CN115782871A - Method and device for joining vehicles into fleet and storage medium - Google Patents

Abstract

The invention discloses a method and a device for joining vehicles into a fleet and a storage medium. Wherein, the method comprises the following steps: receiving request information and first distance information sent by a target vehicle through communication connection between a first vehicle in a vehicle team and the target vehicle to be joined in the vehicle team; determining target position information of the target vehicle in the fleet based on the first distance information and the second distance information in response to the request information; and controlling the target vehicle to join the fleet based on the target position information. The invention solves the technical problem of low flexibility when vehicles join the fleet.

Description

Method and device for joining vehicles into fleet and storage medium

Technical Field

The invention relates to the field of vehicles, in particular to a method, a device and a storage medium for joining vehicles into a fleet.

Background

At present, when free vehicles are added into a motorcade, the free vehicles can only be added into the motorcade from the tail of the motorcade, control instructions sent by pilot vehicles are independently designed by each manufacturer, and mixed formation cannot be realized among vehicles produced by different manufacturers.

Aiming at the technical problem of low flexibility when the vehicles join the motorcade, no effective solution is provided at present.

Disclosure of Invention

The embodiment of the invention provides a method, a device and a storage medium for joining vehicles into a motorcade, which at least solve the technical problem of low flexibility when the vehicles join the motorcade.

According to one aspect of an embodiment of the present invention, a method for joining a vehicle to a fleet of vehicles is provided. Wherein, the method can comprise the following steps: receiving request information and first distance information sent by a target vehicle through communication connection between a first vehicle in a vehicle fleet and the target vehicle to be joined in the vehicle fleet, wherein the request information is used for requesting the target vehicle to join in the vehicle fleet, the first distance information is the distance between a first current position of the target vehicle and a first terminal position to which the target vehicle is to arrive, the vehicle fleet comprises a plurality of vehicles, and the first vehicle is used for leading other vehicles except the first vehicle in the plurality of vehicles; determining target position information of the target vehicle in the fleet based on the first distance information and second distance information in response to the request information, wherein the second distance information is used for indicating the distance between the second current position of each vehicle in the plurality of vehicles and the second end position of each vehicle, and the target position information is used for indicating the position of the target vehicle to be joined into the fleet; and controlling the target vehicle to join the fleet based on the target position information.

Optionally, determining target location information of the target vehicle in the fleet of vehicles based on the first distance information and the second distance information in response to the request information, comprising: and when the difference between the first distance information and the second distance information is smaller than or equal to the preset distance threshold information, determining the position behind a second vehicle in the fleet as the target position information, wherein the second vehicle is any other vehicle in the fleet except the first vehicle.

Optionally, determining target position information of the target vehicle in the fleet based on the first distance information and the second distance information in response to the request information, comprises: and when the difference between the first distance information and the second distance information is larger than the preset distance threshold value information, determining the position before a second vehicle in the motorcade as the target position information, wherein the second vehicle is any one of other vehicles in the motorcade except the first vehicle.

Optionally, controlling the target vehicle to join the fleet of vehicles based on the target location information, comprising: controlling the joining of the target vehicle to the fleet of vehicles based on the target location information, comprising: updating list information of a fleet based on the target position information, and sending broadcast information corresponding to the updated list information to the target vehicle and each vehicle in the fleet, wherein the updated list information is the position information of each vehicle in the fleet after the target vehicle joins the fleet, and the broadcast information is used for broadcasting the position information of the target vehicle joining the fleet to the target vehicle and each vehicle in the fleet; and controlling the target vehicle to join the fleet based on the broadcast information.

According to an aspect of an embodiment of the present invention, another method for joining a vehicle into a fleet of vehicles is provided, wherein the method may include: the method comprises the steps that request information and first distance information are sent to a first vehicle through communication connection between the first vehicle in a vehicle fleet and a target vehicle to be joined in the vehicle fleet, wherein the request information is used for requesting the target vehicle to join in the vehicle fleet, the first distance information is the distance between a first current position of the target vehicle and a first terminal position to be reached by the target vehicle, the vehicle fleet comprises a plurality of vehicles, and the first vehicle is used for leading other vehicles except the first vehicle in the plurality of vehicles; acquiring broadcast information sent by the first vehicle in response to the request information, the first distance information and the second distance information, wherein the second distance information is used for indicating the distance from the second current position of each vehicle in the plurality of vehicles to the second end position of each vehicle, and the broadcast information is used for broadcasting the position information of joining the target vehicle into the vehicle fleet to the target vehicle and each vehicle in the vehicle fleet; and controlling the target vehicle to join the fleet based on the broadcast information.

Optionally, controlling the target vehicle to join the fleet of vehicles based on the broadcast information, comprising: determining position relation information between the target vehicle and the fleet of vehicles based on the broadcast information; and controlling the target vehicle to join the fleet of vehicles based on the position relation information.

