CN114911236A

CN114911236A - Vehicle formation method, device, equipment and storage medium

Info

Publication number: CN114911236A
Application number: CN202210548901.9A
Authority: CN
Inventors: 孙雁宇; 王超; 王里
Original assignee: Beijing Zhuxian Technology Co Ltd
Current assignee: Beijing Zhuxian Technology Co Ltd
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2022-08-16

Abstract

The embodiment of the application provides a vehicle formation method, a device, equipment and a storage medium, and the method can be applied to business scenes such as ports, mines, airports, ports, road freight, city delivery and the like. The method comprises the following steps: determining a first vehicle and a second vehicle within a set distance range, wherein at least one of the second vehicles is provided; acquiring a first secret key of a first vehicle and a second secret key of a second vehicle, wherein the first secret key is generated in real time based on the path planning information of the first vehicle, and the second secret key is generated in real time based on the path planning information of the second vehicle; and if the first key and the second key meet the set matching requirement, the first vehicle and the second vehicle are compiled into the same motorcade. According to the embodiment of the application, whether the first vehicle and the second vehicle can be compiled into the same motorcade or not is accurately identified, so that the safety and the reliability of vehicle formation are improved.

Description

Vehicle formation method, device, equipment and storage medium

Technical Field

The embodiment of the application relates to the technical field of automatic driving, in particular to a vehicle formation method, device, equipment and storage medium.

Background

With the generation of diversified traffic demands, the automatic driving technology is gradually more widely applied. The cooperative automatic driving fleet refers to a formation state that a plurality of vehicles follow a running vehicle with a very small vehicle distance based on the support of an automatic driving technology and an internet of vehicles technology, and generally, the formation of the cooperative automatic driving fleet has no clear requirement, so that the safety and the reliability of the formed cooperative automatic driving fleet are insufficient.

Disclosure of Invention

The embodiment of the application provides a vehicle formation method, a device, equipment and a storage medium, which can accurately identify whether a first vehicle and at least one second vehicle can form a vehicle formation, so that the safety and reliability of the vehicle formation are improved.

In a first aspect, an embodiment of the present application provides a vehicle formation method, where the vehicle formation method includes:

determining a first vehicle and a second vehicle within a set distance range, wherein at least one of the second vehicles is provided;

acquiring a first secret key of a first vehicle and a second secret key of a second vehicle, wherein the first secret key is generated based on the path planning information of the first vehicle, and the second secret key is generated based on the path planning information of the second vehicle;

and if the first key and the second key meet the set matching requirement, the first vehicle and the second vehicle are compiled into the same fleet.

Therefore, whether the first vehicle and the second vehicle can be compiled into the same fleet is determined by respectively generating a first key corresponding to the first vehicle and a second key corresponding to the second vehicle, and further based on the matching relation of the keys, so that the first vehicle and the second vehicle which are compiled into the same fleet both use the same mechanism to generate the keys, and further the safety of communication between the vehicles of the same fleet is ensured; the key is generated based on the path planning information, so that vehicles in the same fleet can travel together in a certain distance, the vehicles are prevented from being fast separated after being coded into the fleet, the vehicles in the fleet are frequently changed in the traveling process, and the traveling efficiency of the vehicle formation on the automatic driving vehicles and the road utilization efficiency are effectively improved.

Optionally, determining a first vehicle to join the fleet of vehicles, comprising: in response to the received application information of the formation application, determining that the vehicles corresponding to the application information are respectively first vehicles, and determining that the vehicles within a set distance range from the first vehicles are second vehicles; or in response to receiving application information of at least two formation applications, determining that vehicles corresponding to the application information are a first vehicle and a second vehicle respectively; or, in response to the vehicle position information received by the server, determining that the vehicles located within a set distance of the vehicle position information are respectively a first vehicle and a second vehicle; or in response to the vehicle interconnection information received by the first vehicle, determining that the vehicle corresponding to the vehicle interconnection information and located within the set distance from the first vehicle is the second vehicle.

It can be seen that a formation application can be actively initiated by a first vehicle to create a vehicle formation, and vehicles around the first vehicle are determined as corresponding second vehicles, or a plurality of vehicles initiating the formation application are respectively determined as the first vehicle and the second vehicle; the positions of the vehicles can be automatically determined by combining the cloud server, and the vehicles can be determined by vehicle communication among a plurality of vehicles, so that the condition that the vehicles which can be grouped into a team are not taken into consideration when the vehicles are determined in a single mode is avoided, and the flexibility and the efficiency of vehicle formation are improved.

Optionally, the first key and the second key are obtained by: acquiring path planning information of a vehicle, wherein the path planning information comprises at least one destination of a path in the running of the vehicle; generating a corresponding set of locations based on the at least one destination; and generating a key corresponding to the vehicle based on the sequence of the position set, wherein the key corresponding to the vehicle comprises the first key and/or the second key.

It can be seen that the key is generated by a plurality of destinations, the longer the key is, the higher the security of matching the key with the vehicle is, and meanwhile, the more the same destinations included in the first key and the second key are, the longer the distance that the first vehicle and the second vehicle organized into the same fleet can travel together is, thereby improving the traveling efficiency of the first vehicle.

Optionally, the first key and the second key are obtained by: acquiring path planning information of a vehicle, wherein the path planning information comprises at least one destination of a meeting way in the running of the vehicle; generating a corresponding set of locations based on the at least one destination; and generating a key corresponding to the vehicle based on the residence time and the sequence of the position set of the vehicle at each destination point, wherein the key corresponding to the vehicle comprises the first key and/or the second key.

Therefore, the information content contained in the key is improved by combining the destination and the time of the vehicle staying at each destination, so that the vehicles in the same fleet can run together in terms of travel and time, and the condition that the vehicles with the same travel but different times are compiled into the same fleet is avoided, so that the running efficiency of each vehicle is influenced; the driving efficiency of each vehicle is improved while the smooth formation of the vehicles is ensured.

