vehicle.

Specifically, when the vehicle status of the application vehicle is joining the vehicle fleet, the vehicle identifier of the application vehicle joining the member list may be removed, and the vehicle identifier of the application vehicle may be added to the vehicle fleet member list of the vehicle fleet. When the vehicle state of the application vehicle is that the vehicle has left the own vehicle fleet, the vehicle identification of the application vehicle in the leaving member list can be removed. The target management vehicle may be facilitated to manage joining and leaving vehicles by maintenance of the corresponding member list.

Fig. 8 shows a block diagram of an in-vehicle device according to an embodiment of the present disclosure.

As shown in fig. 8, the in-vehicle device 800 includes at least one processor 801(processor), a memory 802(memory), and a bus 803; the processor 801 and the memory 802 communicate with each other via a bus 803. In operation, the processor 801 is configured to call program instructions in the memory 802 to perform the methods provided by the various embodiments described above. For example, in one aspect, a processor may perform operations to: the method comprises the steps of obtaining formation application information which is sent by an application vehicle and used for carrying out formation application on a target management vehicle, wherein the formation application information comprises vehicle identification of the application vehicle, identity information of the application vehicle, vehicle state information of the application vehicle and vehicle fleet identification of a target vehicle fleet.

And then, when the identity of the application vehicle is judged to be matched with the vehicle state according to the identity information of the application vehicle and the vehicle state information of the application vehicle, judging whether the application target vehicle fleet is matched with the vehicle fleet according to the vehicle fleet identification of the application target vehicle fleet and the vehicle fleet identification of the vehicle fleet managed by the target management vehicle.

And responding to the matching of the application target motorcade and the motorcade of the vehicle, and acquiring the running information of the application vehicle and the running information of member vehicles in the motorcade of the vehicle from air interface resources according to the vehicle identification of the application vehicle and the motorcade identification of the motorcade of the vehicle. And further, the vehicle fleet is managed according to the vehicle state information of the applied vehicles, the running information of the applied vehicles and the running information of the member vehicles in the vehicle fleet.

The formation management method of the pilot vehicle and the in-vehicle apparatus 800 are described above in connection with various embodiments. It is to be understood that the above-described method is only exemplary and not restrictive, and that variations and modifications may be made by persons skilled in the art depending on application scenarios. For example, the vehicle status may also be set to other statuses, and the identity of the vehicle may be set to other identities, and so on. A method for non-lead vehicle (e.g., follower or free vehicle) formation management will be described with reference to various embodiments.

Fig. 9 shows a flowchart of a method 900 for fleet management of vehicles according to another embodiment of the present disclosure. As shown in fig. 9, the method 900 may include a step S901 of acquiring, at the second in-vehicle device, formation management information transmitted by the target management vehicle for formation management of the target vehicle. The target management vehicle here may be a pilot vehicle (e.g., pilot vehicle a) in the aforementioned vehicle system 100, and the target vehicle may be a following vehicle (e.g., following vehicle B) or a free vehicle (e.g., free vehicle E) in the vehicle system 100. Based on this, the second onboard device may be an OBU of the target vehicle.

The formation management information in this embodiment may be broadcast to the air interface by the vehicle-mounted device of the target management vehicle in the manner described in the foregoing embodiment, and acquired from the air interface resource by the second vehicle-mounted device. In this embodiment, the formation management information may include identity information of the target management vehicle, vehicle status information of the target management vehicle, and a fleet identifier of a fleet managed by the target management vehicle.

Wherein the identity information of the target management vehicle may indicate the identity of the target management vehicle. The identity of the target management vehicle may be, for example, the aforementioned lead vehicle, follow-up vehicle, or free vehicle. The vehicle state information of the target management vehicle may indicate a vehicle state of the target management vehicle. The vehicle state of the target management vehicle may be, for example, the aforementioned piloting state, the disaggregated fleet state, the following state, the joining application state, the joining-in state, the leaving application state, and the leaving already state. As can be seen from the description of the foregoing embodiments, a fleet identification for a fleet managed by a target management vehicle may create a fleet identification for the fleet, which may be, for example, a fleet ID.

