TWI704521B - Driving system with average energy consumption from fleet of autonomous cars and method thereof - Google Patents

Abstract

A driving system with average energy consumption from fleet of autonomous cars includes a vehicle condition detecting unit, a control unit, and a master-slave rotating unit. The vehicle condition detecting unit detects the current location of a fleet, individual current vehicle conditions and destinations of each fleet vehicle in the fleet, and generates a vehicle condition information. The control unit is configured to receive the vehicle condition information to generate rotation planning information. The master-slave rotating unit assigns the plurality of fleet vehicles to one master fleet vehicle and at least one slave fleet vehicle according to a master-slave distribution signal of the rotation planning information. The master-slave rotating unit rotates a time-series signal with a rotation time and a rotation order in the rotation planning information, so that each fleet vehicle performs the rotation following the corresponding rotation schedule. The invention also discloses a method of implementing the system.

Description

Driving system and method for average energy consumption of self-driving car fleet

A driving system and method for a connected car, in particular, a driving system and a method for the average energy consumption of each vehicle in a self-driving car fleet.

With the development of autonomous vehicles, highways with relatively pure road environments may be the first sections to open. However, when the vehicle is driving at high speed, wind resistance is one of the important factors affecting fuel consumption. Therefore, how to reduce the wind resistance encountered in the driving of the car and thereby reduce the energy consumption is an important issue.

There is a vehicle driving assistance device on the market that includes an air resistance distribution acquisition unit, a target driving position determination unit, and a driving assistance unit. The air resistance distribution acquisition unit acquires the air resistance distribution in the left-right direction and the front-rear direction of the own vehicle. The target traveling position determination unit uses the air resistance distribution to determine the target traveling position of the host vehicle relative to the preceding vehicle. The driving assistance unit guides the host vehicle to move toward the target driving position determined by the target driving position determining unit. This vehicle driving assistance device guides the own vehicle to the corresponding position based on the detected position caused by the driving vehicle in front that has a higher aerodynamic effect on the surrounding of the own vehicle, thereby improving itself Energy consumption of the vehicle. However, after all, only a single vehicle is used alone, so the extent of improving energy consumption is limited.

There is another vehicle dispatching system on the market that uses the vehicle-to-vehicle communication technology in the Internet of Vehicles to organize a fleet of vehicles so that the fleet can be arranged according to the size of the vehicle. Through the arrangement of large cars in the front and small cars in the rear, the air resistance of the rear vehicles is reduced and energy consumption is reduced. However, such a vehicle dispatching system can only improve the energy consumption of the rear vehicles, and does not improve the energy consumption of the large vehicles in front. Arranging the small cars behind the big car will make the front of the rear car's line of sight completely blocked by the big car, plus the fleet driving system to reduce the distance between the vehicles to reduce energy consumption. Sudden accidents occur in or in front of the car, which will make the car behind cannot have enough reaction time to eliminate the danger.

In view of this, the present invention discloses a driving system and method for averaging energy consumption of a self-driving vehicle fleet, which is used to average the energy consumption of vehicles in the fleet. The driving system for the average energy consumption of a self-driving car of the present invention is applied to a fleet of vehicles with multiple fleets. The driving system includes a vehicle condition detection unit, a control unit and a master-slave wheel adjustment unit. The vehicle condition detection unit is installed in at least one vehicle fleet to detect the current location, current vehicle condition and destination of the vehicle fleet and generate vehicle condition information. The control unit is connected with the vehicle condition detection unit to receive vehicle condition information to generate rotation planning information. Rotation planning information includes rotation schedule and master-slave allocation signal. The master-slave rotation unit is connected with the control unit. The master-slave rotation unit allocates a plurality of fleet vehicles to a master-slave vehicle based on the master-slave allocation signal, and then allocates the plurality of fleet vehicles into a master vehicle and at least one slave vehicle. The master-slave rotation unit, according to the rotation schedule signal with the rotation time and the rotation sequence, allows the vehicles in the fleet to perform the rotation in the arrangement sequence according to the corresponding rotation schedule.

Further, the driving method of the average energy consumption of a self-driving car of the present invention is applied to a fleet of vehicles with a plurality of fleets. This driving method includes the following steps: Receive multiple fleet cars Vehicle status information with current location, current vehicle status and destination; generate rotation planning information based on this vehicle status information; according to the rotation planning information, multiple fleet vehicles are assigned master and slave, and each fleet vehicle is rotated according to the The corresponding rotation schedule in the planning information is rotated in the arrangement sequence.

