CN114387804A

CN114387804A - Vehicle control method and device, vehicle and storage medium

Info

Publication number: CN114387804A
Application number: CN202210032023.5A
Authority: CN
Inventors: 李尚�
Original assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date: 2022-01-12
Filing date: 2022-01-12
Publication date: 2022-04-22

Abstract

The embodiment of the invention provides a vehicle control method and device, a vehicle and a storage medium, which are applied to a formation control system, wherein the method comprises the following steps: the formation control system can issue formation information aiming at the target vehicle fleet to the target vehicles; the target fleet allows vehicles with different intelligent driving capabilities to join; receiving first request information returned by a target vehicle, and sending the first request information to at least part of vehicles which have joined in a target vehicle fleet; the first request information includes vehicle information of the target vehicle; receiving decision result information sent by at least part of vehicles; and when the decision result information represents that the target vehicle is allowed to join the target vehicle fleet, controlling the target vehicle to drive into the target vehicle fleet. By the embodiment of the invention, vehicles with different intelligent driving capacities can be added into a fleet, so that the utilization rate of roads is efficiently utilized, and energy consumed by the vehicles is efficiently saved.

Description

Vehicle control method and device, vehicle and storage medium

Technical Field

The present invention relates to the field of vehicle technologies, and in particular, to a vehicle control method and apparatus, a vehicle, and a storage medium.

Background

With the rapid development of the vehicle industry and the continuous improvement of living conditions of people, vehicles have become one of indispensable vehicles for people to go out.

As more and more people own the vehicles, more and more vehicles are driven on the road at present; in order to reduce the energy waste of vehicles and improve the utilization of roads, vehicles with the same vehicle type and the same destination can be compiled into a fleet; then, vehicles in the fleet can sequentially run on the road at the same speed according to a certain interval, so that the occupancy rate of the road is reduced, and energy can be saved to a certain extent to reduce the waste of energy.

With the development of smart driving technology, the speed of a vehicle or the like can be controlled directly by the smart driving technology when the vehicle is controlled to travel in a form of a fleet.

However, there may be some differences between the intelligent driving capabilities of different vehicles; to facilitate control of the vehicles in the fleet, existing fleets will only allow vehicles of the same intelligent driving capability to join the fleet; however, the number of vehicles with the same intelligent driving capability is small, which may result in a small number of vehicles in an actual fleet, and thus the utilization rate of roads cannot be effectively utilized, and energy cannot be efficiently saved.

Disclosure of Invention

In view of the above problems, it is proposed to provide a vehicle control method and apparatus, a vehicle, and a storage medium that overcome or at least partially solve the above problems, including:

a vehicle control method is applied to a formation control system and comprises the following steps:

issuing formation information for a target vehicle fleet to a target vehicle; the target fleet allows vehicles with different intelligent driving capabilities to join;

receiving first request information returned by a target vehicle, and sending the first request information to at least part of vehicles which have joined in a target vehicle fleet; the first request information includes vehicle information of the target vehicle;

receiving decision result information sent by at least part of vehicles;

and when the decision result information represents that the target vehicle is allowed to join the target vehicle fleet, controlling the target vehicle to drive into the target vehicle fleet.

Optionally, after receiving the first request information returned by the target vehicle, the method further includes:

judging whether the vehicle information of the target vehicle is matched with a preset matching rule or not;

and when the vehicle information of the target vehicle is matched with the preset matching rule, displaying the vehicle information of the target vehicle on at least part of the vehicles.

Optionally, controlling the target vehicle to enter the target fleet of vehicles comprises:

determining first position information of each vehicle in a target fleet and second position information of the target vehicle;

determining position information to be driven in according to the first position information, the second position information and the vehicle information of the target vehicle;

and controlling the target vehicle to drive into the target fleet according to the information of the position to be driven into.

Optionally, when the control target vehicle enters the target vehicle fleet, the method further comprises:

generating the driving-in process information of the target vehicle according to the first position information and the second position information;

and displaying the driving-in process information in the vehicles of the target fleet and the target vehicles.

Optionally, the method further comprises:

when second request information submitted by vehicles to be quitted in the target fleet is received, the second request information is displayed;

acquiring current road information, and vehicle information and current driving information of each vehicle in a target fleet;

and controlling the vehicles to be exited to exit the target fleet according to the road information, the vehicle information of each vehicle and the current running information.

Optionally, the method further comprises:

displaying a scoring interface aiming at the vehicles to be quitted in the vehicles currently remaining in the target fleet;

and receiving the grading information submitted in the grading interface and sending the grading information to the vehicle to be quitted.

Optionally, the method further comprises:

and sending payment information to the vehicle to be quitted, wherein the payment information is used for requesting the vehicle to be quitted to pay.

The embodiment of the invention also provides a vehicle control device which is applied to a formation control system, and the device comprises:

the sending module is used for issuing formation information aiming at a target vehicle fleet to the target vehicle; the target fleet allows vehicles with different intelligent driving capabilities to join;

the first receiving module is used for receiving first request information returned by the target vehicle and sending the first request information to at least part of vehicles which join the target vehicle fleet; the first request information includes vehicle information of the target vehicle;

the second receiving module is used for receiving decision result information sent by at least part of vehicles;

and the control module is used for controlling the target vehicle to drive into the target vehicle fleet when the decision result information represents that the target vehicle fleet is allowed to be added.