After the formation management information is acquired, the scheme can carry out safety check on the matching condition of the target management vehicle and the target vehicle so as to ensure the normal operation of the formation management. Specifically, at step S902, it is determined whether the identities and vehicle states of the target management vehicle and the target vehicle respectively match according to the identity information of the target management vehicle, the vehicle state information of the target management vehicle, the identity information of the target vehicle, and the vehicle state information of the target vehicle.

In one implementation scenario, the matching check of the target management vehicle and the target vehicle may include: and if the identity of the target vehicle is the free vehicle, the vehicle state of the target vehicle is the joining application state, the identity of the target management vehicle is the pilot vehicle, and the vehicle state of the target management vehicle is the pilot state, the identity and the vehicle state of the target management vehicle and the target vehicle are matched. And if the identity of the target vehicle is a free vehicle, the vehicle state of the target vehicle is a joining state, the identity of the target management vehicle is a pilot vehicle, and the vehicle state of the target management vehicle is a pilot state, the identities of the target management vehicle and the target vehicle are confirmed to be matched with the vehicle state.

In addition, if the identity of the target vehicle is the following vehicle, the vehicle state of the target vehicle is the departure applying state, the identity of the target management vehicle is the pilot vehicle, and the vehicle state of the target management vehicle is the pilot state, the identities of the target management vehicle and the target vehicle are confirmed to be matched with the vehicle state. And if the identity of the target vehicle is the following vehicle, the vehicle state of the target vehicle is the departure state, the identity of the target management vehicle is the pilot vehicle, and the vehicle state of the target management vehicle is the pilot state, the identities of the target management vehicle and the target vehicle are determined to be matched with the vehicle state.

Further, if the identity of the target vehicle is the following vehicle, the vehicle state of the target vehicle is the following, joining or applying for joining state, the identity of the target management vehicle is the pilot vehicle, and the vehicle state of the target management vehicle is the state of the dismissal fleet, the identities of the target management vehicle and the target vehicle are confirmed to be matched with the vehicle states.

In addition to the above, other situations confirm that the identities and vehicle states of the target management vehicle and the target vehicle do not match. Upon confirming that the identity and vehicle status of the target management vehicle and the target vehicle do not match, the formation management information may be broadcast to the air interface for use in other formation management processes.

And responding to the matching of the identities and the vehicle states of the target management vehicle and the target vehicle, and further performing safety check on the matching conditions of the fleet managed by the target management vehicle and the target fleet of the target vehicle. Specifically, at step S903, it is determined whether the fleet identifier of the fleet managed by the target management vehicle matches the fleet identifier of the target vehicle according to the fleet identifier of the fleet managed by the target management vehicle and the fleet identifier of the target vehicle.

In this embodiment, the fleet identification of the target vehicle may be a fleet identification of a target fleet of target vehicles. Thus, the fleet identification of the target vehicle may vary depending on the identity of the target vehicle. For example, when the identity of the target vehicle is the following vehicle, the fleet identifier of the target vehicle may be the fleet identifier of the fleet to which the target vehicle currently belongs; when the identity of the target vehicle is free vehicle, the fleet identification of the target vehicle can be the fleet identification of the vehicle to which the target vehicle applies for joining the fleet. The fleet identification may also be a fleet ID.

The consistency of the fleet managed by the target management vehicle and the target fleet of the target vehicle can be ensured through the safety check of the matching condition of the fleet managed by the target management vehicle and the target fleet of the target vehicle, so that the normal operation of formation management can be ensured.

In response to the matching of the fleet identifier of the fleet managed by the target management vehicle and the fleet identifier of the target vehicle, the method 900 may proceed to step S904, and perform formation management according to the vehicle status information of the target management vehicle and the vehicle status information of the target vehicle. The formation management in this embodiment may include updating the vehicle state information and/or the identity information of the target vehicle, and the like, so that the formation management may be facilitated.

Therefore, the information of the target management vehicle, the information of the fleet managed by the target management vehicle, the information of the target vehicle and the information of the target fleet can be utilized for formation management in the disclosed embodiment. Can be convenient for shorten the car team through this formation management with car interval etc to can increase driving density, and then improve the traffic of road and pass efficiency. In addition, the improvement of the traffic efficiency can ensure the driving safety of vehicles and improve the utilization rate of roads, thereby effectively avoiding traffic accidents and reducing the energy consumption in the driving process.