Compared with the conventional technology, the driving system and method for the average energy consumption of the self-driving car of the present invention have the following advantages: 1. The vehicle fleet is formed by the Internet of Vehicles. The fleet is driven in series to optimize the use of the road area, thereby shortening the distance between the fleet and reducing the energy loss caused by wind resistance; 2. Through the rotation mechanism, each fleet can be timely And the appropriate rotation to the first one, and then average the energy consumption of each vehicle in the fleet; 3. The energy consumption of each vehicle in the fleet will be more effective than the energy saving of individual vehicles; 4. Avoid only The uneven energy consumption and dangerous driving environment caused by the driving method of large vehicles in front; 5. If there are vehicles in the fleet with low fuel or energy, the rotation mechanism can also be used to assist this The car extended its mileage to reach its destination smoothly.

11‧‧‧Caravan

12‧‧‧Convoy car

13‧‧‧Main convoy car

14‧‧‧From the fleet car

15‧‧‧To be added to the car

2‧‧‧Driving system

21‧‧‧Car condition detection unit

22‧‧‧Control Unit

23‧‧‧Communication Unit

24‧‧‧Master-slave rotation unit

25‧‧‧Organizing fleet unit

26‧‧‧Environmental Detection Unit

S111-S233‧‧‧Step

Fig. 1 is a block diagram of a specific embodiment of a driving system with average energy consumption of a self-driving car according to the present invention.

Fig. 2 is a schematic diagram of a specific embodiment of a driving system for driving average energy consumption of a self-driving car according to the present invention.

Fig. 3 is a schematic diagram of a specific embodiment of a driving system for average energy consumption of a self-driving car according to the present invention.

Fig. 4 is a flow chart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention.

Fig. 5 is a flowchart of a specific embodiment of a driving method of average energy consumption of a self-driving car according to the present invention.

Fig. 6 is a flowchart of a specific embodiment of a driving method of average energy consumption of a self-driving car according to the present invention.

Fig. 7 is a flow chart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention.

Fig. 8 is a flow chart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention.

Fig. 9 is a flowchart of a specific embodiment of a driving method of average energy consumption of a self-driving car according to the present invention.

In order to make the advantages, spirit and features of the present invention easier and clearer to understand, the following embodiments will be used for detailed and discussion with reference to the accompanying drawings. It should be noted that these embodiments are only representative embodiments of the present invention, and the specific methods, devices, conditions, etc. exemplified therein are not intended to limit the present invention or the corresponding embodiments.

Please refer to Figure 1 to Figure 3. Fig. 1 is a block diagram of a specific embodiment of the driving system 2 for the average energy consumption of a self-driving car according to the present invention; Fig. 2 is a schematic diagram of the wheel adjustment of a specific embodiment of the driving system 2 for the average energy consumption of a self-driving car according to the present invention; A schematic diagram of a specific embodiment of the driving system 2 for inventing the average energy consumption of a self-driving car. In a specific embodiment, the driving system 2 of the present invention is applied to a fleet 11 having a plurality of fleet vehicles 12. The driving system 2 includes a vehicle condition detection unit 21, a control unit 22, a communication unit 23 and a master-slave rotation adjustment unit 24. The vehicle condition detection unit 21 is arranged in at least one vehicle fleet 12 to detect the current location of the vehicle fleet 11, the current vehicle status of each vehicle fleet 12, and the destinations of multiple vehicles 12 to generate vehicle condition information. The control unit 22 is connected to the vehicle condition detection unit 21 to receive vehicle condition information to generate wheel schedule information. Rotation planning information includes rotation schedule and master-slave allocation signal. The communication unit 23 is connected with the control unit 22 to receive and send the rotation planning information generated by the control unit 22 to each fleet car 12. The master-slave rotation unit 24 is connected to the control unit 22. The master-slave rotation unit 24 assigns a plurality of fleet cars 12 to a master-slave allocation based on a master-slave allocation signal, and then allocates the plurality of fleet cars 12 into a master fleet car 13 and at least one slave fleet car 14. The master-slave rotation unit 24 has rotation time and rotation The sequential rotation schedule signal allows each fleet vehicle 12 to perform the rotation in the sequence according to the corresponding rotation schedule. In another embodiment, the communication unit 23 may be connected to the master-slave rotation unit 24, and the master-slave rotation unit 24 performs master-slave allocation and rotation according to the rotation planning information received by the communication unit 23.

Among them, the above-mentioned rotation planning information of the driving system 2 for the average energy consumption of self-driving cars is generated by the control unit 22 of the main vehicle fleet 13, received by the communication unit 23 of the main vehicle fleet 13, and sent to the communication unit of each vehicle fleet 12 23. To notify the control unit 22 of each fleet car 12 to start the rotation.