According to one aspect of an embodiment of the present invention, an apparatus for joining a vehicle to a fleet of vehicles is provided. The apparatus may include: the device comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving request information and first distance information sent by a target vehicle through communication connection between a first vehicle in a vehicle fleet and the target vehicle to be joined in the vehicle fleet, the request information is used for requesting the target vehicle to be joined in the vehicle fleet, the first distance information is the distance between a first current position of the target vehicle and a first terminal position to be reached by the target vehicle, the vehicle fleet comprises a plurality of vehicles, and the first vehicle is used for leading other vehicles except the first vehicle in the plurality of vehicles; a determining unit, configured to determine, in response to the request information, target position information of the target vehicle in the fleet based on the first distance information and second distance information, where the second distance information is used to indicate a distance from a second current position of each of the plurality of vehicles to a second end position of each of the vehicles, and the target position information is used to indicate a position at which the target vehicle is to join in the fleet; and the control unit is used for controlling the target vehicle to join in the motorcade based on the target position information.

According to one aspect of an embodiment of the present invention, another apparatus for joining a vehicle to a fleet of vehicles is provided. The apparatus may include: the device comprises a sending unit, a receiving unit and a processing unit, wherein the sending unit is used for sending request information and first distance information to a first vehicle through communication connection between the first vehicle in a vehicle fleet and a target vehicle to be joined in the vehicle fleet, the request information is used for requesting the target vehicle to be joined in the vehicle fleet, the first distance information is the distance between a first current position of the target vehicle and a first terminal position to be reached by the target vehicle, the vehicle fleet comprises a plurality of vehicles, and the first vehicle is used for leading other vehicles except the first vehicle in the plurality of vehicles; the device comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring broadcast information sent by a first vehicle in response to request information, first distance information and second distance information, the second distance information is used for indicating the distance between a second current position of each vehicle in a plurality of vehicles and a second end position of each vehicle, and the broadcast information is used for broadcasting position information of joining a target vehicle into a vehicle fleet to the target vehicle and each vehicle in the vehicle fleet; and the processing unit is used for controlling the target vehicle to join the motorcade based on the broadcast information.

According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium. The computer readable storage medium includes a stored program, wherein the program, when executed, controls an apparatus on the computer readable storage medium to perform a method for joining a vehicle to a fleet of vehicles according to an embodiment of the present invention.

According to another aspect of the embodiments of the present invention, there is also provided a processor. The processor is configured to run the program, wherein the program when executed performs the method of joining a vehicle to a fleet of vehicles of embodiments of the present invention.

According to another aspect of the embodiment of the invention, the invention further provides a vehicle, and the vehicle is used for executing the method for joining the vehicle into the fleet.

In the embodiment of the invention, request information and first distance information sent by a target vehicle are received through communication connection between a first vehicle in a vehicle fleet and the target vehicle to be joined in the vehicle fleet, wherein the request information is used for requesting the target vehicle to join in the vehicle fleet, the first distance information is the distance between a first current position of the target vehicle and a first terminal position to be reached by the target vehicle, the vehicle fleet comprises a plurality of vehicles, and the first vehicle is used for leading other vehicles except the first vehicle in the plurality of vehicles; determining target position information of the target vehicle in the fleet based on the first distance information and second distance information in response to the request information, wherein the second distance information is used for indicating the distance between the second current position of each vehicle in the plurality of vehicles and the second end position of each vehicle, and the target position information is used for indicating the position of the target vehicle to be joined into the fleet; and controlling the target vehicle to join the fleet based on the target position information. That is to say, in the embodiment of the present invention, request information of joining the fleet, which is sent by the target vehicle, is received through communication connection between the first vehicle and the target vehicle in the fleet, the target position information of the target vehicle in the fleet is determined according to the request information, the first distance information, and the second distance information, and the target vehicle is joined to the fleet according to the target position information, so that the purpose of flexible joining position when the target vehicle joins the fleet is achieved, the technical problem of low flexibility when the vehicle joins the fleet is solved, and the technical effect of improving the flexibility when the vehicle joins the fleet is achieved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a flow chart of a method of joining a vehicle to a fleet of vehicles in accordance with an embodiment of the present invention;

FIG. 2 is a flow diagram of another method of joining a fleet of vehicles in accordance with an embodiment of the present invention;

FIG. 3 is a flow chart of a method of joining a free vehicle to a fleet of vehicles in accordance with an embodiment of the present invention;

FIG. 4 is a schematic diagram of a communication module according to an embodiment of the present invention;

FIG. 5 is a schematic illustration of an apparatus for joining a vehicle to a fleet of vehicles in accordance with an embodiment of the present invention;

fig. 6 is a schematic diagram of another arrangement for joining vehicles to a fleet of vehicles in accordance with an embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

In accordance with an embodiment of the present invention, there is provided a method for joining a vehicle to a fleet of vehicles, it is noted that the steps illustrated in the flowchart of the figure may be performed in a computer system, such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.

Fig. 1 is a flow chart of a method of joining a fleet of vehicles according to an embodiment of the present invention, which may include the steps of, as shown in fig. 1:

step S101, receiving request information and first distance information sent by a target vehicle through communication connection between a first vehicle in a vehicle fleet and the target vehicle to be joined in the vehicle fleet, wherein the request information is used for requesting the target vehicle to be joined in the vehicle fleet, the first distance information is a distance between a first current position of the target vehicle and a first terminal position to be reached by the target vehicle, the vehicle fleet comprises a plurality of vehicles, and the first vehicle is used for leading other vehicles except the first vehicle in the plurality of vehicles.