To facilitate fleet management, the second onboard device may maintain vehicle status information and/or identity information of the target vehicle. Based on this, performing the queuing management as described above may include steps S1001, S1002, and S1003 as shown in fig. 10. At step S1001, it is determined whether the vehicle state of the target management vehicle is a fleet managed by the dissembled target management vehicle, according to the vehicle state information of the target management vehicle.

In response to the vehicle status of the target management vehicle being to dismiss the fleet managed by the target management vehicle, the method may proceed to step S1002, and update the identity information of the target vehicle according to the vehicle status information of the target management vehicle. For example, the identity information of the target vehicle may be updated to the second identity information indicating the free vehicle.

In response to the vehicle status of the target management vehicle not resolving the fleet managed by the target management vehicle, the method may proceed to step S1003, and update the vehicle status information and/or the identity information of the target vehicle according to the vehicle status information of the target vehicle.

For example, when the vehicle state information of the target vehicle indicates that the vehicle state of the target vehicle is an application for joining, the vehicle state information of the target vehicle is updated to fifth state information indicating a joining state. And when the vehicle state information of the target vehicle indicates that the vehicle state of the target vehicle is adding, updating the vehicle state information of the target vehicle to be sixth state information used for indicating a following state, and updating the identity information of the target vehicle to be third identity information used for indicating the following vehicle.

In addition, when the vehicle state information of the target vehicle indicates that the vehicle state of the target vehicle is the departure application, the vehicle state information of the target vehicle is updated to seventh state information indicating the departure state. Further, when the vehicle state information of the target vehicle indicates that the vehicle state of the target vehicle is the left vehicle, the identity information of the target vehicle is updated to be the second identity information for indicating the free vehicle.

Therefore, the target vehicle can update the identity information and/or the vehicle state information of the target vehicle according to the vehicle state information of the target vehicle, and formation management can be facilitated.

The formation management method of the pilot vehicle is described above in connection with various embodiments. In order to facilitate better formation management, the vehicle-mounted device (the vehicle-mounted device of the pilot vehicle or the non-pilot vehicle) can also maintain information of surrounding vehicle fleets within a preset range of the target management vehicle. The preset range can be any value between 50 m and 80m, and the information of the surrounding motorcade can comprise motorcade identification of the surrounding motorcade.

In one implementation scenario, fleet information for managing a fleet of vehicles managed by a vehicle may be included in the formation application information or the formation management information (hereinafter, referred to as formation management information). The fleet information may vary depending on the vehicle status of the vehicle that transmits the fleet management information. When the vehicle is a lead vehicle, it may include at least fleet identification, a maintained list of vehicle members, vehicle status information, identity information, and a latest storage time of formation management information for the fleet, etc. When the vehicle is a non-piloted vehicle, it may include at least a fleet identification, vehicle status information, identity information, and current information storage time (here, the information is formation management information of the fleet), etc.

Based on this, after acquiring the formation management information, the first vehicle-mounted device may determine whether the identity of the vehicle is a management vehicle (i.e., the pilot vehicle described above) that manages the fleet of vehicles according to the identity information of the vehicle in the formation management information.

And responding to the fact that the identity of the application vehicle is the management vehicle, and judging whether the fleet managed by the vehicle is matched with the surrounding fleet according to the fleet identification of the fleet managed by the vehicle and the fleet identification in the information of the surrounding fleet. When the fleet of the fleet managed by the applicant vehicle does not match with the surrounding fleet, the fleet information of the fleet managed by the applicant vehicle may be stored in the information of the surrounding fleet.

When the fleet managed by the application vehicle is matched with the surrounding fleet, the time difference can be calculated according to the time when the formation management information is received and the current information storage time of the fleet managed by the vehicle in the information of the surrounding fleet. And when the time difference does not meet the preset condition, deleting the fleet information of the fleet managed by the application vehicle from the information of the surrounding fleet.

The embodiment of the disclosure also discloses a vehicle-mounted device, which comprises at least one processor (processor), a memory (memory) and a bus; the processor and the memory complete mutual communication through the bus. In operation, the processor is configured to call the program instructions in the memory to perform the methods provided by the embodiments described above.