Optionally, in a case that the first key and the second key meet the set matching requirement, the compiling the first vehicle and the second vehicle into the same fleet includes: determining that overlapped path planning information exists in the path planning information for generating the first key and the second key, wherein the overlapped path planning information comprises the same destination information; and if the overlapped path planning information comprises the path planning information at the next moment, the first vehicle and the second vehicle are compiled into the same fleet.

Therefore, the overlapping path planning information exists in the first key and the second key, so that the vehicles in the same vehicle formation can be ensured to be in the same line in the corresponding travel of the overlapping path planning information, and if the overlapping path planning information does not exist in the first key and the second key, namely the first vehicle and the second vehicle do not have the same destination, the vehicle formation can be quickly dispersed even after the first vehicle and the second vehicle are formed into the same vehicle formation; the path planning information can be according to the travel change of the vehicle, the path planning information at the next moment is the path planning information based on which the vehicle runs at the next moment, if the overlapped path planning information of the first vehicle and the second vehicle comprises the path planning information at the next moment, the first vehicle and the second vehicle are compiled into the same fleet at the current moment, and the first vehicle and the second vehicle can run together in the overlapped path planning information at the next moment, so that the stability of vehicle formation is ensured, and frequent change caused by quick decomposition after the fleet formation is avoided, and the running efficiency of the fleet is influenced.

Optionally, the method further comprises: and when the path planning information corresponding to the first key contains all the contents of the path planning information corresponding to the second key, setting the first vehicle as a pilot vehicle.

Therefore, by comparing the keys of the first vehicle and the second vehicle, the first vehicle which has longer path planning information and comprises other vehicles is used as the pilot vehicle, so that which vehicle is used as the pilot vehicle is quickly determined, the formation efficiency and the running efficiency of the same fleet are improved, the stability of the fleet in running is ensured, when the pilot vehicle reaches a destination, the fleet continues to run by adjusting the state with the following vehicle, the running efficiency is reduced, extra operation is performed, and the running efficiency is reduced.

Optionally, when there are at least two second vehicles, the method further includes: and determining the corresponding vehicle with the maximum sum of the lengths as a pilot vehicle based on the sum of the lengths of the overlapped path planning information of any one key and each other key, wherein the length of the overlapped path planning information comprises the sum of the distances between the same destinations.

Therefore, when at least three vehicles need to be formed, the corresponding vehicle is automatically set as a pilot vehicle when the set judgment condition is met, and therefore vehicle forming efficiency and stability of a fleet in driving are improved.

In a second aspect, an embodiment of the present application provides a vehicle formation device, including:

the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining a first vehicle and a second vehicle which are within a set distance range, and at least one of the second vehicles is provided;

an obtaining module, configured to obtain a first key of a first vehicle and a second key of a second vehicle, where the first key is generated based on path planning information of the first vehicle, and the second key is generated based on path planning information of the second vehicle;

and the processing module is used for compiling the first vehicle and the second vehicle into the same fleet under the condition that the first key and the second key meet the set matching requirement.

Optionally, the determining module is specifically configured to, in response to receiving application information of the formation application, determine that vehicles corresponding to the application information are first vehicles respectively, and determine that a vehicle within a set distance range from the first vehicle is a second vehicle; or in response to receiving application information of at least two formation applications, determining that vehicles corresponding to the application information are a first vehicle and a second vehicle respectively; or, in response to the vehicle position information received by the server, determining that the vehicles located within a set distance of the vehicle position information are respectively a first vehicle and a second vehicle; or in response to the vehicle interconnection information received by the first vehicle, determining that the vehicle corresponding to the vehicle interconnection information and located within the set distance from the first vehicle is the second vehicle.

Optionally, the obtaining module is specifically configured to obtain the first key and the second key respectively by: acquiring path planning information of a vehicle, wherein the path planning information comprises at least one destination of a path in which the vehicle runs; generating a corresponding set of locations based on the at least one destination; and generating a key corresponding to the vehicle based on the sequence of the position set, wherein the key corresponding to the vehicle comprises the first key and/or the second key.

Optionally, the obtaining module is specifically configured to obtain the first key and the second key respectively by: acquiring path planning information of a vehicle, wherein the path planning information comprises at least one destination of a meeting way in the running process of the vehicle; generating a corresponding set of locations based on the at least one destination; and generating a key corresponding to the vehicle based on the residence time and the sequence of the position set of the vehicle at each destination point, wherein the key corresponding to the vehicle comprises the first key and/or the second key.

Optionally, the processing module is specifically configured to determine that there is overlapping path planning information in the path planning information for generating the first key and the second key, where the overlapping path planning information includes the same destination information; and if the overlapped path planning information comprises the path planning information at the next moment, the first vehicle and the second vehicle are compiled into the same fleet.

Optionally, the processing module is further configured to set the first vehicle as a lead vehicle when the path planning information corresponding to the first key includes all contents of the path planning information corresponding to the second key.

Optionally, the processing module is further configured to, when there are at least two second vehicles, determine, based on a sum of lengths of the overlapped path planning information of any one key and each of the other keys, that the corresponding vehicle with the largest sum of lengths is a lead vehicle, where the length of the overlapped path planning information includes a sum of distances between the same destinations.

In a third aspect, an embodiment of the present application further provides an electronic device, where the electronic device includes:

at least one processor;

and a memory communicatively coupled to the at least one processor;

the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to cause the electronic device to perform a vehicle formation method corresponding to any one of the first aspect of the embodiments of the present application.

In a fourth aspect, the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the method for queuing vehicles according to any one of the first aspect of the present application is implemented.

In a fifth aspect, the present disclosure also provides a computer program product comprising computer executable instructions for implementing the vehicle convoy method according to any embodiment corresponding to the first aspect of the present disclosure when executed by a processor.