Optionally, the apparatus further comprises:

the screening module is used for judging whether the vehicle information of the target vehicle is matched with a preset matching rule or not after receiving first request information returned by the target vehicle; and when the vehicle information of the target vehicle is matched with the preset matching rule, displaying the vehicle information of the target vehicle on at least part of the vehicles.

Optionally, a control module comprising:

the vehicle position determining submodule is used for determining first position information of each vehicle in the target fleet and second position information of the target vehicle;

the driving position determining submodule is used for determining position information to be driven according to the first position information, the second position information and the vehicle information of the target vehicle;

and the vehicle control module is used for controlling the target vehicle to drive into the target fleet according to the information of the position to be driven into.

Optionally, the apparatus further comprises:

the display module is used for generating the driving-in process information of the target vehicle according to the first position information and the second position information when the target vehicle is controlled to drive into the target vehicle fleet; and displaying the driving-in process information in the vehicles of the target fleet and the target vehicles.

Optionally, the apparatus further comprises:

the quitting module is used for displaying second request information when receiving the second request information submitted by vehicles to be quitted in the target fleet; acquiring current road information, and vehicle information and current driving information of each vehicle in a target fleet; and controlling the vehicles to be exited to exit the target fleet according to the road information, the vehicle information of each vehicle and the current running information.

Optionally, the apparatus further comprises:

the scoring module is used for displaying a scoring interface aiming at the vehicles to be quitted in the vehicles currently remaining in the target fleet;

Optionally, the apparatus further comprises:

and the payment module is used for sending payment information to the vehicle to be quitted, and the payment information is used for requesting the vehicle to be quitted to pay.

The embodiment of the invention also provides a vehicle, which comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein the vehicle control method is realized when the computer program is executed by the processor.

The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to realize the vehicle control method.

The embodiment of the invention has the following advantages:

in the embodiment of the invention, the formation control system can issue formation information aiming at a target vehicle fleet to the target vehicles; the target fleet allows vehicles with different intelligent driving capabilities to join; receiving first request information returned by a target vehicle, and sending the first request information to at least part of vehicles which have joined in a target vehicle fleet; the first request information includes vehicle information of the target vehicle; receiving decision result information sent by at least part of vehicles; and when the decision result information represents that the target vehicle is allowed to join the target vehicle fleet, controlling the target vehicle to drive into the target vehicle fleet. By the embodiment of the invention, vehicles with different intelligent driving capacities can be added into a fleet, so that the utilization rate of roads is efficiently utilized, and energy consumed by the vehicles is efficiently saved.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a flow chart of steps of a method of controlling a vehicle in accordance with an embodiment of the present invention;

FIG. 2 is a flow chart of steps in another vehicle control method of an embodiment of the present invention;

FIG. 3 is a flow chart of steps of yet another vehicle control method of an embodiment of the present invention;

FIG. 4 is a flow chart of a target fleet of vehicles interacting with a target vehicle in accordance with an embodiment of the present invention;

fig. 5 is a block diagram of a vehicle control device according to an embodiment of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, a flow chart showing steps of a vehicle control method according to an embodiment of the present invention is applied to a formation control system, and includes the following steps:

step 101, issuing formation information aiming at a target vehicle fleet to a target vehicle; the target fleet allows vehicles with different intelligent driving capabilities to join;

the formation control system can be a system deployed in a vehicle or a system deployed in a cloud server; the formation control system can realize the control of vehicle composition, vehicle joining, vehicle leaving, etc.

The target fleet may refer to a fleet that has been formed by a plurality of vehicles, and the intelligent driving capabilities of the vehicles in the target fleet may be different or the same; to improve road utilization and save energy consumption, the target fleet may be a fleet that allows different intelligent driving capabilities to be added.

In practical applications, a target fleet may first generate a formation information, which may include information of the target fleet, such as: members of a target fleet, destinations, fleet vehicle number, vehicle information, etc.; the information may be entered by each vehicle in the target fleet or by a leading vehicle in the target fleet before the target fleet is formed, which is not limited in this embodiment of the present invention.

It should be noted that the above information includes modifiable information entered by the driver of the vehicle, as well as non-modifiable information collected directly from the vehicle by the convoy control system; the non-modifiable information may include, for example: vehicle basis information, and the like, which are not limited in this respect. The recording process can be recorded on a central control large screen of the vehicle by a driver, and can also be input by voice; and the input can be performed in modes of network background input, mobile phone input and the like.

After the target fleet generates the formation information, the formation control system can acquire the formation information from the vehicles of the target fleet and forward the formation information to the target vehicles; the target vehicle may be a vehicle within a certain range of the target fleet, or may be a vehicle that does not join the fleet, which is not limited in this embodiment of the present invention.

Of course, if the user of the target fleet no longer needs other vehicles to join the target fleet, an operation may be performed that does not publish formation information; the formation control system will not forward the formation information to the target vehicle in response to the operation not publishing the formation information.

In addition, the driver of the target vehicle can also choose whether to join the motorcade or not; the operation of receiving formation information may be performed if the driver of the target vehicle needs to join the fleet of vehicles, and the operation of not receiving formation information may be performed if the driver of the target vehicle does not need to join the fleet of vehicles.

102, receiving first request information returned by a target vehicle, and sending the first request information to at least part of vehicles which have joined in a target vehicle fleet; the first request information includes vehicle information of the target vehicle;

the first request information is used for requesting the target vehicle to join the target vehicle fleet.