For example, in one aspect, a processor may perform operations to: the method comprises the steps of obtaining formation management information which is sent by a target management vehicle and used for performing formation management on the target vehicle, wherein the formation management information comprises identity information of the target management vehicle, vehicle state information of the target management vehicle and vehicle fleet identification of a vehicle fleet managed by the target management vehicle. And then, judging whether the identities and the vehicle states of the target management vehicle and the target vehicle are respectively matched according to the identity information of the target management vehicle, the vehicle state information of the target management vehicle, the identity information of the target vehicle and the vehicle state information of the target vehicle.

And responding to the matching of the identities and the vehicle states of the target management vehicle and the target vehicle, and judging whether the fleet identifier of the fleet managed by the target management vehicle is matched with the fleet identifier of the target vehicle according to the fleet identifier of the fleet managed by the target management vehicle and the fleet identifier of the target vehicle, wherein the fleet identifier of the target vehicle is the fleet to which the target vehicle currently belongs or the fleet identifier of the target vehicle which applies for joining in the fleet.

And responding to the matching of the fleet identification of the fleet managed by the target management vehicle and the fleet identification of the target vehicle, and performing formation management according to the vehicle state information of the target management vehicle and the vehicle state information of the target vehicle.

The present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the methods provided by the above embodiments, for example, comprising: the method comprises the steps of obtaining formation application information which is sent by an application vehicle and used for carrying out formation application on a target management vehicle, wherein the formation application information comprises vehicle identification of the application vehicle, identity information of the application vehicle, vehicle state information of the application vehicle and vehicle fleet identification of a target vehicle fleet. And then, when the identity of the application vehicle is judged to be matched with the vehicle state according to the identity information of the application vehicle and the vehicle state information of the application vehicle, judging whether the application target vehicle fleet is matched with the vehicle fleet according to the vehicle fleet identification of the application target vehicle fleet and the vehicle fleet identification of the vehicle fleet managed by the target management vehicle.

The present disclosure also provides a system for performing formation management on vehicles, which includes the two aforementioned vehicle-mounted devices.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

The above-described embodiments of the electronic device and the like are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may also be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

It should be understood that the terms "first," "second," "third," and "fourth," etc. in the claims, description, and drawings of the present disclosure are used to distinguish between different objects and are not used to describe a particular order. The terms "comprises" and "comprising," when used in the specification and claims of this disclosure, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the disclosure herein is for the purpose of describing particular embodiments only, and is not intended to be limiting of the disclosure. As used in the specification and claims of this disclosure, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further understood that the term "and/or" as used in the specification and claims of this disclosure refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.

As used in this specification and claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

The above embodiments are only used for illustrating the technical solutions of the embodiments of the present disclosure, and not for limiting the same; although embodiments of the present disclosure have been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the respective embodiments of the present disclosure.

Claims

1. A method for fleet management of vehicles, comprising:

the method comprises the steps that formation application information which is sent by an application vehicle and used for carrying out formation application on a target management vehicle is obtained at a first vehicle-mounted device, wherein the formation application information comprises vehicle identification of the application vehicle, identity information of the application vehicle, vehicle state information of the application vehicle and vehicle fleet identification of a target vehicle fleet;

when the identity of the application vehicle is judged to be matched with the vehicle state according to the identity information of the application vehicle and the vehicle state information of the application vehicle, judging whether the application target vehicle fleet is matched with the vehicle fleet according to the vehicle fleet identification of the application target vehicle fleet and the vehicle fleet identification of the vehicle fleet managed by the target management vehicle;

responding to the matching of the application target motorcade and the motorcade of the vehicle, and acquiring the running information of the application vehicle and the running information of member vehicles in the motorcade of the vehicle from air interface resources according to the vehicle identification of the application vehicle and the motorcade identification of the motorcade of the vehicle; and

and performing formation management on the vehicle fleet according to the vehicle state information of the applied vehicles, the running information of the applied vehicles and the running information of member vehicles in the vehicle fleet.

