CN115843007A - Vehicle formation method, electronic device and storage medium - Google Patents
Vehicle formation method, electronic device and storage medium Download PDFInfo
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- CN115843007A CN115843007A CN202211400806.0A CN202211400806A CN115843007A CN 115843007 A CN115843007 A CN 115843007A CN 202211400806 A CN202211400806 A CN 202211400806A CN 115843007 A CN115843007 A CN 115843007A
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Abstract
The embodiment of the invention relates to the field of automatic driving, in particular to a vehicle formation method, and discloses a vehicle formation method. In the invention, WIFI communication connection is established with other vehicles in a first vehicle formation through an authentication mechanism; under the WIFI communication connection, competing for vehicles in a leader team with all the other vehicles in the first vehicle team according to a competition mechanism; if the election is successful, the vehicle becomes a leading vehicle, and if the election fails, the vehicle becomes a following vehicle; and the leading vehicle responds in real time according to the current condition and informs the following vehicle. By the method, vehicle formation can be realized in a scene where GNSS cannot be used for positioning, information interaction and sharing among vehicle formations are continuously maintained, so that the vehicle formations can reliably and safely run in the absence of V2X, and meanwhile, the method does not need to communicate with an external device, so that the running cost is greatly reduced.
Description
Technical Field
The embodiment of the invention relates to the field of automatic driving, in particular to a vehicle formation method.
Background
The existing vehicle formation driving information interaction, formation vehicle quit formation message notification, other non-formation vehicles join formation authentication, road environment information sharing in the vehicle driving process, vehicle driving data sharing and the like all depend on V2X communication. The V2X communication requires the GNSS module to be able to perform normal positioning and obtain current real-time location information.
The inventors found that at least the following problems exist in the related art: in the prior art, if it is necessary for the V2X to be able to communicate normally, the GNSS module is required to be able to position in real time, but in the actual driving process of the vehicle, when the vehicle is in a scene where the GNSS cannot be positioned, the vehicle cannot communicate with the outside at any time, so that the vehicles cannot share data in real time, and the vehicle cannot continue to keep when being formed into a fleet.
Disclosure of Invention
An object of an embodiment of the present invention is to provide a vehicle formation method that enables a vehicle formation to travel reliably and safely when a vehicle entering the vehicle will not be able to continue using V2X as a communication means in the vehicle formation.
In order to solve the above technical problem, an embodiment of the present invention provides a vehicle formation method, including: establishing WIFI communication connection with other vehicles in the first vehicle formation through an authentication mechanism; under the WIFI communication connection, competing for vehicles in a leader team with all the other vehicles in the first vehicle team according to a competition mechanism; if the election is successful, the vehicle becomes a leading vehicle, and if the election fails, the vehicle becomes a following vehicle; and the leading vehicle responds in real time according to the current condition and informs the following vehicle.
An embodiment of the present invention also provides an electronic device, including: 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 enable the at least one processor to perform the vehicle convoy method as described above.
Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the vehicle formation method as described above.
In the embodiment of the invention, an authentication mechanism is adopted to establish WIFI communication connection with other vehicles in the first vehicle formation; under the WIFI communication connection, competing for vehicles of a leader team with all the other vehicles in the first vehicle formation according to a competition mechanism; if the election is successful, the vehicle becomes a leading vehicle, and if the election fails, the vehicle becomes a following vehicle; and the lead vehicle responds in real time according to the current condition and informs the following vehicle. By the method, vehicle formation can be realized in a scene where GNSS cannot be used for positioning, information interaction and sharing among vehicle formations are continuously maintained, so that the vehicle formations can reliably and safely run in the absence of V2X, and meanwhile, the method does not need to communicate with an external device, so that the running cost is greatly reduced.
In addition, before establishing the WIFI communication connection with other vehicles in the first vehicle formation through the authentication mechanism, the method further includes: detecting whether a scene incapable of using a V2X communication mode is entered after a preset time length, if so, executing the authentication mechanism to establish WIFI communication connection with other vehicles in the first vehicle formation; if not, the V2X communication mode is used. The vehicle formation mode is determined whether to be executed or not by judging whether the front enters a scene which cannot be positioned by GNSS or not in time, so that the vehicle formation can adapt to various scenes and flexibly select the formation method.