In the technical solution provided by step S101 of the present invention, a wireless communication connection between a first vehicle in a fleet and a target vehicle to be added in the fleet is established, and the first vehicle receives request information that the target vehicle sends to request to add in the fleet and first distance information between a first current position of the target vehicle and a first end position to be reached by the target vehicle through the wireless communication connection, where the first vehicle may be a pilot vehicle, the target vehicle may be a free vehicle, and it should be noted that any vehicle in the fleet may be the first vehicle, and each vehicle in the fleet may establish a communication connection with the target vehicle, and each vehicle in the fleet may establish a communication connection with each other.

And step S102, responding to the request information, and determining target position information of the target vehicle in the fleet based on the first distance information and second distance information, wherein the second distance information is used for indicating the distance between the second current position of each vehicle in the plurality of vehicles and the second end position of each vehicle, and the target position information is used for indicating the position of the target vehicle to be added into the fleet.

In the technical solution provided in step S102 of the present invention, in response to the request information, a target position of the target vehicle to be added to the fleet is determined according to a relationship between the first distance information and the second distance information, where the target position may be between two vehicles in the fleet, may be behind a last vehicle in the fleet, or may be behind a first vehicle in the fleet, where each vehicle in the plurality of vehicles may be a following vehicle.

And step S103, controlling the target vehicle to join the fleet based on the target position information.

In the technical solution provided in step S103 of the present invention, the target vehicle travels to an adjacent lane of the vehicle fleet according to the target position information of the target vehicle in the vehicle fleet, the position of the target vehicle is adjusted to a position where the target vehicle travels alongside a second vehicle in the vehicle fleet by acceleration and deceleration, and the target vehicle travels at the same speed as the vehicle fleet, and the second vehicle leaves a distance that ensures that the target vehicle travels into the vehicle fleet.

In the above steps S101 to S103, request information and first distance information sent by a target vehicle are received through communication connection between a first vehicle in a fleet and the target vehicle to be joined in the fleet, where the request information is used to request the target vehicle to join in the fleet, the first distance information is a distance between a first current location of the target vehicle and a first end location where the target vehicle will arrive, the fleet includes a plurality of vehicles, and the first vehicle is used to lead other vehicles except the first vehicle in the plurality of vehicles; determining target position information of the target vehicle in the fleet based on the first distance information and second distance information in response to the request information, wherein the second distance information is used for indicating the distance between the second current position of each vehicle in the plurality of vehicles and the second end position of each vehicle, and the target position information is used for indicating the position of the target vehicle to be joined into the fleet; and controlling the target vehicle to join the fleet based on the target position information. That is to say, in the embodiment of the present invention, request information of joining the fleet, which is sent by the target vehicle, is received through communication connection between the first vehicle and the target vehicle in the fleet, the target position information of the target vehicle in the fleet is determined according to the request information, the first distance information, and the second distance information, and the target vehicle is joined to the fleet according to the target position information, so that the purpose of flexible joining position when the target vehicle joins the fleet is achieved, the technical problem of low flexibility when the vehicle joins the fleet is solved, and the technical effect of improving the flexibility when the vehicle joins the fleet is achieved.

The above-described method of this embodiment is further described below.

As an alternative embodiment, step S102, in response to the request message, determining target position information of the target vehicle in the fleet based on the first distance information and the second distance information, includes: and when the difference between the first distance information and the second distance information is smaller than or equal to the preset distance threshold information, determining the position behind a second vehicle in the fleet as the target position information, wherein the second vehicle is any other vehicle in the fleet except the first vehicle.

In this embodiment, in a case where the difference between the first distance information and the second distance information is less than or equal to the preset distance threshold information, that is, the distance between the target vehicle from the first current position to the first end position is less than or equal to the distance between the second current position to the second end position of the second vehicle in the vehicle platoon, the position of the second vehicle in the vehicle platoon from the second end position being closer than the target vehicle to the end position, the target position of the target vehicle being behind the second vehicle.

For example, when the first distance information is 5 kilometers, the second distance information is 4 kilometers, the difference between the first distance information and the second distance information is 1 kilometer, and the preset distance threshold information is 0.5 meters, the target position of the target vehicle is behind the second vehicle.

As an alternative embodiment, step S102, determining target position information of the target vehicle in the fleet of vehicles based on the first distance information and the second distance information in response to the request information, includes: and when the difference between the first distance information and the second distance information is larger than the preset distance threshold information, determining the position before a second vehicle in the fleet as the target position information, wherein the second vehicle is any one of other vehicles in the fleet except the first vehicle.

In this embodiment, in case the difference between the first distance information and the second distance information is larger than the preset distance threshold information, that is, the distance of the target vehicle from the first current position to the first end position is larger than the distance of the second vehicle in the platoon from the second current position to the second end position, the second vehicle in the platoon is further from the second end position than the target vehicle, the target position of the target vehicle is before the second vehicle.