2. The method of claim 1, wherein the first onboard device maintains a plurality of vehicle member lists for the target management vehicle, and vehicle identifications are included in the vehicle member lists, the method further comprising:

when the vehicle state of the application vehicle is judged and known to be the application for joining or leaving the vehicle fleet according to the vehicle state information of the application vehicle, acquiring the relationship between the application vehicle and the vehicle fleet according to the driving information of the application vehicle and the driving information of member vehicles in the vehicle fleet; and

and responding to the relationship meeting the corresponding preset condition, and updating the corresponding vehicle member list according to the vehicle state information of the application vehicle and the vehicle identification of the application vehicle.

3. The method of claim 1, wherein managing the fleet of vehicles comprises:

when the vehicle state of the application vehicle is judged and known to be joining the vehicle fleet according to the vehicle state information of the application vehicle, determining the formation sequence of current fleet members in the vehicle fleet according to the running information of the application vehicle and the running information of member vehicles in the vehicle fleet, wherein the current fleet members comprise the application vehicle and the member vehicles in the vehicle fleet; and

and performing formation management on the vehicle fleet according to the formation order.

4. The method of claim 3, wherein determining a formation rank of a current fleet member in the fleet of host vehicles comprises:

determining a proposed enqueuing position of the application vehicle according to the driving information of the application vehicle and the driving information of the member vehicle; and

and determining the formation sequence of the current vehicle fleet members according to the suggested enqueue position of the application vehicle and the running information of each member vehicle in the vehicle fleet.

5. The method of claim 1, wherein the travel information of member vehicles in the fleet of vehicles includes location information of member vehicles, and managing the fleet of vehicles comprises:

when the vehicle state of the application vehicle is judged and known to be away from the vehicle fleet according to the vehicle state information of the application vehicle, determining the formation sequence of the remaining member vehicles according to the position information of the remaining member vehicles except the application vehicle in the vehicle fleet; and

and carrying out formation management on the vehicle fleet according to the formation sequence of the rest member vehicles.

6. The method of any of claims 3-5, wherein the first onboard device maintains a plurality of vehicle member lists for the target management vehicle, and vehicle identifications are included in the vehicle member lists, the method further comprising:

and updating the corresponding vehicle member list according to the vehicle state information of the applied vehicle and the vehicle identification of the applied vehicle.

7. An in-vehicle apparatus comprising:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein:

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1-6.

8. A method for fleet management of vehicles, comprising:

acquiring formation management information which is sent by a target management vehicle and used for performing formation management on the target vehicle at a second vehicle-mounted device, wherein the formation management information comprises identity information of the target management vehicle, vehicle state information of the target management vehicle and vehicle fleet identification of a vehicle fleet managed by the target management vehicle;

judging whether the identities and the vehicle states of the target management vehicle and the target vehicle are respectively matched according to the identity information of the target management vehicle, the vehicle state information of the target management vehicle, the identity information of the target vehicle and the vehicle state information of the target vehicle;

responding to the matching of the identities and the vehicle states of the target management vehicle and the target vehicle, and judging whether the fleet identifier of the fleet managed by the target management vehicle is matched with the fleet identifier of the target vehicle according to the fleet identifier of the fleet managed by the target management vehicle and the fleet identifier of the target vehicle, wherein the fleet identifier of the target vehicle is the fleet to which the target vehicle belongs currently or applies for adding into the fleet; and

9. The method of claim 8, wherein the second on-board device maintains vehicle status information and/or identity information of the target vehicle, and performing fleet management comprises:

judging whether the vehicle state of the target management vehicle is a fleet managed by the target management vehicle according to the vehicle state information of the target management vehicle;

in response to the fact that the vehicle state of the target management vehicle is that the fleet managed by the target management vehicle is dispersed, updating the identity information of the target vehicle according to the vehicle state information of the target management vehicle;

and in response to the vehicle state of the target management vehicle not resolving the fleet managed by the target management vehicle, updating the vehicle state information and/or the identity information of the target vehicle according to the vehicle state information of the target vehicle.

10. An in-vehicle apparatus comprising:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein:

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of claim 8 or 9.

11. A non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the method of any one of claims 1-6 and 8-9.

12. A system for fleet management of vehicles, comprising the in-vehicle device of claim 7 and the in-vehicle device of claim 10.