Drawings

Fig. 1 is an application scenario diagram of a vehicle formation method according to an embodiment of the present application;

FIG. 2 is a flow chart of a vehicle formation method according to an embodiment of the present disclosure;

FIG. 3a is a flow chart of a vehicle formation method according to another embodiment of the present application;

fig. 3b is a flowchart of obtaining a first key and/or a second key based on path planning information according to another embodiment of the present application;

FIG. 4 is a flow chart of a vehicle formation method according to another embodiment of the present application;

fig. 5 is a schematic structural diagram of a vehicle formation device according to another embodiment of the present application;

fig. 6 is a schematic structural diagram of an electronic device according to yet another embodiment of the present application.

Detailed Description

When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are merely examples of apparatus and methods consistent with certain aspects of the embodiments of the present application, as detailed in the appended claims.

These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

In the cooperative automatic driving, based on the support of an automatic driving technology and a vehicle networking technology, a formation state of driving is followed by a very small vehicle distance, and at the moment, a pilot vehicle can be driven by an automatic driving system or manually controlled by a driver; the following vehicle can control the automatic driving state of the following vehicle according to the driving parameters based on the front vehicle and/or the pilot vehicle and the lane lines on the two sides of the following vehicle at the same time so as to ensure the safe driving of the following vehicle in the autonomous following process. When the following vehicle runs along with the pilot vehicle, the following vehicle has small distance and can greatly reduce the air resistance of the following vehicle in a fleet when the following vehicle runs at a high speed on the basis of aerodynamics, so that the good energy-saving and emission-reducing effects are achieved, the longer the steady-state running process of the fleet is, the longer the distance between the vehicles in the fleet is reduced, the road capacity can be improved, and the road safety can be improved.

In the related art, when vehicle formation is established, a controller is required to exist on vehicles, and the controller checks manually to judge whether vehicle formation can be established, so that the accuracy of the judgment mode is insufficient, and the safety and reliability of a fleet are affected.

In order to solve the above problem, an embodiment of the present application provides a vehicle formation method, which generates a first key and a second key in real time based on path planning information of a first vehicle and a second vehicle within a set distance range, and then determines whether the first vehicle and the second vehicle can be formed into a same vehicle fleet through comparison between the first key and the second key, thereby implementing automatic determination of whether vehicle formation can be established, and simultaneously ensuring safety and reliability of the established vehicle fleet.

The following explains an application scenario of the embodiment of the present application:

fig. 1 is an application scenario diagram of a vehicle formation method according to an embodiment of the present application. As shown in fig. 1, in the process of driving a fleet of vehicles, a first vehicle 100 sends application information for establishing a fleet of vehicles to a cloud server, and the cloud server automatically determines that the first vehicle 100 and a second vehicle 110 are organized into the same fleet of vehicles after checking that a first key of the first vehicle 100 and a second key of the second vehicle 110 within a set distance range from the first vehicle 100 meet a matching requirement, thereby completing a fleet of vehicles.

It should be noted that, in the scenario shown in fig. 1, only one first vehicle and one second vehicle are illustrated as an example, but the embodiment of the present application is not limited thereto, that is, the number of the first vehicle and the second vehicle may be any.

The vehicle formation method provided by the embodiment of the application is explained in detail through specific embodiments. It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Fig. 2 is a flowchart of a vehicle formation method according to an embodiment of the present application. As shown in fig. 2, the method comprises the following steps:

step S201, determining a first vehicle and a second vehicle within a set distance range.

Wherein at least one of the second vehicles is provided.

Specifically, the first vehicle and the second vehicle may be unmanned vehicles based on an automatic driving technique, or may be manned vehicles including an automatic driving technique. The first vehicle and the second vehicle may be of the type of a van, a passenger car or a car.

Generally, the first vehicle and the second vehicle are of the same type (for example, both trucks), and if the first vehicle and the second vehicle are of different types (for example, the first vehicle is a sedan and the second vehicle is a passenger car), although a further judgment on whether the formation can be performed or not can be made, the matching requirement of the formation cannot be met usually.

The first vehicle may also be of a different type than the second vehicle (e.g., the first vehicle is a six-wheel truck and the second vehicle is a four-wheel truck), and at this time, further determination is required as to whether the first vehicle and the second vehicle can be grouped into the same fleet (e.g., determination in conjunction with road conditions, route planning information, etc.).

The first vehicle and the second vehicle have independent path planning information, the path planning information is predetermined running path information when the vehicles start, and usually comprises at least one destination to be reached, so that each vehicle can sequentially reach the destination during running.

The confirmation that the first vehicle can be judged by the first vehicle sending an application for initiating vehicle formation to the cloud server or the control equipment of the vehicle fleet, or the judgment of whether the cloud server actively judges the first vehicle is around.

Further, when there are at least two second vehicles, the set distance range may be a straight distance range centered on the first vehicle and positioned on the basis of a high-precision map or satellite with respect to each second vehicle or a distance traveled by the vehicle (e.g., a road mileage set on the basis of a map); or, the vehicles within a radius range of a set length adjacent to the first vehicle (the vehicle initiating the formation request) may be the second vehicles (the vehicles not initiating the formation request), so that more vehicles can be formed into the fleet, and the first vehicle may not be used as the center.

Step S202, a first secret key of the first vehicle and a second secret key of the second vehicle are obtained.

The first secret key is generated in real time based on the path planning information of the first vehicle, and the second secret key is generated in real time based on the path planning information of the second vehicle.

Specifically, the key of the vehicle is generated based on the path planning information, and the specific generation method may combine the driving path information in the path planning information with the encryption algorithm to obtain the corresponding key. The vehicles which can be coded into the same fleet can adopt the same encryption algorithm or adopt encryption algorithms which can be mutually identified. If cars of different models are grouped into the same fleet, the cars generate corresponding keys based on the SHA1 algorithm, and if the second key of a second vehicle does not adopt the SHA1 algorithm (but adopts another unrecognizable algorithm), the second vehicle and the first vehicle can be directly considered as being not grouped into the same fleet.