After the target vehicle receives the formation information, the formation information can be displayed to a driver in the target vehicle; the display mode may be display on a large screen of the central control unit, or display through voice broadcast, which is not limited in this embodiment of the present invention.

After the formation information is displayed, a driver in the target vehicle can judge whether to join the target vehicle fleet or not; if the target vehicle fleet is joined, an operation of generating the first request information may be performed to generate vehicle information including the target vehicle; the vehicle information of the target vehicle can be input by a driver of the target vehicle in advance, and the specific input process is similar to the process of inputting information by each vehicle in the target fleet, and is not repeated herein.

In practical applications, the driver of the target vehicle may perform the operation of generating the first request message by a voice command or by clicking a large control screen.

For example: after the target vehicle receives the formation information, the formation information can be broadcasted in a voice mode, and after the formation information is broadcasted, whether the target vehicle joins the fleet or not is output in a voice mode; if the driver of the target vehicle needs to join the target fleet of vehicles, the voice command of joining can be said; the target vehicle may generate first request information in response to the voice instruction.

Also for example: after the target vehicle receives the formation information, the formation information can be displayed on a large central control screen, and a confirmation prompt message of 'whether to join the fleet' is displayed; if the driver of the target vehicle needs to join the target vehicle fleet, the 'joining' control in the prompt information can be clicked and confirmed; the target vehicle may generate the first request information in response to a click operation on the "join" control.

After the target vehicle generates the first request message, the formation control system may obtain the first request message from the target vehicle and forward it to at least some of the vehicles that have joined the target fleet, so that drivers in at least some of the vehicles may decide whether to allow the target vehicle to join the target fleet.

103, receiving decision result information sent by at least part of vehicles;

wherein the decision result information may characterize whether the driver of at least part of the vehicles allows the target vehicle to join the target fleet.

At least part of the vehicles can display the first request information after receiving the first request information; thus, at least a part of the drivers of the vehicles may be aware of the vehicle information of the target vehicle currently requesting to join the target fleet, so that at least a part of the drivers of the vehicles may determine whether to allow the target vehicle to join the target fleet based on the presented vehicle information of the target vehicle.

In practical application, the first request information may be displayed on a large central control screen or may be displayed in a voice broadcast manner, which is not limited in this embodiment of the present invention.

In presenting the first request information, at least some of the vehicles may also present decision information for the target vehicle, such as: may be a voting interface.

After presenting the decision information for the target vehicle, at least part of the drivers of the vehicles may perform operations on the decision information based on the presented vehicle information for the target vehicle, such as: an operation of allowing the target vehicle to join the target fleet is performed with respect to the decision information, or an operation of not allowing the target vehicle to join the target fleet is performed with respect to the decision information.

At least part of the vehicle responds to the operation performed by the user on the decision information, and can generate decision result information, such as: decision result information that allows the target vehicle to join the target fleet or decision result information that does not allow the target vehicle to join the target fleet.

As an example, the decision result information may be determined based on a first number of drivers performing an operation of allowing the target vehicle to join the target fleet for the decision information and a second number of drivers performing an operation of not allowing the target vehicle to join the target fleet for the decision information; for example: when the first number of drivers is higher than the second number of drivers, the decision result information may be that the target vehicle is allowed to join the target fleet, and when the first number of drivers is lower than the second number of drivers, the decision result information may be characterized that the target vehicle is not allowed to join the target fleet.

After generating the decision result information, the formation control system may obtain the decision result information from the vehicles of the target fleet.

And step 104, controlling the target vehicle to drive into the target motorcade when the decision result information represents that the target motorcade is allowed to be added.

Then, the formation control system can identify the result represented by the decision result information; and if the decision result information indicates that the target vehicle is allowed to join the target fleet, the formation control system can control each vehicle in the target fleet and the target vehicle so as to control the target vehicle to drive into the target fleet.

If the decision result information indicates that the target vehicle is not allowed to join the target vehicle fleet, the formation control system may continue to forward request information for joining the target vehicle fleet of another vehicle not in the target vehicle fleet, which is not limited in the embodiment of the present invention.

Referring to fig. 2, a flow chart of steps of another vehicle control method of an embodiment of the present invention is shown, including the steps of:

step 201, issuing formation information aiming at a target vehicle fleet to a target vehicle;

the formation control system can be composed of CV2X (cellular vehicle-To-electric, mobile communication tool) equipment, a vehicle information system and a driving control system.

The CV2X device may be a physical device deployed in a vehicle for communicating with other vehicles using CV2X technology, and the CV2X device may enable communication between different vehicles based on a vehicle network.

A vehicle information system may refer to an integration of one or more systems that accept information from CV2X devices and enable processing, screening, presentation, and interaction of the information; the system can output the information of the human-computer interaction and/or decision result to the driving control system to complete the driving control.

The driving control system can be one or the integration of a plurality of control systems which can directly or indirectly control the running of the vehicle and realize steering, accelerating, decelerating, stopping and the like.

After the target fleet generates the formation information, the CV2X devices of the vehicles in the target fleet may send the formation information to the target vehicle; the target vehicle may be only one vehicle, or may include a plurality of vehicles, which is not limited in this embodiment of the present invention.