For example, when the first distance information is 5 kilometers, the second distance information is 4 kilometers, and the difference between the first distance information and the second distance information is 1 kilometer, when the preset distance threshold information is 1.5 meters, the target position of the target vehicle is before the second vehicle.

As an alternative embodiment, step S103, controlling the target vehicle to join the fleet of vehicles based on the target location information, includes: updating list information of a fleet based on the target position information, and sending broadcast information corresponding to the updated list information to the target vehicle and each vehicle in the fleet, wherein the updated list information is the position information of each vehicle in the fleet after the target vehicle joins the fleet, and the broadcast information is used for broadcasting the position information of the target vehicle joining the fleet to the target vehicle and each vehicle in the fleet; and controlling the target vehicle to join the fleet of vehicles based on the broadcast information.

In this embodiment, the list information of the non-joining target vehicles is updated according to the target position information of the vehicles, so as to obtain updated list information of the joining target vehicles, wherein the list information may include the position information of each vehicle in the vehicle fleet, the license plate of the vehicle, the model number of the vehicle, the color of the vehicle, and the like, and the list information is transmitted to the target vehicle and each vehicle in the vehicle fleet in a broadcasting mode, so that each vehicle in the vehicle fleet determines the joining vehicles, so as to adjust the speed of the vehicle, so that the target vehicle is joined to the vehicle fleet.

In the embodiment of the invention, when the difference between the first distance information and the second distance information is less than or equal to the preset distance threshold information, the position behind the second vehicle in the motorcade is determined as the target position information, or when the difference between the first distance information and the second distance information is greater than the preset distance threshold information, the position in front of the second vehicle in the motorcade is determined as the target position information, the list information of the motorcade is updated according to the target position information, the broadcast information corresponding to the updated list information is sent to the target vehicle and each vehicle in the motorcade, and the target vehicle is controlled to be added into the motorcade according to the broadcast information.

Fig. 2 is a flow chart of another method of joining a vehicle in a fleet of vehicles according to embodiments of the present invention, which may include the steps of, as shown in fig. 2:

step S201, through communication connection between a first vehicle in a vehicle fleet and a target vehicle to be joined in the vehicle fleet, request information and first distance information are sent to the first vehicle, wherein the request information is used for requesting the target vehicle to join in the vehicle fleet, the first distance information is a distance between a first current position of the target vehicle and a first end position to be reached by the target vehicle, the vehicle fleet comprises a plurality of vehicles, and the first vehicle is used for leading other vehicles except the first vehicle in the plurality of vehicles.

In the technical solution provided in step S201 of the present invention, a wireless communication connection between a first vehicle in a fleet and a target vehicle to be added to the fleet is established, and the target vehicle sends request information and first distance information to the first vehicle through the wireless communication connection, where the first vehicle may be a lead vehicle and the target vehicle may be a free vehicle, and it should be noted that any vehicle in the fleet may be the first vehicle, and each vehicle in the fleet may establish a communication connection with the target vehicle, and each vehicle in the fleet may establish a communication connection with each other.

Step S202, broadcast information sent by the first vehicle in response to the request information, the first distance information and the second distance information is obtained, wherein the second distance information is used for indicating the distance from the second current position of each vehicle in the plurality of vehicles to the second end position of each vehicle, and the broadcast information is used for broadcasting the position information of the target vehicle joining the fleet to the target vehicle and each vehicle in the fleet.

In the technical solution provided in step S202 of the present invention, in response to the request information, a target position of the target vehicle to join in the fleet is determined according to a relationship between the first distance information and the second distance information, where the target position may be between two vehicles in the fleet, may be behind a last vehicle in the fleet, or may be behind a first vehicle in the fleet, where each of the plurality of vehicles may be a following vehicle, the list information of the fleet is updated according to the position information of the target vehicle in the fleet, and the list information is sent to the target vehicle and each vehicle in the fleet in a broadcast manner, that is, a specific position of the target vehicle joining in the fleet is broadcast to each vehicle in the target vehicle and each vehicle in the fleet.

And step S203, controlling the target vehicle to join the fleet based on the broadcast information.

In the technical solution provided in step S203 of the present invention, the target vehicle travels to an adjacent lane of the vehicle fleet according to the position of the target vehicle in the broadcast information, the position of the target vehicle is adjusted to a position where the target vehicle travels alongside a second vehicle in the vehicle fleet by acceleration and deceleration, the target vehicle keeps traveling at the same speed as the vehicle fleet, the second vehicle leaves a distance that ensures that the target vehicle travels into the vehicle fleet, and the target vehicle travels into the vehicle fleet.