Therefore, when the first vehicle and the at least one second vehicle can not be compiled into the same motorcade, the vehicles which can not be compiled into the same motorcade can be excluded in advance through an encryption algorithm, and the safety of the motorcade is further improved; meanwhile, the path planning information is encrypted, so that potential safety hazards caused by leakage of the path planning information are avoided.

In some embodiments, the key of the vehicle may be generated based on the path planning information when the vehicle departs, or may be dynamically generated based on the real-time position and path planning information when a formation request (for example, a first vehicle initiates a formation application) or a formation condition (for example, a cloud server automatically determines vehicles that can be formed into the same fleet) is triggered during the driving process.

Illustratively, the key of a vehicle is {1,3,5} (where the encrypted state is not used for convenience of understanding), the destination in the corresponding path planning information is { a1, A3, a5}, when the vehicle receives a formation request during the traveling process, the vehicle has already passed through the destination a1, the key may also be changed to {3,5}, and the corresponding destination is { A3, a5}, the key is a result dynamically generated based on the current real-time location and the path planning information.

Further, the first key and the second key are independent of each other and are independently generated by the control device of the corresponding vehicle or by an encryption algorithm generated by the cloud server based on the keys.

Further, the action of acquiring the first key and the second key may be that the vehicle control device acquires from a cloud server (at this time, the key is generated by the cloud server, and the matching calculation is completed by the vehicle control device), or the cloud server acquires from the vehicle control device (at this time, the key is generated by the vehicle control device, and the matching calculation is completed by the cloud server), or a computing module in the cloud server acquires from a storage module in the cloud server (at this time, both the generation of the key and the matching calculation are completed by the cloud server).

The acquisition action is automatically performed when the vehicle control device or the cloud server triggers the corresponding recognition condition.

And step S203, if the first key and the second key meet the set matching requirement, the first vehicle and the second vehicle are compiled into the same vehicle fleet.

Specifically, the set matching requirement may be that the same character set for the first key and the second key or the corresponding route planning information includes a set amount of the same location (including an intermediate point and/or a destination), and the same character is located at the front stage of the key or the same location is located at the front stage of the route planning information.

Illustratively, if the destinations in the path planning information contained in the first key and the second key are { a1, A3, a5, a6} and { A3, a5}, respectively, although there are two destinations that are the same as the two destinations, namely A3 and a5, and the set matching requirement is at least two same intermediate points and/or destinations, but the same point is not located at the front section of the key, then the first key and the second key do not meet the set matching requirement; if another key exists, which is { A1, A3}, then the key and the first key satisfy the matching requirement.

In some embodiments, the set matching requirement may also be that the path planning information corresponding to the first key and the second key requires a common driving distance with a set length, only two intermediate points { m6, m7} in the first key and the second key are the same, but the distance between the two intermediate points is 50km, and the set matching requirement is a common driving distance of at least 20km, where the first key and the second key meet the set matching requirement.

Further, the first vehicle and the second vehicle are organized into the same fleet, and the cloud server may issue the notification information to the first vehicle and the second vehicle respectively, so that the first vehicle and the second vehicle adjust the speed and the position respectively, and the operation of organizing into the same fleet is completed.

The control device of the second vehicle may communicate with the control device of the first vehicle, and the control device of the second vehicle may perform an operation of adjusting the vehicle speed and the position of each other and organizing the first vehicle and the second vehicle into the same vehicle group.

According to the vehicle formation method provided by the embodiment of the application, whether the first vehicle and the second vehicle can be formed into the same vehicle fleet is determined by respectively generating the first key corresponding to the first vehicle and the second key corresponding to the second vehicle and further based on the matching relation of the keys, so that the first vehicle and the second vehicle which are formed into the same vehicle fleet both use the same mechanism to generate the keys, and the safety of the same communication between the vehicles of the same vehicle fleet is ensured; by generating the key based on the path planning information, vehicles in the same fleet can travel together in a certain distance, the phenomenon that the vehicles are quickly separated after being coded into the fleet and frequently changed in the traveling process of the vehicles in the fleet is avoided, and the effect of improving the traveling efficiency and road utilization efficiency of the vehicle formation on the automatic driving vehicles is effectively achieved.

Fig. 3a is a flowchart of a vehicle formation method according to an embodiment of the present application. As shown in fig. 3a, the vehicle formation method provided by the embodiment includes the following steps:

step S301, in response to receiving the application information of the formation application, determining that the vehicles corresponding to the application information are first vehicles respectively, and determining that the vehicles within a set distance range from the first vehicles are second vehicles.

Specifically, before the formation of the combined vehicles of the first vehicle and the second vehicle is established, the first vehicle and the second vehicle do not belong to any vehicle formation, and when the first vehicle and the second vehicle are formed into the same vehicle formation, the first vehicle and the second vehicle may not start at respective starting points, may wait to start at the same starting points, or may partially start/partially do not start, or may both start on the road, so that it is necessary to first determine the first vehicle and the second vehicle, which may be formed and can be formed into the vehicles of the same vehicle formation.

Further, the first vehicle and the second vehicle have a plurality of confirmation modes. In the actual scene of difference, combine through multiple affirmation mode, can in time discover can compile the first vehicle and the second vehicle of same motorcade, avoid omitting to improve the overall form efficiency of automatic driving vehicle, reduce the occupation to the lane, improve the road efficiency of passing.

In one of the confirmation manners, the non-formation automatic driving vehicle may actively send application information for forming (i.e., formation application information) to a nearby or cloud server (via a bluetooth or WiFi wireless network, etc.), for example, a corresponding rule is configured in a control device of the automatic driving vehicle, and a request for forming the vehicle (i.e., formation application information) is sent to the outside at a timing (e.g., every 5 minutes) immediately before departure and when the non-formation automatic driving vehicle is not formed yet, and when another non-formation automatic driving vehicle capable of receiving the formation application information exists nearby the non-formation automatic driving vehicle (or the cloud server determines that another vehicle exists nearby the vehicle sending the formation application information and forwards the formation application information to the other vehicles), that the vehicle sending the formation application information is automatically the first vehicle by identifying and confirming the formation application information, the formation application information will be received.