In practical applications, the driver of the target fleet may select which, or which, vehicles need to have the formation information sent to (or not sent to); the driver of the target vehicle may also choose which, or which fleet of formation information, to receive (or not to receive). The specific screening rule may be set by the driver of the target fleet and the driver of the target vehicle according to actual requirements, which is not limited in the embodiment of the present invention.

Step 202, receiving first request information returned by a target vehicle, and sending the first request information to at least part of vehicles which have joined in a target vehicle fleet;

the vehicle information of the target vehicle included in the first request information may include any one or more of the following items:

1) vehicle basic information, for example: information such as vehicle type, vehicle length, self weight, old and new, program version update and the like;

2) vehicle performance information, for example: without being limited to information such as maximum speed, theoretical braking distance and the like;

3) vehicle assistance/intelligent driving capability information, such as: automatic driving ability level, auxiliary driving equipment information;

4) vehicle travel information, for example: destination information, demand time information;

5) vehicle history information, for example: evaluating information based on vehicle history such as violations, past trips and formation;

6) driver history information, for example: based on information such as driving age, driving license type, past driving experience, past trip, formation evaluation and the like;

7) formation intention information, for example: the willingness of the vehicle to join the formation is used for determining whether to automatically join the formation, what kind of level formation, whether to join the charging formation, whether to self-form the formation and the like;

8) queuing control information, for example: formation level, formation scale, whether the formation allows access, member arbitration mechanism in the formation, whether new members are allowed, and information interaction mode in the formation;

9) other member information that may be used for formation control, such as: whether to official the vehicle, whether to require forced team formation, whether to provide payment for payment, etc.

The CV2X device of the target vehicle, upon receiving the formation information, may forward to the vehicle information control system; the vehicle information control system may be presented in the target vehicle after receiving the formation information.

After the formation information is displayed, a driver in the target vehicle can judge whether to join the target vehicle fleet or not; if the target vehicle fleet is joined, an operation of generating the first request information may be performed to generate the first request information including vehicle information of the target vehicle.

After the target vehicle generates the first request information, the vehicle information control system of the target vehicle may send the first request information to the CV2X device of the target vehicle and to at least a portion of the vehicles of the target fleet via the CV2X device of the target vehicle.

In an example, in order to avoid that the target vehicle initiates the first request information for a target fleet of vehicles a plurality of times, the first request information initiated by the target vehicle for the target fleet of vehicles may be counted, and when the target vehicle initiates the first request for the target fleet of vehicles exceeding a number threshold within a preset time period, the first request may not be sent to at least some vehicles of the target fleet of vehicles.

In an embodiment of the present invention, when receiving the first request information returned by the target vehicle, the method may further include the following steps:

judging whether the vehicle information of the target vehicle is matched with a preset matching rule or not; and when the vehicle information of the target vehicle is matched with the preset matching rule, displaying the vehicle information of the target vehicle on at least part of the vehicles.

In practical application, a matching rule can be preset by a driver of a vehicle in a target fleet, and the matching rule can be set by the drivers of at least part of vehicles in the target fleet or all the vehicles in the target fleet; specifically, the matching rule may be generated when the target vehicle fleet is formed, or may be set by drivers of at least some vehicles in the target vehicle fleet after the target vehicle fleet is formed. In addition, the matching rule may be modified by the driver of the vehicle in the target fleet after being generated, which is not limited in the embodiment of the present invention.

After obtaining the vehicle information of the target vehicle, the vehicle information system of at least some vehicles of the target fleet may first determine whether the vehicle information of the target vehicle matches the matching rule of the threshold value of the target fleet, so as to screen out vehicles that do not meet the matching rule.

If the vehicle information of the target vehicle matches the matching rule, the vehicle information system may present the vehicle information of the target vehicle; if the vehicle information of the target vehicle does not match the matching rule, the vehicle information system may match the vehicle information of the vehicle requesting the next joining of the target fleet.

In practical applications, the CV2X devices of at least some of the vehicles of the target fleet may receive a plurality of first request messages simultaneously; at this time, the vehicle information control systems of at least some of the vehicles of the target fleet may sequentially present the first request information according to the generation time of the first request information.

Step 203, receiving decision result information sent by at least part of vehicles;

the CV2X device of at least a portion of the vehicle, upon receiving the first request message, may present the first request message via a vehicle information system; thus, at least a part of the drivers of the vehicles may be aware of the vehicle information of the target vehicle currently requesting to join the target fleet, so that at least a part of the drivers of the vehicles may determine whether to allow the target vehicle to join the target fleet based on the presented vehicle information of the target vehicle.

In practical application, the vehicle information system may display the first request information on a large central control screen, or may display the first request information in a voice broadcast manner, which is not limited in this embodiment of the present invention.

In presenting the first request information, the vehicle information system of at least some of the vehicles may also present decision information for the target vehicle, such as: may be a voting interface.

The vehicle information system can generate decision result information in response to the operation performed by the user on the decision information, such as: decision result information that allows the target vehicle to join the target fleet or decision result information that does not allow the target vehicle to join the target fleet.

After generating the decision result information, the vehicle information system may send the decision result information to the CV2X device of at least a portion of the vehicle and to the target vehicle via the CV2X device.

Step 204, when the decision result information represents that the vehicle is allowed to join the target vehicle fleet, determining first position information of each vehicle in the target vehicle fleet and second position information of the target vehicle;

after receiving the decision result information, the CV2X device of the target vehicle may send to the vehicle information system of the target vehicle; then, the vehicle information system may identify the decision result information.