In the above steps S201 to S203, a request message and a first distance message are sent to a first vehicle through a communication connection between the first vehicle in a vehicle fleet and a target vehicle to be joined in the vehicle fleet, where the request message is used to request the target vehicle to join in the vehicle fleet, the first distance message is a distance between a first current position of the target vehicle and a first end position to which the target vehicle will arrive, the vehicle fleet includes a plurality of vehicles, and the first vehicle is used to lead other vehicles except the first vehicle in the plurality of vehicles; acquiring broadcast information sent by the first vehicle in response to the request information, the first distance information and the second distance information, wherein the second distance information is used for indicating the distance from the second current position of each vehicle in the plurality of vehicles to the second end position of each vehicle, and the broadcast information is used for broadcasting the position information of joining the target vehicle into the vehicle fleet to the target vehicle and each vehicle in the vehicle fleet; and controlling the target vehicle to join the fleet of vehicles based on the broadcast information. That is to say, in the embodiment of the present invention, request information for joining the fleet is sent to the first vehicle through the communication connection between the first vehicle and the target vehicle in the fleet, the first vehicle sends broadcast information to each vehicle and the target vehicle in the fleet according to the request information, the first distance information, and the second distance information, and the target vehicle joins the fleet according to the broadcast information, so that the purpose of flexible joining position when the target vehicle joins the fleet is achieved, the technical problem of low flexibility when the vehicle joins the fleet is solved, and the technical effect of improving the flexibility when the vehicle joins the fleet is achieved.

The above-described method of this embodiment is further described below.

As an alternative embodiment, step S203, controlling the target vehicle to join the fleet of vehicles based on the broadcast information includes: determining position relation information between the target vehicle and the fleet of vehicles based on the broadcast information; and controlling the target vehicle to join the fleet of vehicles based on the position relation information.

In this embodiment, position relationship information between the target vehicle and the fleet of vehicles is determined based on the position of the target vehicle in the fleet of vehicles, the target vehicle travels to an adjacent lane of the fleet of vehicles based on the position relationship based on the position information of the target vehicle in the fleet of vehicles, and the target vehicle is added to the fleet of vehicles based on the target position information of the target vehicle in the fleet of vehicles.

In the embodiment of the invention, the position relationship between the target vehicle and the motorcade is determined based on the broadcast information, the target vehicle runs to the adjacent lane of the motorcade according to the position relationship, and the target vehicle is added into the motorcade according to the target position information, so that the technical problem of low flexibility when the vehicle is added into the motorcade is solved, and the technical effect of improving the flexibility when the vehicle is added into the motorcade is achieved.

Example 2

The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

At present, in the related technology, when a vehicle is added into a fleet, communication between a free vehicle and a pilot vehicle in the fleet uses workshop communication information defined in a standard and also uses self-defined workshop communication information, and in the technical scheme that the pilot vehicle sends a vehicle formation control instruction, the vehicle formation control instruction is sent through a cloud server, the roles of the pilot vehicle and a following vehicle cannot be mutually changed, and because the control instruction sent by the pilot vehicle is designed by each manufacturer independently, mixed formation cannot be realized among vehicles produced by different manufacturers.

However, an embodiment of the present invention provides a method for joining a vehicle to a fleet of vehicles, and fig. 3 is a flowchart of a method for joining a free vehicle to a fleet of vehicles according to an embodiment of the present invention, as shown in fig. 3, the method may include the following steps:

step S301, the free vehicle requests to join the motorcade.

The free vehicle sends request information of a request for joining a fleet of vehicles to a pilot vehicle through a communication connection, where an embodiment of the present invention provides a communication module, fig. 4 is a schematic diagram of the communication module according to an embodiment of the present invention, and as shown in fig. 4, the communication module may include: the system comprises a vehicle positioning device module 401, a controller module 402, a workshop communication device module 403, a vehicle steering actuator module 404, a vehicle driving actuator module 405 and a vehicle braking actuator module 406, wherein the controller module 402 can be a single chip microcomputer system, a high-performance vehicle-mounted computing unit or other vehicle-mounted devices capable of realizing the same functions. The workshop communication device module 403 needs to satisfy the performance of communication Range, communication bandwidth, communication delay, etc., and may be a Dedicated Short Range Communication (DSRC), a direct communication interface (pc 5 interface), or other interfaces. The location service used by the vehicle location equipment module 401 may be GPS, beidou, galileo, or the like. The vehicle steering actuator module 404 is capable of receiving steering control commands from the controller module 402 to control the vehicle to steer. The vehicle driving actuator module 405 may receive a driving control command from the controller module 402 to drive the vehicle to run. The vehicle brake actuator module 406 is capable of receiving brake control commands from the controller module 402 to control deceleration of the vehicle. The workshop communication equipment module 403, the vehicle positioning equipment module 401, the vehicle steering actuator module 404, the vehicle driving actuator module 405 and the vehicle braking actuator module 406 are connected with the controller through a vehicle-mounted communication network, and information and control instructions required by vehicle formation control are transmitted.

And step S302, whether the pilot vehicle agrees to join the free vehicle into the vehicle team or not is judged.

The pilot vehicle receives the request of applying for joining the fleet of free vehicles, and if the free vehicles are agreed to join, the step S303 is carried out; if the free vehicle is not approved to be added, the whole process is finished.

And step S303, the pilot vehicle determines the position of the free vehicle joining the fleet.