Therefore, even in an area (such as a starting point of a mountain area) where the cloud server cannot work well, vehicles at each starting place can be conveniently and quickly formed into a formation; the automatic driving vehicles which are not formed into a team automatically send information to the outside so as to conveniently establish the team, but not limited to be only formed into the team with the vehicles at fixed places, and simultaneously, the automatic driving vehicles can drive in the state of vehicle formation when starting, so that the formation efficiency is improved, and the driving efficiency is increased.

Further, the application information may include information of the first vehicle, such as a key, configuration information (e.g., vehicle type, vehicle configuration), real-time location, path planning information (which may also be included in the key), and the like.

Step S302, in response to the fact that the application information of at least two formation applications is received, the vehicles corresponding to the application information are determined to be a first vehicle and a second vehicle respectively.

Specifically, in another way of confirming the first vehicle, a plurality of non-formation automatic driving vehicles all communicate with the cloud server in real time and respectively issue formation applications, and therefore the cloud server can respectively set the vehicles issuing the formation applications as the first vehicle and the second vehicle according to the real-time positions of the vehicles based on the sending of the formation applications.

Therefore, when a plurality of automatic driving vehicles which are not formed into a formation need to establish a fleet at the time of departure, formation applications are respectively sent out, and the vehicles which send out the formation applications are incorporated into the same or a small number of fleets, so that the phenomenon that one fleet is established every time one formation application is made is avoided, the number of fleets is excessive, and the actual vehicle formation efficiency and the driving efficiency are low.

And step S303, in response to the vehicle position information received by the server, determining that the vehicles within the set distance of the vehicle position information are respectively a first vehicle and a second vehicle.

Specifically, in another way of confirming the first vehicle, the cloud server may receive a real-time location (i.e., vehicle location information) uploaded by the non-formation autonomous vehicles in real time, and determine that the distance between the non-formation autonomous vehicles issuing the formation application is within a set range (e.g., 2km, 3km, or longer), based on the real-time location, and notify both sides, so that the non-formation autonomous vehicles at different locations can form the same fleet, thereby improving the processing efficiency.

Therefore, when a plurality of automatic driving vehicles which are not formed into a formation need to depart in a complex environment where data communication is difficult to carry out among the automatic driving vehicles so as to send application information, such as a curved road with a road in a mountain area or different stations of a city, corresponding positions among the vehicles can be confirmed mutually so as to establish a formation of the vehicles, and the automatic driving vehicles can keep the formation state of the formation of the vehicles as much as possible, so that energy is saved through the formation, and the driving efficiency is improved.

And S304, in response to the vehicle interconnection information received by the first vehicle, determining that the vehicle corresponding to the vehicle interconnection information and located within the set distance from the first vehicle is the second vehicle.

Specifically, in another way of confirming the first Vehicle, communication connection (i.e., Vehicle interconnection information) between a plurality of unarranged autonomous vehicles may be directly realized by a Vehicle-to-Vehicle communication technology (hereinafter, referred to as "Vehicle-to-Vehicle" or "V2V") without passing through a cloud server, and after respective real-time positions are obtained by V2V communication, the distance between the unarranged autonomous vehicles may be determined, and the unarranged autonomous vehicles which are located within a set distance range and are performing V2V communication may be determined as the first Vehicle and the second Vehicle, respectively.

Therefore, when the number of the automatic driving vehicles which are not formed is large, the automatic driving vehicles which are not formed can be conveniently and actively searched by the motorcade, and the road utilization efficiency is improved by combining the automatic driving vehicles which are not formed into a small number of motorcades.

Steps S301 to S304 are optional steps in parallel, and one or more of the optional steps may be selected by those skilled in the art according to actual situations.

Step S305, a first key of the first vehicle and a second key of the second vehicle are obtained.

Specifically, the obtaining manner may be different according to different information contained in the first key and the second key.

Further, as shown in fig. 3b, it is a flowchart for obtaining the first key and/or the second key based on the path planning information, where the first key and the second key are obtained by the following methods, respectively:

and S3051, acquiring path planning information of the vehicle.

The path planning information comprises at least one destination of a meeting way in the running process of the vehicle.

Specifically, the route planning information may go from three routes a1, a2 and a3 except the destination to which the traveling vehicle may arrive, for example, a vehicle needs to arrive at point a, and different roads may be selected to travel at different times according to different road conditions of the three routes.

Furthermore, the route planning information does not usually include a specific route which is common in the prior art, such as a route which runs straight 500m along a certain road, and a plurality of destinations are used for replacement, so that the method can adapt to the complex road actual situation, and the matching range of the vehicles when the route planning information is matched with each other is improved.

In some embodiments, the route planning information may include, in addition to the destination, a time limit requirement and a stop time requirement for the route to the destination, such as reaching the destination within 72 hours or stopping at the destination for 6 hours. Therefore, whether the non-formation automatic driving vehicles are matched or not can be better determined, and whether vehicle formation can be established or not can be better determined.

Step S3052, generating a corresponding position set based on at least one destination.

Specifically, a location set is a set that includes a large number of points. The points in the location set may be all destinations in the route planning information, or may be a set of destinations that are not currently reached in the route planning information (in this case, the location set is a set of points based on the real-time location and the route planning information).

Step S3053, a key corresponding to the vehicle is generated based on the order of the position sets.

The key corresponding to the vehicle comprises a first key and/or a second key.