If the decision result information represents that the target vehicle is allowed to be added into the target vehicle fleet, first position information of each vehicle in the target vehicle fleet and second position information of the target vehicle can be acquired; wherein the first location information and the second location information may be obtained in real time.

Specifically, the second location information of the target vehicle may be obtained by a vehicle information system of the target vehicle, and the first location information of each vehicle in the target fleet may be obtained by a vehicle information system of each vehicle in the target fleet.

After the vehicle information system of the target vehicle obtains the second location information, the second location information may be sent to the vehicles of the target fleet via the CV2X device.

In one example, when the decision result information indicates that the target vehicle is allowed to join the target fleet, the vehicle information system of the target fleet may send a confirmation message to the target vehicle, which may be used to confirm whether the target vehicle joins the target fleet.

After the CV2X device of the target vehicle receives the confirmation message, it may send to the vehicle information system of the target vehicle; the vehicle information system may be presented in the target vehicle after receiving the confirmation message.

At this time, if the driver of the target vehicle confirms to join the target vehicle fleet, a confirmation operation may be performed with respect to the confirmation information; the vehicle information system may return confirmation joining information to the target fleet in response to a confirmation operation performed on the confirmation information.

After at least part of vehicles of the target fleet receive the joining confirmation information, the step of determining the first position information and the second position information can be executed; and the target vehicle can return the second position information at the same time when returning the joining confirmation information to the target vehicle fleet.

In practical application, a confirmation time threshold value can be set, when the target vehicle displays the target confirmation information and the confirmation joining information is not returned to the target vehicle fleet after the target vehicle exceeds the confirmation time threshold value, the target vehicle fleet can judge that the target vehicle cancels the joining of the target vehicle fleet; at this point, at least some of the vehicles of the target fleet may again present the first requested information of the next vehicle.

Step 205, determining position information to be driven into according to the first position information, the second position information and the vehicle information of the target vehicle;

after the first position information and the second position information are obtained, the vehicle information system of the vehicle in the target fleet can determine the position information to be driven into, which is suitable for the target vehicle to drive into, according to the first position information, the second position information and the vehicle information of the target vehicle.

Specifically, the position information to be input may be determined based on the first position information, the second position information, and the vehicle information of each vehicle in the target fleet and the information of the target vehicle, and the position information to be driven may also be determined in combination with the speed of each vehicle in the target fleet and the speed of the target vehicle.

And step 206, controlling the target vehicle to drive into the target motorcade according to the information of the position to be driven into.

After determining the to-be-driven location information, the vehicle information system of the vehicles in the target fleet may send the to-be-driven location information to the target vehicle via the CV2X device.

The CV2X device of the target vehicle, upon receiving the to-be-driven location information, may send to the vehicle information system of the target vehicle; after receiving the position information to be driven, the vehicle information system can send a corresponding driving instruction to a driving control system of the target vehicle so as to control the target vehicle to drive into the target vehicle fleet.

In addition, the vehicle information system of each vehicle in the target fleet may also send a corresponding driving instruction to the vehicle control system of each vehicle according to the to-be-driven position information, so as to control each vehicle in the target fleet to leave a position corresponding to the to-be-driven position information, so that the target vehicle can safely drive into the position corresponding to the target position information in the target fleet.

In one example, during the driving process of each vehicle of the target fleet, there may exist a certain vehicle needing to switch positions; at this time, a certain vehicle and other vehicles in the target fleet can perform interaction and information transmission through the CV2X device to determine the position to which the certain vehicle is to be switched; then, based on the position to be switched to, the vehicle information system of each vehicle can send a corresponding instruction to the respective vehicle control system to adjust the respective vehicle speed and adjust the running track, so that a certain vehicle can run into the position to be switched to. In the switching process, the switching process can be displayed in each vehicle of the target fleet in real time.

In an embodiment of the present invention, when the control target vehicle enters the target vehicle fleet, the method may further include the following steps:

generating the driving-in process information of the target vehicle according to the first position information and the second position information; and displaying the driving-in process information in the vehicles of the target fleet and the target vehicles.

In practical applications, in order to enable the driver of each vehicle to know the process of the target vehicle entering the target vehicle fleet, the vehicle information system of the vehicle in the target vehicle fleet may generate the entering process information for the target vehicle according to the first position information and the second position information, and the entering process information may represent the entering process of the target vehicle entering the target vehicle fleet.

Then, the vehicle information system of the vehicle in the target fleet can display the driving-in process information in each vehicle of the target fleet; the information of the driving-in process can be displayed in the forms of animation, pictures, audio and the like.

In addition, the vehicle information system of the vehicle in the target fleet can also transmit the driving-in process information to the target vehicle through the CV2X device; the CV2X device of the target vehicle, upon receiving the entry process information, may transmit to the vehicle information system of the target vehicle.

After receiving the driving-in process information, the vehicle information system of the target vehicle can display the driving-in process information in the target vehicle in the forms of animation, pictures, audio and the like, so that a driver of the target vehicle can know the driving-in process of the target vehicle driving into the target vehicle fleet.

When the driving-in process information is displayed, the number of each vehicle in the target fleet and the number set for the target vehicle can be displayed; the current position of each vehicle can also be displayed, and the embodiment of the invention does not limit the specific display mode and the displayed content.