And after the pilot vehicle agrees that the free vehicle joins the motorcade, determining the position of the free vehicle joining the motorcade, wherein the position of the free vehicle can be determined according to the distance relation of the destinations of the following vehicles in the motorcade, the following vehicle far from the destination is arranged in front, and the following vehicle near to the destination is arranged behind, for example, the free vehicle joins between the (i-1) th following vehicle and the (i) th following vehicle.

And step S304, the pilot vehicle sends the updated vehicle queue list information.

And after the pilot vehicle determines the position of the free vehicle joining the fleet, the updated vehicle queue table is sent out in a broadcasting mode.

In step S305, the free vehicle adjusts the position of the own vehicle.

And after the free vehicle receives the vehicle queue table sent by the pilot vehicle, judging that the pilot vehicle agrees the free vehicle to join the motorcade, and determining the position of the free vehicle joining the motorcade. The free vehicle adjusts the position of the free vehicle to an adjacent lane driven by the motorcade in a lane changing mode; the free vehicle adjusts the position of the free vehicle to the position where the free vehicle runs along with the ith following vehicle in an acceleration and deceleration mode, and keeps running at the same speed as the motorcade, wherein all vehicles and the free vehicle in the motorcade broadcast information such as the position, the message sending time, the position, the vehicle speed, the vehicle role, the destination and the like of the free vehicle to other surrounding vehicles.

And step S306, decelerating the following vehicle behind the planned joining position of the free vehicle.

The fleet may be spaced a distance D between vehicles during steady state travel. In the above process, the ith following vehicle keeps monitoring the position of the free vehicle to be joined into the vehicle fleet, and when the free vehicle to be joined into the vehicle fleet is found to run alongside with the own vehicle, the ith following vehicle adjusts the distance between the ith following vehicle and the free vehicle in the running direction to be D in a speed reduction mode.

And step S307, the free vehicles change lanes to join the fleet.

At this time, the fleet already leaves enough space for free vehicles, and the free vehicles join the fleet by way of lane changing.

And step S308, finishing the process of joining the motorcade.

The whole joining process is completed.

In the embodiment, the free vehicle sends a request for joining the motorcade, the pilot vehicle receives the request for joining the motorcade applied by the free vehicle, and if the free vehicle is agreed to join, the next link is entered; if the free vehicles are not admitted, the whole process is finished, after the pilot vehicle agrees to join the fleet of vehicles, the position of the free vehicles joining the fleet of vehicles is determined, after the pilot vehicle determines the position of the free vehicles joining the fleet of vehicles, the updated vehicle queue table is sent out in a broadcasting mode, after the free vehicles receive the vehicle queue table sent by the pilot vehicle, the fact that the pilot vehicle agrees to join the free vehicles into the fleet of vehicles is judged, the position of the free vehicles joining the fleet of vehicles is determined, and the positions of the free vehicles are adjusted to adjacent lanes where the fleet of vehicles travel in a lane changing mode; the free vehicle is through adding, the mode of slowing down, will be from the position adjustment to the position that traveles side by side with the ith follow-up vehicle, and keep going with the motorcade with the same speed, the motorcade is in steady state driving process, the spacing distance between the vehicle is D, wherein, the ith follow-up vehicle keeps monitoring and will join the position of the free vehicle of motorcade, when finding that the free vehicle that will join the motorcade is gone side by side with the self-vehicle, the ith follow-up vehicle is through the mode of slowing down, the adjustment is D with the distance of free vehicle in the direction of traveling, at this moment, the motorcade has reserved sufficient space for the free vehicle, the free vehicle joins the motorcade through the mode of changing lanes, whole process of joining the motorcade is accomplished, when having solved the vehicle and joining the motorcade, the technical problem that the flexibility is low, the technological effect of improving the flexibility when the vehicle joins the motorcade has been reached.

Example 3

According to the embodiment of the invention, the invention further provides a device for joining the vehicles into the motorcade. It should be noted that the device for joining vehicles into the fleet of vehicles can be used for executing the method for joining vehicles into the fleet of vehicles in the embodiment 1 shown in fig. 1.

Fig. 5 is a schematic diagram of an apparatus for joining a vehicle to a fleet of vehicles in accordance with an embodiment of the present invention. As shown in fig. 5, an apparatus 500 for joining a vehicle to a fleet of vehicles may comprise: a receiving unit 501, a determining unit 502 and a control unit 503.

The receiving unit 501 is configured to receive request information and first distance information sent by a target vehicle through a communication connection between a first vehicle in a vehicle fleet and the target vehicle to be joined in the vehicle fleet, where the request information is used to request the target vehicle to join in the vehicle fleet, the first distance information is a distance between a first current position of the target vehicle and a first end position to which the target vehicle is to reach, the vehicle fleet includes a plurality of vehicles, and the first vehicle is used to lead other vehicles except the first vehicle in the plurality of vehicles.

A determining unit 502, configured to determine, in response to the request information, target position information of the target vehicle in the platoon based on the first distance information and second distance information, where the second distance information is used to indicate a distance between a second current position of each of the plurality of vehicles and a second end position of each of the vehicles, and the target position information is used to indicate a position where the target vehicle is to join in the platoon.

And a control unit 503, configured to control the target vehicle to join the fleet of vehicles based on the target location information.