Specifically, the order of the position set corresponding to the vehicle, that is, the order in which the vehicle passes through each point in the position set, is usually represented by the arrangement order of each destination in the position set, and is determined by the route planning information. The corresponding location sets of different autonomous vehicles may include the same destination but pass through the same destination in different orders, for example, the vehicle 1 and the vehicle 2 pass through three points ABC, the passing order of the vehicle 1 is A, B, C, the passing order of the vehicle 2 is A, C, B, and the corresponding location sets are different, and the key generated based on the passing order of the vehicle through the location sets is also different.

And generating a first key corresponding to the first vehicle based on the sequence that the first vehicle passes through the corresponding position set, and generating a second key corresponding to the second vehicle based on the sequence that the second vehicle passes through the corresponding position set.

And S3054, generating a key corresponding to the vehicle based on the residence time and the sequence of the position set of the vehicle at each destination point.

Wherein the vehicle corresponding key comprises a first key and/or a second key.

Specifically, by combining the position set corresponding to the vehicle and the time of staying at each destination, richer path planning information can be obtained, and the contained information is richer based on the key generated by the path planning information, so that a better matching effect is achieved.

For example, the route planning information corresponding to the key of the vehicle 1 is { A1,1200,0, a2,0,60}, i.e. the destination point A1 is reached at time 12:00, the stop is 60 minutes at point a2, and no time limit is reached at point a 2. If the key of vehicle 2 is { A1,0800,60, a2,0,0}, i.e. time 08:00 is to reach the destination point A1 and stay for 60 minutes, and the time to reach point a2 is not limited and has no stay time requirement, then vehicle 1 and vehicle 2 cannot meet the matching requirement even if they are located in a distance range where formation can be performed, because the two vehicles will pass through the same destination but the time limit requirements are obviously different.

This step is an optional step parallel to step S3053, and those skilled in the art can select any step to implement according to actual requirements.

Step S306, determining that the path planning information of the first key and the second key has overlapped path planning information.

Wherein the overlapped path planning information includes the same destination information.

Specifically, since the key is encrypted based on each destination in the path planning information, the first key corresponds to the path planning information, and the corresponding path planning information can also be obtained by obtaining the key. If the same part of content exists in the path planning information corresponding to the two keys, for example, the same destination, the same time limit requirement for reaching the same destination, or the same sequence for reaching a plurality of the same destinations, it can be considered that the part of the same content belongs to the mutually overlapped part of the path planning information corresponding to the two keys, that is, the overlapped path planning information.

Only when there is overlapping path planning information in the path planning information corresponding to different keys, vehicles corresponding to different keys may be grouped, but it does not represent that the vehicles corresponding to different keys can be grouped with each other, and the relative relationship of the overlapping path planning information with respect to the path planning information corresponding to each key needs to be considered.

Step S307, if the overlapped path planning information includes the path planning information at the next time, the first vehicle and the second vehicle are organized into the same vehicle fleet.

Specifically, when the first key and the second key correspond to the foremost part of the path planning information as the next-first-arriving intermediate point and/or destination (i.e., the foremost part of the first key and the second key), if the next-first-arriving intermediate point and/or destination of the first vehicle and the second vehicle are the same, the first vehicle and the second vehicle may be organized as the same fleet to travel together, and conversely, if the next-first-arriving intermediate point and/or destination of the first vehicle and the second vehicle are also different, there is no need to be organized as the same fleet.

The route planning information at the next time, that is, the route planning information based on which the vehicle travels at the next time, is, for example, A, B, C in this order of destinations, where a is the first to arrive, the route planning information based on which the vehicle travels at the next time is A, B, C, and if it is required to arrive at a within 2 hours and issue from a to B and C, the route planning information 2 hours later is B, C.

Therefore, when the overlapped path planning information includes the path planning information at the next time, that is, the overlapped path planning information includes the destination to which the vehicle will arrive first, that is, the first vehicle and the second vehicle start to form a group at the current time, and can move forward to the same destination, and further, the stability of the group after the first vehicle and the second vehicle are formed into a group can be ensured. Therefore, the requirement that the first vehicle and the second vehicle can be organized into the same vehicle fleet is that the overlapped path planning information includes the path planning information at the next time.

Further, the specific action of organizing the first vehicle and the second vehicle into the same fleet may be to adjust the relative positions of the first vehicle and the second vehicle to form a departure formation and then depart (for example, the first vehicle and the second vehicle are both located at a departure point and wait for departure); it is also possible that the pilot vehicle is driven to the forefront of the first vehicle and the second vehicle and maintains the driving state according to the determined pilot vehicle (of the first vehicle and the at least one second vehicle), and then the other vehicles are sequentially moved to the rear side of the pilot vehicle according to the determined relative order (which may be determined according to the key or the path planning information), and gradually become the fleet state on the way of driving.

Further, the specific action of compiling the first vehicle and the second vehicle into the same fleet is completed by sending a control command by a control device or a cloud server of the fleet.

According to the vehicle formation method provided by the embodiment of the application, the first vehicle is confirmed through multiple confirmation modes, then the first key of the first vehicle and the second key of the second vehicle are obtained, and the first vehicle and the second vehicle are formed into the same vehicle fleet through determining that overlapped path planning information exists in the first key and the second key and the overlapped path planning information contains the path planning information of the next moment corresponding to the first key and the second key. Therefore, the first vehicle and the second vehicle which are possibly organized into the same fleet can be identified under different environments, whether the first vehicle and the second vehicle can be organized into the same fleet is determined according to whether the first key and the second key have similar sections and the positions of the similar sections, and therefore the first vehicle and the second vehicle which are organized into the same fleet can be searched as far as possible, the first vehicle and the second vehicle which are organized into the same fleet can be guaranteed to be capable of being operated for the same time as long as possible, the stability of the fleet is guaranteed, frequent change of the vehicles of the fleet in the advancing process is avoided, and the running efficiency of vehicle organization is improved.

Fig. 4 is a flowchart of a vehicle formation method according to an embodiment of the present application. As shown in fig. 4, the vehicle formation method provided by the present embodiment includes the following steps:

and step S401, determining a first vehicle and a second vehicle within a set distance range.