In one example, after the target vehicle has traveled to the position corresponding to the to-be-driven position information, the vehicle information system of the target vehicle may generate and display a joining completion information; of course, the joining completion information may also be sent to each vehicle in the target fleet to be displayed by the vehicle information system of each vehicle in the target fleet, which is not limited in this embodiment of the present invention.

Of course, when determining whether the target vehicle has driven into the position corresponding to the to-be-driven position information, the information of two vehicles closest to the position in the target vehicle fleet can be combined to determine; when the two vehicles recognize that the target vehicle has driven into the position corresponding to the to-be-driven position information, a joining completion information may be generated and transmitted to the other vehicles of the target fleet, as well as the target vehicle, through the CV2X devices of the two vehicles.

The joining completion information may be displayed only when the vehicles in the target fleet and the target vehicle receive the joining completion information twice, which is not limited in the embodiment of the present invention.

In an example, when a vehicle is about to enter a position corresponding to the to-be-driven position information, prompt information can be generated in two vehicles closest to the position in the target fleet to prompt the two vehicles that the target vehicle is about to drive in.

In the embodiment of the invention, the formation control system can issue formation information aiming at a target vehicle fleet to the target vehicles; receiving first request information returned by a target vehicle, and sending the first request information to at least part of vehicles which have joined in a target vehicle fleet; receiving decision result information sent by at least part of vehicles; when the decision result information represents that the vehicle is allowed to join the target fleet, determining first position information of each vehicle in the target fleet and second position information of the target vehicle; determining position information to be driven in according to the first position information, the second position information and the vehicle information of the target vehicle; and controlling the target vehicle to drive into the target fleet according to the information of the position to be driven into. By the embodiment of the invention, vehicles with different intelligent driving capacities can be added into a fleet, so that the utilization rate of roads is efficiently utilized, and energy consumed by the vehicles is efficiently saved.

And when the vehicle joins the motorcade, the driving-in process is displayed, so that the driver in the motorcade and the driver of the vehicle to be joined in the motorcade can clearly know the driving-in process of the vehicle.

Referring to fig. 3, there is shown a flowchart illustrating steps of still another vehicle control method according to an embodiment of the present invention, including the steps of:

301, issuing formation information aiming at a target vehicle fleet to a target vehicle;

target fleet after generating the formation information, the CV2X devices of the vehicles in the target fleet may send the formation information to the target vehicles.

Step 302, receiving first request information returned by a target vehicle, and sending the first request information to at least part of vehicles which have joined in a target vehicle fleet;

the CV2X device of the target vehicle, upon receiving the formation information, may forward to the vehicle information control system of the target vehicle; the vehicle information control system may be presented in the target vehicle after receiving the formation information.

After the formation information is displayed, a driver in the target vehicle can judge whether to join the target vehicle fleet or not; if the target vehicle fleet is joined, an operation of generating the first request information may be performed to generate vehicle information including the target vehicle.

Step 303, receiving decision result information sent by at least part of vehicles;

Step 304, when the decision result information represents that the vehicle is allowed to join the target vehicle fleet, determining first position information of each vehicle in the target vehicle fleet and second position information of the target vehicle;

Step 305, determining position information to be driven into according to the first position information, the second position information and the vehicle information of the target vehicle;

Step 306, controlling the target vehicle to drive into the target motorcade according to the position information to be driven into;

after determining the to-be-driven location information, the vehicle information system of the vehicles in the target fleet may be transmitted to the target vehicle via the CV2X device.

After receiving the to-be-driven position information, the CV2X device of the target vehicle may send to a vehicle information system; after receiving the position information to be driven, the vehicle information system can send a corresponding driving instruction to a driving control system of the target vehicle so as to control the target vehicle to drive into the target vehicle fleet.

Step 307, when second request information submitted by vehicles to be quitted in the target fleet is received, displaying the second request information;

in practical applications, if a vehicle in the target vehicle fleet reaches the destination, the vehicle may need to exit the target vehicle fleet, and at this time, the driver of the vehicle to be exited may perform an operation of generating the second request information; the second request message may be for requesting that the vehicle to be exited exit the target fleet of vehicles.

Specifically, when the driver of the vehicle to be exited needs to exit the target fleet, the operation of exiting the target fleet may be performed first, for example: voice command to "exit the fleet.

The vehicle information system of the vehicle to be exited may generate the second request information in response to performing the operation of exiting the target fleet of vehicles.

The vehicle information system of the vehicle to be exited may then send the second request message to the vehicles in the target fleet other than the vehicle to be exited via the CV2X device.

After receiving the second request information, the CV2X devices of the vehicles in the target fleet except the vehicle to be exited can send the second request information to the vehicle information systems of the vehicles in the target fleet except the vehicle to be exited; the vehicle information system may, after receiving the second request information, display the second request information in vehicles in the target fleet other than the vehicle to be exited, so that drivers of the vehicles in the target fleet other than the vehicle to be exited may know that there is a vehicle currently exiting the target fleet.

308, acquiring current road information, and vehicle information and current running information of each vehicle in the target fleet;

then, the vehicle information system of each vehicle (which may include a vehicle to be exited) in the target fleet may acquire the currently traveled road information, as well as the vehicle information of each vehicle and the current travel information of each vehicle, such as: and (6) vehicle speed.