In addition, the leading vehicle makes a response in real time according to the current condition and notifies the following vehicle, including: the leader vehicle senses the surrounding environment in the driving process in real time, makes a control instruction according to the surrounding environment, executes the control instruction, and sends the control instruction to all the following vehicles in the first vehicle formation, so that the following vehicles execute the control instruction after receiving the control instruction.
Additionally, the control instructions include: vehicle acceleration, vehicle deceleration, obstacle avoidance.
In addition, the leading vehicle makes a response in real time according to the current condition and notifies the following vehicle, including: when the lead vehicle detects that a vehicle sends a request for exiting a first vehicle formation, indicating other vehicles except the vehicle which is requested to exit in the first vehicle formation to establish a second vehicle formation, and readjusting the vehicle distance between all vehicles in the second vehicle formation after the second vehicle formation is established; when the lead vehicle detects that a vehicle sends a request for joining a first vehicle formation, the vehicle sending the request for joining the first vehicle formation and other vehicles in the first vehicle formation are indicated to establish a third vehicle formation, and when the third vehicle formation is established, the vehicle distance between all vehicles in the current third vehicle formation is readjusted.
In addition, the election mechanism includes: and performing weighted scoring according to the types, the number and the performance of the intelligent sensors carried by all the vehicles in the first vehicle formation, sequencing according to scoring results, and determining the vehicle with the highest score as a lead vehicle in the first vehicle formation.
Additionally, the intelligent sensor comprises one or any combination of the following: laser radar, millimeter wave radar, many meshes camera, TOF camera, ultrasonic sensor, high-accuracy map.
In addition, the establishing of the WIFI communication connection with other vehicles in the first vehicle formation through the authentication mechanism includes: and sending a connection key to a cloud end by means of a wireless network, acquiring the connection keys of other vehicles in the first vehicle formation, and establishing WIFI communication connection with the other vehicles in the first vehicle formation according to a preset connection rule.
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One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a flow chart provided by a vehicle formation method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a connection relationship between a vehicle and a cloud connection according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of the connection provided when vehicles are connected to each other according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.
One embodiment of the invention relates to a vehicle formation method, which can be applied to any vehicle in vehicle formation. In the embodiment, WIFI communication connection is established with other vehicles in the first vehicle formation through an authentication mechanism; under the WIFI communication connection, competing for vehicles in a leader team with all the other vehicles in the first vehicle team according to a competition mechanism; if the election is successful, the vehicle becomes a leading vehicle, and if the election fails, the vehicle becomes a following vehicle; the leader vehicle responds in real time according to the current condition and informs the following vehicles, and through the mode, vehicle formation can be realized in a scene where GNSS cannot be positioned, and information interaction and sharing among vehicle formation are continuously maintained, so that the vehicle formation can run reliably and safely without V2X. The following describes implementation details of the vehicle formation method of the present embodiment in detail, and the following description is provided only for the sake of understanding and is not necessary for implementing the present embodiment.
As shown in fig. 1, in step 101, any vehicle in a first vehicle formation establishes a WIFI communication connection with other vehicles in the first vehicle formation through an authentication mechanism;
in one example, before establishing the WIFI communication connection with other vehicles in the first vehicle formation through the authentication mechanism, the method further includes: detecting whether a scene incapable of using a V2X communication mode is entered after a preset time length, if so, executing the authentication mechanism to establish WIFI communication connection with other vehicles in the first vehicle formation; if not, the V2X communication mode is used.
In one example, the establishing the WIFI communication connection with other vehicles in the first vehicle formation through the authentication mechanism includes: and sending a connection key to a cloud end by means of a wireless network, acquiring the connection keys of other vehicles in the first vehicle formation, and establishing WIFI communication connection with the other vehicles in the first vehicle formation according to a preset connection rule.
In one example, the establishing the WIFI communication connection with other vehicles in the first vehicle formation through the authentication mechanism includes: the method comprises the steps that when a V2X communication mode is used by a first vehicle formation, connection keys of other vehicles in the first vehicle formation are obtained, the connection keys are shared among the vehicles in the first vehicle formation, and when WIFI communication connection is established with the other vehicles in the first vehicle formation through an authentication mechanism, WIFI communication connection is directly established with the other vehicles in the first vehicle formation according to a preset connection rule.