Step S402, a first secret key of the first vehicle and a second secret key of the second vehicle are obtained.

And S403, if the first key and the second key meet the set matching requirement, the first vehicle and the second vehicle are compiled into the same vehicle fleet.

Specifically, steps S401 to S403 are the same as those in the embodiment shown in fig. 2, and are not repeated herein.

And S404, when the path planning information corresponding to the first key contains all the contents of the path planning information corresponding to the second key, setting the first vehicle as a pilot vehicle.

Specifically, since the fleet formed by the first vehicle and the second vehicle is a brand-new fleet, it is necessary to determine one of the first vehicle and the at least one second vehicle as a lead vehicle to drive the other vehicles when forming the fleet, and determine the relative positions of the other vehicles in sequence based on the lead vehicle, thereby ensuring the stability of the fleet.

In some embodiments, the first key of the first vehicle and the second key of the (at least one) second vehicle may be directly compared, or the comparison may be performed based on the path planning information included in the first key and the second key, and when the path planning information corresponding to the first key includes the entire content of the path planning information corresponding to the second key, that is, the second vehicle needs to leave the vehicle fleet to reach the terminal point when the first vehicle does not drive to the terminal point, the second vehicle should be disposed behind the first vehicle, so that when the second vehicle decelerates to leave the vehicle fleet, stable driving of the first vehicle is not affected.

Similarly, if the path planning information corresponding to the second key includes all the contents of the path planning information corresponding to the first key, the second vehicle can be set as the lead vehicle, and the principle is the same.

Further, when there is no inclusion relationship between the path planning information corresponding to the first key and the path planning information corresponding to the second key, any one of the first vehicle and the second vehicle may be set as a lead vehicle (for example, a vehicle with a driver is set as a lead vehicle, a vehicle with poor braking performance is set as a lead vehicle, and the like), and mutual states are not affected during driving.

Further, after the pilot vehicle is determined, the relative order of the other vehicles may be determined based on the length of the common route in the route planning information corresponding to the key of the vehicle and the route planning information corresponding to the key of the pilot vehicle, and the common route is longer, the position of the common route is closer to the pilot vehicle, and the common route is the same, and the mutual order is arbitrary.

And S405, when at least two second vehicles exist, determining the corresponding vehicle with the maximum sum of the lengths as a pilot vehicle based on the sum of the lengths of the overlapped path planning information of any one key and each other key.

Wherein the length of the overlapped path planning information comprises the sum of the distances between the same destinations.

Specifically, if the key-associated path plan information of any one vehicle does not include the entire contents of the path plan information associated with the key of the other vehicle, the relative order may be determined based on the length of the route between the key-associated path plan information of each vehicle and the common destination of the path plan information of the other vehicle (i.e., the overlapped path plan information).

When there are multiple corresponding vehicles with the maximum sum of the lengths of the overlapped path planning information, any one vehicle can be selected as a pilot vehicle.

Illustratively, the key of vehicle a is {1,2,3,4}, and includes four destinations a1, a2, A3, and a4, the key of vehicle B is {1,2,3,5}, and includes four destinations a1, a2, a5, and a6 (the correspondence between subsequent keys and route planning information is the same, and therefore omitted), the key of vehicle C is {1,2,4,7}, the key of vehicle D is {1,8,9}, the similar segments of vehicle a and vehicle B are {1,2,3}, the similar segments of vehicle C are {1,2}, and the similar segments of vehicle D are {1}, and therefore, the total length of the similar segments is 6, and so on, the total length of the similar segments of vehicle B is 6, the total length of the similar segments of vehicle C is 5, and the total length of the similar segments of vehicle D is 3. Thus, either vehicle a or vehicle B may be the lead vehicle, the other vehicle being behind the lead vehicle, vehicle C being at the third position, and vehicle D being at the end of the fleet.

Here, this step is an optional step parallel to step S404. The skilled person can select any step to implement according to actual needs.

According to the vehicle formation method provided by the embodiment of the application, after the first vehicle and the second vehicle can be determined to be the same vehicle fleet, the piloting vehicles and the relative sequence in the first vehicle and the second vehicle are determined according to the relationship between the first key and the second key and the corresponding path planning information. Therefore, the method and the device can ensure that the piloting vehicle does not change frequently in the fleet formed by the first vehicle and the second vehicle, maintain the stability of the fleet and avoid the loss of the running efficiency.

Fig. 5 is a schematic structural diagram of a vehicle formation device according to an embodiment of the present application. As shown in fig. 5, the vehicle formation device 500 includes: a determination module 510, an acquisition module 520, and a processing module 530. Wherein:

a determining module 510, configured to determine a first vehicle and a second vehicle within a set distance range, where at least one of the second vehicle is located;

an obtaining module 520, configured to obtain a first key of the first vehicle and a second key of the second vehicle, where the first key is generated based on the path planning information of the first vehicle, and the second key is generated based on the path planning information of the second vehicle;

and the processing module 530 is configured to, if the first key and the second key meet the set matching requirement, compile the first vehicle and the second vehicle into the same vehicle fleet.

Optionally, the determining module 510 is specifically configured to, in response to receiving application information of a formation application, determine that vehicles corresponding to the application information are first vehicles respectively, and vehicles within a set distance range from the first vehicle are second vehicles; or in response to receiving application information of at least two formation applications, determining that vehicles corresponding to the application information are a first vehicle and a second vehicle respectively; or, in response to the vehicle position information received by the server, determining that the vehicles located within a set distance of the vehicle position information are respectively a first vehicle and a second vehicle; or in response to the vehicle interconnection information received by the first vehicle, determining that the vehicle corresponding to the vehicle interconnection information and located within the set distance from the first vehicle is the second vehicle.