Step 309, controlling the vehicle to exit the target fleet according to the road information, the vehicle information of each vehicle and the current running information.

Then, the vehicle to be exited can send the acquired information to the vehicles in the target fleet except the vehicle to be exited; after the CV2X devices of the vehicles in the target fleet except the vehicle to be exited receive the information sent by the vehicle to be exited, the vehicle information system can determine the exiting time and exiting track of the vehicle to be exited from the target fleet by combining the information acquired by the vehicle information system.

Then, the vehicle information system of the vehicles except the vehicle to be exited in the target fleet can send corresponding control instructions to the vehicle control system according to the exiting time and exiting track of the vehicle to be exited leaving the target fleet so as to control the vehicles except the vehicle to be exited in the target fleet and leave the exiting space for the vehicle to be exited.

The method comprises the steps that a vehicle information system of vehicles except vehicles to be quitted in a target fleet sends quit time and quit tracks to the vehicles to be quitted; after receiving the exit opportunity and the exit trajectory, the CV2X device of the vehicle to be exited may send to the vehicle information system; then, the vehicle information system of the vehicle to be exited can issue a corresponding control instruction to the vehicle control system based on the exit timing and the exit track to control the vehicle to be exited to exit the target fleet.

As an example, when the vehicle to be exited leaves the target fleet, the exit process may also be shown in the vehicle to be exited and the vehicles in the target fleet other than the vehicle to be exited; the driving-off process is similar to the driving-in process, and is not described in detail herein.

When the vehicle to be exited leaves the target fleet, the vehicle information systems of the remaining vehicles in the target fleet may recalculate the travel speed, the travel state, and the like of each vehicle, and adjust the remaining vehicles based on the recalculated travel speed, the travel state, and the like.

In an example, when the target vehicle fleet has only two vehicles, the target vehicle fleet may be self-dispersed, which is not limited by the embodiment of the present invention.

In an embodiment of the present invention, for a vehicle to be exited, the following steps may be included:

displaying a scoring interface aiming at the vehicles to be quitted in the vehicles currently remaining in the target fleet; and receiving the grading information submitted in the grading interface and sending the grading information to the vehicle to be quitted.

In practical applications, when a vehicle to be exited exits the target fleet, the drivers of the vehicles remaining in the target fleet may also score the vehicle to be exited.

Specifically, when the vehicle to be exited has driven away, is driving away, or is about to drive away from the target fleet, a scoring interface may be presented in the currently remaining vehicles, such as: the vehicle information systems of the vehicles which are currently left can display a grading interface on the large central control screen.

The remaining vehicles may submit scoring information for the vehicle to be exited in the scoring interface, where the scoring information may refer to a plurality of scoring items (e.g., a scoring of driver friendliness, a scoring of abnormal behavior, a scoring of driving away from the fleet), or may refer to a total scoring, which is not limited in this embodiment of the present invention.

After the vehicle information systems of the remaining vehicles generate the scoring information, the scoring information may be sent to the vehicle to be exited.

After receiving the scoring information, the CV2X device of the vehicle to be exited can send the scoring information to a vehicle information system of the vehicle to be exited for storage; specifically, it may be stored into the vehicle information of the vehicle to be exited.

In another embodiment of the present invention, for a vehicle to be exited, the following steps may be further included:

In practical applications, joining a target fleet may be paid; thus, when a vehicle to be exited exits the target fleet of vehicles, the vehicle information system that governs the generation of the one or more vehicles of the target fleet may send payment information to the vehicle to be exited, which may include the amount of the required payment and a payment link.

The CV2X device of the vehicle to be exited may send the payment information to the vehicle information system of the vehicle to be exited upon receipt of the payment information; the vehicle information system, upon receiving the payment information, may pay the amount of money to be paid in the payment link.

Specifically, after the vehicle information system of the vehicle to be exited receives the payment information, a payment interface can be displayed; the driver of the vehicle to be quitted can pay corresponding amount in the payment interface; certainly, in order to ensure driving safety, the vehicle information system of the vehicle to be exited can automatically perform payment after receiving the payment information, and a payment interface does not need to be displayed.

As shown in fig. 4, the target vehicle may first enter vehicle information, and each vehicle of the target fleet may also have information such as road vehicle information, matching rules, etc.;

after the target vehicle searches and receives the formation information, the first request information can be sent aiming at the target vehicle fleet; after receiving the first request information, the vehicles of the target fleet may filter the first request information, and then make a decision for the filtered first request information to generate decision result information;

when the decision result information represents that the target vehicle is allowed to join the target fleet, confirmation information can be returned to the target vehicle;

for the confirmation information, if the driver of the target vehicle confirms to join the target fleet, the target vehicle can transmit the confirmation joining information back to the target fleet; if the confirmation joining information is not returned after the confirmation time threshold value is exceeded, the target vehicle quits joining the target vehicle fleet due to time-out;

after the target vehicle fleet is confirmed to be added, the target vehicle enters a position corresponding to the position information to be driven; correspondingly, the position of the vehicle in the target fleet is adjusted according to the position information to be driven in, so that the position corresponding to the position information to be driven in is reserved; the process of entering the target vehicle and the process of adjusting the position of the vehicles in the target fleet are dynamically adjusted.

After the target vehicle drives into the position corresponding to the position information to be driven, the target vehicle and the vehicles in the target fleet complete formation adjustment;

when the formation adjustment is completed, the formation information may be updated based on the joined target vehicles.