When the first vehicle formation communication is switched to WIFI, access verification of the WIFI is carried out between the interiors of the vehicle formations; if the connection rule is set to that the rear vehicle is sequentially connected to the front vehicle, the authentication mechanism may be set to: the connection key of the front vehicle is the vehicle ID of the rear vehicle, the rear vehicle can acquire the connection key of the front vehicle by inquiring the ID of the rear vehicle, and the rear vehicle is sequentially connected to the front vehicle.
In one example, the establishing of the WIFI communication connection with other vehicles in the first vehicle formation according to the preset connection rule includes: the vehicles are sequenced according to the current driving direction and the vehicles, and the rear vehicle behind the vehicle sequentially establishes WIFI communication connection with the front vehicle ahead the vehicle.
In one example, as shown in fig. 2, the establishing a WIFI communication connection with other vehicles in the first vehicle formation through an authentication mechanism includes: the vehicle 201, the vehicle 202, the vehicle 203, and the vehicle 204 transmit respective connection keys to a cloud end 205 via a wireless network, the cloud end 205 transmits the connection key of the vehicle 203 to the vehicle 204, transmits the connection key of the vehicle 202 to the vehicle 203, and transmits the connection key of the vehicle 201 to the vehicle 202, the vehicle 204 establishes a WIFI communication connection with the vehicle 203 through the connection key of the vehicle 203, the vehicle 203 establishes a WIFI communication connection with the vehicle 202 through the connection key of the vehicle 202, and the vehicle 202 establishes a WIFI communication connection with the vehicle 201 through the connection key of the vehicle 201.
The order and the connection unit for establishing the WIFI communication connection with other vehicles in the first vehicle formation through the authentication mechanism are not limited, any vehicle can be connected with vehicles except the vehicle, and one vehicle can also be in communication connection with a plurality of vehicles at the same time.
In one example, the formation vehicle analyzes a message broadcasted by the RSU or data of a high-precision map to the fact that a road section which the vehicle is about to enter is about to be incapable of continuously using the V2X module for vehicle cooperative communication; all vehicles in the formation can open vehicle formation vehicle-mounted WiFi modules in auxiliary communication modes, and the AP + station function of WiFi is started while the WiFi modules are opened. So as to facilitate the subsequent sequential access according to the formation mode and form a new formation control cooperative mode.
In step 102, any vehicle in a first vehicle formation, under the WIFI communication connection, and all the other vehicles in the first vehicle formation together race a vehicle in a leader according to a race mechanism;
in one example, the election mechanism includes: and carrying out weighted scoring according to the types, the number and the performance of the intelligent sensors carried by all the vehicles in the first vehicle formation, sequencing according to the scoring result, and determining the vehicle with the highest score as a leading vehicle in the first vehicle formation.
In one example, the intelligent sensor comprises one or any combination of the following: laser radar, millimeter wave radar, many meshes camera, TOF camera, ultrasonic sensor, high-precision map.
The leader vehicle election mechanism can be in various forms: if can be according to the intelligent sensor that all vehicles carried in the formation were the option, like laser radar, millimeter wave radar, many mesh camera, TOF camera, ultrasonic sensor, whether support high-accuracy map etc. then carry out the weighting according to relevant sensor's performance and score, then sort according to the result of scoring, the score is the highest at last, confirms as the leading vehicle under the WIFI communication mode. And a specific vehicle can be designated to directly pass through the election in all elections under an election mechanism to become a leading vehicle.
In step 103, if any vehicle in the first vehicle formation succeeds in election, the vehicle becomes a leading vehicle, and if the election fails, the vehicle becomes a following vehicle; and the lead vehicle responds in real time according to the current condition and informs the following vehicle.
In one example, the lead vehicle responds in real time to notify the following vehicles according to the current conditions, including: the leader vehicle senses the surrounding environment in the driving process in real time, makes a control instruction according to the surrounding environment, executes the control instruction, and sends the control instruction to all the following vehicles in the first vehicle formation, so that the following vehicles execute the control instruction after receiving the control instruction.
In one example, the control indication includes: vehicle acceleration, vehicle deceleration, avoidance of obstacles.