Optionally, the obtaining module 520 is specifically configured to obtain the first key and the second key respectively by: acquiring path planning information of a vehicle, wherein the path planning information comprises at least one destination of a path in the running of the vehicle; generating a corresponding set of locations based on the at least one destination; and generating a key corresponding to the vehicle based on the sequence of the position set, wherein the key corresponding to the vehicle comprises the first key and/or the second key.

Optionally, the obtaining module 520 is specifically configured to obtain the first key and the second key respectively by: acquiring path planning information of a vehicle, wherein the path planning information comprises at least one destination of a meeting way in the running of the vehicle; generating a corresponding set of locations based on the at least one destination; and generating a key corresponding to the vehicle based on the residence time and the sequence of the position set of the vehicle at each destination point, wherein the key corresponding to the vehicle comprises the first key and/or the second key.

Optionally, the processing module 530 is specifically configured to determine that there is overlapping path planning information in the path planning information for generating the first key and the second key, where the overlapping path planning information includes the same destination information; and if the overlapped path planning information comprises the path planning information at the next moment, the first vehicle and the second vehicle are compiled into the same fleet.

Optionally, the processing module 530 is further configured to set the first vehicle as a lead vehicle when the path planning information corresponding to the first key includes all the contents of the path planning information corresponding to the second key.

Optionally, the processing module 530 is further configured to, when there are at least two second vehicles, determine, as the lead vehicle, the corresponding vehicle with the largest sum of lengths based on a sum of lengths of the overlapped path planning information of any one of the keys and each of the other keys, where the length of the overlapped path planning information includes a sum of distances between the same destinations.

In the embodiment, the vehicle formation device can accurately identify whether the first vehicle and the second vehicle can be formed into the same vehicle fleet through the combination of the modules, so that the safety and the reliability of vehicle formation are improved.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 6, the electronic device 600 includes: a memory 610 and a processor 620.

Wherein the memory 610 stores computer programs executable by the at least one processor 620. The computer program is executed by the at least one processor 620 to cause the electronic device to implement a vehicle convoy method as provided in any of the embodiments above.

Wherein the memory 610 and the processor 620 may be connected by a bus 630.

The related description may be understood by referring to the related description and effects corresponding to the method embodiments, which are not repeated herein.

One embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement a vehicle formation method according to any embodiment corresponding to fig. 2 to 3.

The computer readable storage medium may be, among others, ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

One embodiment of the present application provides a computer program product, which contains computer executable instructions, when executed by a processor, for implementing a vehicle formation method according to any of the embodiments corresponding to fig. 2 to 3.

In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the embodiments of the application following, in general, the principles of the embodiments of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the embodiments of the application pertain. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the embodiments of the application being indicated by the following claims.

It is to be understood that the embodiments of the present application are not limited to the precise arrangements which have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the following claims.

Claims

1. A method of vehicle formation, the method comprising:

obtaining a first key of the first vehicle and a second key of the second vehicle, the first key being generated based on path planning information of the first vehicle, the second key being generated based on path planning information of the second vehicle;

2. The method of claim 1, wherein the determining the first vehicle and the second vehicle within a set distance range comprises:

in response to receiving application information of a formation application, determining that vehicles corresponding to the application information are first vehicles respectively, and determining that vehicles within a set distance range from the first vehicles are second vehicles;

or in response to receiving application information of at least two formation applications, determining that vehicles corresponding to the application information are a first vehicle and a second vehicle respectively;

or, in response to the vehicle position information received by the server, determining that the vehicles located within a set distance of the vehicle position information are respectively a first vehicle and a second vehicle;

or in response to vehicle interconnection information received by a first vehicle, determining that a vehicle corresponding to the vehicle interconnection information and located within a set distance from the first vehicle is a second vehicle.

3. The method of claim 1, wherein the first key and the second key are obtained by:

acquiring path planning information of a vehicle, wherein the path planning information comprises at least one destination of a path in which the vehicle runs;

generating a corresponding set of locations based on the at least one destination;

generating a key corresponding to the vehicle based on the order of the set of locations, the key corresponding to the vehicle including the first key and/or the second key.

4. The method of claim 1, wherein the first key and the second key are obtained by:

acquiring path planning information of a vehicle, wherein the path planning information comprises at least one destination of a meeting way in the running of the vehicle;

generating a key corresponding to the vehicle based on the residence time of the vehicle at each destination point and the sequence of the position sets, wherein the key corresponding to the vehicle comprises the first key and/or the second key.

5. The method according to any one of claims 1 to 4, wherein the compiling the first vehicle and the second vehicle into the same fleet if the first key and the second key meet a set matching requirement comprises:

determining that there is overlapping path planning information in the path planning information for generating the first key and the second key, wherein the overlapping path planning information includes the same destination information;

and if the overlapped path planning information comprises path planning information at the next moment, compiling the first vehicle and the second vehicle into the same fleet.

6. The method according to any one of claims 1 to 4, further comprising:

and when the path planning information corresponding to the first key contains all the contents of the path planning information corresponding to the second key, setting the first vehicle as a pilot vehicle.

7. The method according to any one of claims 1 to 4, wherein when there are at least two of the second vehicles, the method further comprises:

and determining the corresponding vehicle with the maximum sum of the lengths as a pilot vehicle based on the sum of the lengths of the overlapped path planning information of any one key and each other key, wherein the length of the overlapped path planning information comprises the sum of the distances between the same destinations.

8. A vehicle formation apparatus, comprising:

an obtaining module, configured to obtain a first key of the first vehicle and a second key of the second vehicle, where the first key is generated based on path planning information of the first vehicle, and the second key is generated based on path planning information of the second vehicle;

9. An electronic device, comprising:

at least one processor;

and a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to cause the electronic device to perform the vehicle convoy method of any of claims 1-7.

10. A computer-readable storage medium having computer-executable instructions stored therein, which when executed by a processor, are configured to implement a vehicle convoy method according to any one of claims 1 to 7.