Alternatively, the determining unit 502 may include: the first determining module is used for determining the position behind a second vehicle in the fleet as target position information when the difference between the first distance information and the second distance information is smaller than or equal to preset distance threshold information, wherein the second vehicle is any one of other vehicles except the first vehicle in the fleet.

Optionally, the determining unit 502 may further include: and the second determining module is used for determining the position before a second vehicle in the fleet as the target position information when the difference between the first distance information and the second distance information is larger than the preset distance threshold information, wherein the second vehicle is any one of other vehicles except the first vehicle in the fleet.

Alternatively, the control unit 503 may include: the processing module is used for updating the list information of the fleet based on the target position information and sending broadcast information corresponding to the updated list information to the target vehicle and each vehicle in the fleet, wherein the updated list information is the position information of each vehicle in the fleet after the target vehicle is added into the fleet, and the broadcast information is used for broadcasting the position information of the target vehicle added into the fleet to the target vehicle and each vehicle in the fleet; and the control module is used for controlling the target vehicle to join in the motorcade based on the broadcast information.

In this embodiment, a receiving unit is used for receiving request information and first distance information sent by a target vehicle through a communication connection between a first vehicle in a vehicle fleet and the target vehicle to be joined in the vehicle fleet, wherein the request information is used for requesting the target vehicle to join in the vehicle fleet, the first distance information is a distance between a first current position of the target vehicle and a first end position to be reached by the target vehicle, the vehicle fleet comprises a plurality of vehicles, and the first vehicle is used for leading other vehicles except the first vehicle in the plurality of vehicles; a determining unit, configured to determine, in response to the request information, target position information of the target vehicle in the fleet based on the first distance information and second distance information, where the second distance information is used to indicate a distance from a second current position of each of the plurality of vehicles to a second end position of each of the vehicles, and the target position information is used to indicate a position at which the target vehicle is to join in the fleet; the control unit is used for controlling the target vehicles to join the motorcade based on the target position information, so that the technical problem of low flexibility when the vehicles join the motorcade is solved, and the technical effect of improving the flexibility when the vehicles join the motorcade is achieved.

According to the embodiment of the invention, another device for joining the vehicles into the fleet is also provided. It should be noted that the device for joining vehicles into the fleet of vehicles can be used for executing the method for joining vehicles into the fleet of vehicles shown in fig. 2 in embodiment 1.

Fig. 6 is a schematic diagram of another apparatus for joining a vehicle to a fleet of vehicles in accordance with an embodiment of the present invention. As shown in fig. 6, the means 600 for joining a vehicle into a fleet of vehicles may comprise: a transmitting unit 601, an acquiring unit 602, and a control unit 603.

The sending unit 601 is configured to send request information and first distance information to a first vehicle through a communication connection between the first vehicle in a vehicle fleet and a target vehicle to be joined in the vehicle fleet, where the request information is used to request the target vehicle to join in the vehicle fleet, the first distance information is a distance between a first current position of the target vehicle and a first end position to which the target vehicle is to reach, the vehicle fleet includes a plurality of vehicles, and the first vehicle is used to lead other vehicles except the first vehicle in the plurality of vehicles.

The obtaining unit 602 is configured to obtain broadcast information sent by the first vehicle in response to the request information, the first distance information, and second distance information, where the second distance information is used to indicate a distance from a second current location of each of the plurality of vehicles to a second end location of each of the vehicles, and the broadcast information is used to broadcast location information of the target vehicle joining the fleet to the target vehicle and each of the fleet.

A control unit 603 for controlling the target vehicle to join the fleet based on the broadcast information.

Alternatively, the control unit 603 may include: the determining module is used for determining the position relation information between the target vehicle and the motorcade based on the broadcast information; and the control module is used for responding to the target position information when the target vehicle runs to an adjacent lane of the motorcade on the basis of the position relation information, and the target vehicle is added to the motorcade.

In this embodiment, the method comprises transmitting, by a transmitting unit, request information and first distance information to a first vehicle through a communication connection between the first vehicle in a vehicle fleet and a target vehicle to be joined in the vehicle fleet, wherein the request information is for requesting the target vehicle to join in the vehicle fleet, the first distance information is a distance between a first current position of the target vehicle and a first end position to be reached by the target vehicle, the vehicle fleet comprises a plurality of vehicles, and the first vehicle is for leading another vehicle in the plurality of vehicles other than the first vehicle; the device comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring broadcast information sent by a first vehicle in response to request information, first distance information and second distance information, the second distance information is used for indicating the distance between a second current position of each vehicle in a plurality of vehicles and a second end position of each vehicle, and the broadcast information is used for broadcasting position information of joining a target vehicle into a vehicle fleet to the target vehicle and each vehicle in the vehicle fleet; the control unit is used for controlling the target vehicle to join the motorcade based on the broadcast information, so that the technical problem of low flexibility when the vehicle joins the motorcade is solved, and the technical effect of improving the flexibility when the vehicle joins the motorcade is achieved.

Example 4

There is also provided, in accordance with an embodiment of the present invention, a computer-readable storage medium including a stored program, wherein the program performs the method of joining a vehicle to a fleet of vehicles of embodiment 1.