V2X, i.e. vehicle-to-outside information exchange. The Internet of vehicles realizes information transmission between vehicles and the outside by integrating a Global Positioning System (GPS) navigation technology, a vehicle-to-vehicle communication technology, a wireless communication technology and a remote sensing technology. Since the vehicles cannot receive the broadcast message of the RSU when the vehicles enter a scene in which the communication using the V2X module cannot be continued, the convoy vehicles cannot know various kinds of emergency information in the driving road in advance. Based on the background information, a leader car selection mechanism when V2X communication cannot be used continuously; the vehicles of the leader are required to be re-selected according to a leader vehicle election mechanism in the vehicle formation; in the WIFI mode, the vehicles of the lead team need to sense the surrounding driving process and the environment in front of the road in real time, and relevant decisions are shared to all vehicles in the formation in real time; and making appropriate instructions such as deceleration, avoidance of obstacles, etc.
In one example, the leading vehicle responds and notifies the following vehicle in real time according to the current condition, including: when the lead vehicle detects that a vehicle sends a request for exiting a first vehicle formation, indicating other vehicles except the vehicle which is requested to exit in the first vehicle formation to establish a second vehicle formation, and readjusting the vehicle distance between all vehicles in the second vehicle formation after the second vehicle formation is established; when the lead vehicle detects that a vehicle sends a request for joining a first vehicle formation, the lead vehicle indicates the vehicle sending the request for joining the first vehicle formation and other vehicles in the first vehicle formation to establish a third vehicle formation, and when the third vehicle formation is established, the vehicle distance between all vehicles in the third vehicle formation is readjusted.
In one example, as shown in fig. 3, the leading vehicle responds in real time to notify the following vehicle according to the current condition, including: when the following vehicle 302 needs to exit in the third drawing, the leading vehicle 301, the following vehicle 303 and the following vehicle 304 establish a second vehicle formation, the following vehicle 303 and the leading vehicle 301 establish connection, and after the following vehicle 302 exits the first vehicle formation, the distance of the second vehicle formation is automatically adjusted.
In one example, as shown in fig. 3, the leading vehicle responds and notifies the following vehicle in real time according to the current condition, including: when the lead vehicle 301 in fig. three needs to exit, the following vehicles 303 and the following vehicles 304 establish a second vehicle formation, and after the second vehicle formation is established, vehicle distances among all vehicles in the second vehicle formation are readjusted, so that the lead vehicles of the second vehicle formation are competitive by the following vehicles 303, the following vehicles 303 and the following vehicles 304 in the second vehicle formation according to an election mechanism, and the lead vehicle 301 exits from the first vehicle formation.
When a new vehicle enters, similar to an exit mechanism, the new vehicle is connected with the vehicles in the vehicle formation, and the distance between the vehicles in the new vehicle formation is automatically adjusted according to the vehicle distance in the vehicle formation.
In one example, the vehicle formation control module is mainly used for coordinating and controlling the driving speed of vehicles in the formation and the joining and leaving management of the vehicles in the formation after switching to the WIFI communication mode, when the vehicles leave the formation, the formation connection mode needs to be established again before the vehicles leave, when a new vehicle formation is established, the vehicles leave the formation, and after the vehicles leave, the driving interval between the vehicles is readjusted. When new vehicles join the formation in the formation driving process, a new connection mode needs to be established before the formation is adjusted, and after the new connection mode is established, the driving interval of the vehicles in the formation is adjusted.
In the embodiment, vehicle formation can be realized in a scene where GNSS cannot be used for positioning, and information interaction and sharing among vehicle formations are continuously maintained, so that the vehicle formations can reliably and safely run in the absence of V2X, and meanwhile, the method does not need to communicate with an external device, so that the running cost is greatly reduced.
The steps of the above method are divided for clarity of description, and may be combined into one step or split into some steps, and the steps are decomposed into multiple steps, so long as the steps include the same logical relationship, which is within the protection scope of the patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
Another embodiment of the invention relates to an electronic device, as shown in fig. 4, comprising at least one processor 401; and a memory 402 communicatively coupled to the at least one processor 401; the memory 402 stores instructions executable by the at least one processor 401, and the instructions are executable by the at least one processor 401 to enable the at least one processor 401 to perform a vehicle formation method as described above.
Where the memory 402 and the processor 401 are coupled by a bus, which may include any number of interconnected buses and bridges that couple one or more of the various circuits of the processor 401 and the memory 402 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 401 may be transmitted over a wireless medium via an antenna, which may receive the data and transmit the data to the processor 401.