Additionally, a second request message may be initiated when a target vehicle (which will subsequently leave the fleet as a vehicle to exit) is expected to leave the target fleet;

at this time, a comment interface aiming at the vehicle to be exited can be displayed in the currently remaining vehicles in the target fleet; after the scoring information is generated, the scoring information may be sent to the vehicle to be exited. Correspondingly, the vehicles to be quitted can also generate scoring information aiming at the target fleet;

meanwhile, one or more vehicles leading to generate the target fleet can send payment information to the vehicle to be quitted, and the vehicle to be quitted can complete payment based on the payment information; correspondingly, the vehicles to be quitted can also send payment information to the target fleet, and the vehicles currently remaining in the target fleet can complete payment based on the payment information.

When the vehicles to be exited completely exit the target fleet, the target fleet can calculate and adjust the positions of the currently remaining vehicles again and update the formation information;

the vehicle information can be updated again after the vehicle to be exited leaves the target fleet;

when the target fleet is dismissed, the vehicle information for all vehicles at the time of dismissal may be updated.

In the embodiment of the invention, the formation control system can issue formation information aiming at a target vehicle fleet to the target vehicles; receiving first request information returned by a target vehicle, and sending the first request information to at least part of vehicles which have joined in a target vehicle fleet; receiving decision result information sent by at least part of vehicles; when the decision result information represents that the vehicle is allowed to join the target fleet, determining first position information of each vehicle in the target fleet and second position information of the target vehicle; determining position information to be driven in according to the first position information, the second position information and the vehicle information of the target vehicle; controlling the target vehicle to drive into the target vehicle fleet according to the information of the position to be driven into; when second request information submitted by vehicles to be quitted in the target fleet is received, the second request information is displayed; acquiring current road information, and vehicle information and current driving information of each vehicle in a target fleet; and controlling the vehicles to be exited to exit the target fleet according to the road information, the vehicle information of each vehicle and the current running information. By the embodiment of the invention, each vehicle in the fleet is controlled when the vehicle needs to exit the fleet, so that the vehicle can safely exit the current fleet.

And when quitting, provide score interface and payment information, richened the function of vehicle team, satisfied different user demands.

It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.

Referring to fig. 5, a schematic structural diagram of a vehicle control device according to an embodiment of the present invention is shown, and the vehicle control device is applied to a formation control system, and includes the following modules:

a sending module 501, configured to issue formation information for a target vehicle fleet to a target vehicle; the target fleet allows vehicles with different intelligent driving capabilities to join;

the first receiving module 502 is configured to receive first request information returned by a target vehicle, and send the first request information to at least some vehicles joining a target fleet; the first request information includes vehicle information of the target vehicle;

a second receiving module 503, configured to receive decision result information sent by at least part of vehicles;

and the control module 504 is configured to control the target vehicle to drive into the target vehicle fleet when the decision result information indicates that the joining into the target vehicle fleet is allowed.

In an optional embodiment of the invention, the apparatus further comprises:

In an alternative embodiment of the present invention, the control module 504 includes:

In an optional embodiment of the invention, the apparatus further comprises:

For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

The above detailed description is provided for a vehicle control method and apparatus, a vehicle and a storage medium, and the present invention is described in terms of specific embodiments, and the description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A vehicle control method, applied to a formation control system, the method comprising:

issuing formation information for a target vehicle fleet to a target vehicle; wherein the target fleet allows vehicles of different intelligent driving capabilities to join;

receiving first request information returned by the target vehicle, and sending the first request information to at least part of vehicles which have joined the target vehicle fleet; the first request information includes vehicle information of the target vehicle;

receiving decision result information sent by at least part of vehicles;

2. The method of claim 1, wherein upon receiving a first request message returned by the target vehicle, the method further comprises:

and when the vehicle information of the target vehicle is matched with the preset matching rule, displaying the vehicle information of the target vehicle on at least part of vehicles.

3. The method of claim 1, wherein said controlling said target vehicle to enter said target fleet comprises:

determining first position information of each vehicle in the target fleet and second position information of the target vehicle;

determining position information to be driven into according to the first position information, the second position information and the vehicle information of the target vehicle;

and controlling the target vehicle to drive into the target motorcade according to the information of the position to be driven into.

4. The method of claim 3, wherein in controlling the target vehicle to enter the target fleet, the method further comprises:

5. The method of claim 1, further comprising:

when second request information submitted by vehicles to be quitted in the target fleet is received, displaying the second request information;

acquiring current road information, and vehicle information and current driving information of each vehicle in the target fleet;

and controlling the vehicles to exit from the target fleet according to the road information, the vehicle information of each vehicle and the current running information.

6. The method of claim 5, further comprising:

displaying a scoring interface aiming at the vehicle to be exited in the vehicles currently remaining in the target fleet;

and receiving the scoring information submitted in the scoring interface, and sending the scoring information to the vehicle to be quitted.

7. The method of claim 5, further comprising:

8. A vehicle control apparatus, characterized by being applied to a formation control system, the apparatus comprising:

the sending module is used for issuing formation information aiming at a target vehicle fleet to the target vehicle; wherein the target fleet allows vehicles of different intelligent driving capabilities to join;

9. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing a vehicle control method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, implements a vehicle control method according to any one of claims 1 to 7.