Example 5

There is also provided, in accordance with an embodiment of the present invention, a processor for executing a program, where the program when executed performs the method of joining a vehicle to a fleet of vehicles of embodiment 1.

Example 6

According to an embodiment of the present invention, there is also provided a vehicle for performing the method of joining a vehicle fleet of embodiment 1.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or in other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.

Claims (10)

1. A method of joining a fleet of vehicles, comprising:

receiving request information and first distance information sent by a target vehicle through communication connection between the first vehicle in a vehicle fleet and the target vehicle to be joined in the vehicle fleet, wherein the request information is used for requesting the target vehicle to join in the vehicle fleet, the first distance information is the distance between a first current position of the target vehicle and a first terminal position to be reached by the target vehicle, the vehicle fleet comprises a plurality of vehicles, and the first vehicle is used for leading other vehicles except the first vehicle in the plurality of vehicles;

determining target position information of the target vehicle in the fleet of vehicles based on the first distance information and second distance information in response to the request information, wherein the second distance information is used for indicating the distance between a second current position of each vehicle in the plurality of vehicles and a second end position of each vehicle, and the target position information is used for indicating the position of the target vehicle to be joined in the fleet of vehicles;

controlling the target vehicle to join the fleet of vehicles based on the target location information.

2. The method of claim 1, wherein determining target location information of the target vehicle in the fleet of vehicles based on the first and second distance information in response to the request information comprises:

and when the difference between the first distance information and the second distance information is smaller than or equal to preset distance threshold information, determining the position behind a second vehicle in the fleet as the target position information, wherein the second vehicle is any one of the vehicles in the fleet except the first vehicle.

3. The method of claim 1, wherein determining target location information of the target vehicle in the fleet of vehicles based on the first and second distance information in response to the request information comprises:

when the difference between the first distance information and the second distance information is larger than preset distance threshold information, determining the position before a second vehicle in the fleet as the target position information, wherein the second vehicle is any one of vehicles in the fleet except the first vehicle.

4. The method of claim 1, wherein controlling the target vehicle to join the fleet of vehicles based on the target location information comprises:

updating list information of the fleet based on the target position information, and sending broadcast information corresponding to the updated list information to the target vehicle and each vehicle in the fleet, wherein the updated list information is position information of each vehicle in the fleet after the target vehicle joins the fleet, and the broadcast information is used for broadcasting the position information of the target vehicle joining the fleet to the target vehicle and each vehicle in the fleet;

controlling the target vehicle to join the fleet of vehicles based on the broadcast information.

5. A method of joining a fleet of vehicles, comprising:

transmitting request information and first distance information to a first vehicle in a fleet through a communication connection between the first vehicle and a target vehicle to be joined in the fleet, wherein the request information is used for requesting the target vehicle to join in the fleet, the first distance information is the distance between a first current position of the target vehicle and a first terminal position to be reached by the target vehicle, the fleet comprises a plurality of vehicles, and the first vehicle is used for leading other vehicles except the first vehicle in the plurality of vehicles;

acquiring broadcast information sent by the first vehicle in response to the request information, the first distance information and second distance information, wherein the second distance information is used for indicating the distance from a second current position of each vehicle in the plurality of vehicles to a second end position of each vehicle, and the broadcast information is used for broadcasting the position information of joining the fleet of the target vehicle to the target vehicle and each vehicle in the fleet of vehicles;

controlling the target vehicle to join the fleet of vehicles based on the broadcast information.

6. The method of claim 5, wherein controlling the target vehicle to join the fleet of vehicles based on the broadcast information comprises:

determining positional relationship information between the target vehicle and the fleet of vehicles based on the broadcast information;

and controlling the target vehicle to join the fleet of vehicles based on the position relation information.

7. An apparatus for joining a vehicle into a fleet of vehicles, comprising:

the device comprises a receiving unit, a processing unit and a control unit, wherein the receiving unit is used for receiving request information and first distance information sent by a target vehicle through communication connection between a first vehicle in a vehicle fleet and the target vehicle to be joined in the vehicle fleet, the request information is used for requesting the target vehicle to join in the vehicle fleet, the first distance information is the distance between a first current position of the target vehicle and a first terminal position to be reached by the target vehicle, the vehicle fleet comprises a plurality of vehicles, and the first vehicle is used for leading other vehicles except the first vehicle in the vehicles;

a determining unit, configured to determine, in response to the request information, target position information of the target vehicle in the fleet of vehicles based on the first distance information and second distance information, where the second distance information is used to indicate a distance from a second current position of each of the plurality of vehicles to a second end position of each of the plurality of vehicles, and the target position information is used to indicate a position where the target vehicle is to join the fleet of vehicles;

and the control unit is used for controlling the target vehicle to join the motorcade based on the target position information.

8. A processor, configured to run a program, wherein the program when running performs the method of any one of claims 1 to 6.

9. A computer-readable storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method of any one of claims 1 to 6.

10. A vehicle, characterized in that it is adapted to carrying out the method of any one of claims 1 to 6.

Images