The processor 401 is responsible for managing the bus and general processing and may provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 402 may be used to store data used by processor 401 in performing operations.
Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of practicing the invention, and that various changes in form and detail may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A vehicle formation method, comprising:
establishing WIFI communication connection with other vehicles in the first vehicle formation through an authentication mechanism;
under the WIFI communication connection, competing for vehicles of a leader team with all the other vehicles in the first vehicle formation according to a competition mechanism;
if the election is successful, the vehicle becomes a leading vehicle, and if the election fails, the vehicle becomes a following vehicle; and the leading vehicle responds in real time according to the current condition and informs the following vehicle.
2. The vehicle formation method of claim 1, wherein before establishing the WIFI communication connection with the other vehicles in the first vehicle formation through the authentication mechanism, the method further comprises:
detecting whether a scene incapable of using a V2X communication mode is entered after a preset time length, if so, executing the authentication mechanism to establish WIFI communication connection with other vehicles in the first vehicle formation; if not, the V2X communication mode is used.
3. The vehicle queuing method of claim 1, wherein the lead vehicle responds in real time to notify the following vehicles according to current conditions, comprising:
the leader vehicle senses the surrounding environment in the driving process in real time, makes a control instruction according to the surrounding environment, executes the control instruction, and sends the control instruction to all the following vehicles in the first vehicle formation, so that the following vehicles execute the control instruction after receiving the control instruction.
4. The vehicle convoy method according to claim 3, wherein said control instruction comprises:
vehicle acceleration, vehicle deceleration, obstacle avoidance.
5. The vehicle formation method according to claim 1, wherein the lead vehicle responds in real time to notify the following vehicles according to the current conditions, including:
when the lead vehicle detects that a vehicle sends a request for exiting a first vehicle formation, indicating other vehicles except the vehicle which is requested to exit in the first vehicle formation to establish a second vehicle formation, and readjusting the vehicle distance between all vehicles in the second vehicle formation after the second vehicle formation is established;
when the lead vehicle detects that a vehicle sends a request for joining a first vehicle formation, the lead vehicle indicates the vehicle sending the request for joining the first vehicle formation and other vehicles in the first vehicle formation to establish a third vehicle formation, and when the third vehicle formation is established, the vehicle distance between all vehicles in the third vehicle formation is readjusted.
6. The vehicle queuing method of claim 1 wherein the election mechanism comprises:
and carrying out weighted scoring according to the types, the number and the performance of the intelligent sensors carried by all the vehicles in the first vehicle formation, sequencing according to the scoring result, and determining the vehicle with the highest score as a leading vehicle in the first vehicle formation.
7. A vehicle queuing method as claimed in claim 6,
the intelligent sensor comprises one or any combination of the following components: laser radar, millimeter wave radar, many meshes camera, TOF camera, ultrasonic sensor, high-precision map.
8. The vehicle formation method according to any one of claims 1 to 7, wherein the establishing WIFI communication connection with other vehicles in the first vehicle formation through an authentication mechanism comprises:
and sending a connection key to a cloud end by means of a wireless network, acquiring the connection keys of other vehicles in the first vehicle formation, and establishing WIFI communication connection with the other vehicles in the first vehicle formation according to a preset connection rule.
9. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the vehicle convoy method of any of claims 1 to 8.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the vehicle queuing method of any one of claims 1 to 8.
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| CN202211400806.0A CN115843007A (en) | 2022-11-09 | 2022-11-09 | Vehicle formation method, electronic device and storage medium |
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| CN202211400806.0A CN115843007A (en) | 2022-11-09 | 2022-11-09 | Vehicle formation method, electronic device and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116994423A (en) * | 2023-07-19 | 2023-11-03 | 暨南大学 | Lightweight, privacy-protected lead vehicle selection system and method in vehicle formation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116994423A (en) * | 2023-07-19 | 2023-11-03 | 暨南大学 | Lightweight, privacy-protected lead vehicle selection system and method in vehicle formation |
| CN116994423B (en) * | 2023-07-19 | 2024-04-16 | 暨南大学 | Lightweight, privacy-protected lead vehicle selection system and method in vehicle formation |
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