Please refer to FIG. 2 again. In a specific embodiment, at first, the fleet 11 is arranged in the order of one main fleet vehicle 13 in front and at least one secondary fleet vehicle 14 in the back. When the vehicles start to rotate, the main convoy car 13 in the first car changes lanes to the next lane. Organize the fleet unit 25 so that the main fleet car 13 becomes the slave fleet car 14, and the current first fleet car 12 in the lane becomes the new main fleet car 13. Then, wait for the vehicles 14 in the rear to pass by the convoy. When the last vehicle in the rear moves forward from the convoy car 14 to the position of the convoy car 14 in the next lane, the convoy car 14 changes lanes to the lane where the convoy 11 is currently located and follows the last convoy car 14.

Please refer to FIGS. 1 to 3 again. In a specific embodiment, the driving system 2 of the present invention further includes an organized fleet unit 25 and an environment detection unit 26. The organization fleet unit 25 is connected with the control unit 22 to generate application organization information or departure organization information. The environment detection unit 26 is also connected to the control unit to detect current driving conditions around the vehicle and generate environmental information. In addition to the fleet 11 formed by the fleet of vehicles 12, the fleet of vehicles 15 that want to join the fleet 11 or the fleet of vehicles 12 that want to leave the fleet 11 can also be operated by this driving system 2. The vehicle 15 to be added has an organization fleet unit 25, a vehicle condition detection unit 21, and an environment detection unit 26. When the fleet 11 control sheet After the element 22 receives the application organization unit generated by the vehicle 15 to be added, the control unit 22 in the fleet 11 generates approval organization information or rejection organization information based on the current vehicle condition information and environmental information of the vehicle 15 to be added. The vehicle 15 to be added can join the fleet 11 according to the received consent organization information. After the joining vehicle 15 receives the agreed organization information and joins the fleet 11 to become one of the fleet vehicles 12 of the fleet 11, the driving system 2 generates new rotation planning information based on the current vehicle condition information of the fleet 11.

Among them, the approval organization information or rejection organization information generated by the control unit 22 of the fleet 11 is determined based on one of the following elements or a combination of any two or more: 1. Whether the current vehicle condition of the vehicle 15 to be added to the current fleet 11 energy consumption Increase; 2. Is it difficult to join the fleet 11 in the current environment of the car 15 waiting to be added, such as: waiting to join the car 15 is currently surrounded by other vehicles, which makes it difficult to enter the fleet 11; 3. After joining the car 15 joins, whether it will make the fleet 11 The vehicle speed drops; 4. Whether the final destination of the fleet 11 arrives soon; 5. Whether the destination of the waiting car 15 arrives soon; 6. Whether the model of the waiting car 15 meets the needs of the current fleet 11.

In the past, when a team car 12 generates leaving organization information, the control unit 22 of the team car 12 provides an appropriate time to leave according to the current environment information of the team 11, and then allows the team car 12 to leave the team 11 where it is. And when the control unit 22 of the fleet 11 receives the information of leaving the organization, the control unit 22 of the fleet 11 generates a new rotation according to the current vehicle condition information of the fleet 11 after the fleet car 12 leaves the fleet 11 Planning information.

The aforementioned rotation planning information is based on one or more of the following methods to plan the rotation time and rotation sequence: 1. Average the distance between the current position and the farthest destination of the fleet car 12 in the fleet 11 12 cars allocated to each fleet. In one embodiment, the initial rotation and arrangement order are sorted from the closest to the farthest destination, the closest to the first, and the farthest The last car in the row; 2. According to the current vehicle fleet 11 vehicles 12 in the fleet to allocate. Vehicles with poor conditions are arranged to the last, and the rotation sequence is also the last one or even no need to join the rotation. The other vehicles 12 equally share the mileage of the main vehicle 13. 3. Depending on the destination, in addition to the rotation and arrangement sequence according to the distance of the destination, the main fleet car 12 with the closest distance to the main fleet under the condition of greater than the energy consumption before joining the fleet 11 13.

In a specific embodiment, the organization fleet unit 25 of the fleet 11 is further used to generate invitation organization information. After the driving system 2 of the fleet 11 sends out the invitation organization information, waiting to join the car 15 can receive the invitation organization information and generate the aforementioned application organization information. In this way, the fleet 11 can be actively expanded to reduce energy consumption more efficiently.

In a specific embodiment, the vehicle condition detection unit of the driving system for the average energy consumption of a self-driving car of the present invention includes an On-Board Diagnostics (OBD) system for monitoring vehicle operating status and reporting abnormalities. At least one of a global positioning system (Global Positioning System, GPS) for positioning and a navigation system for route planning based on a destination. The control unit, the master-slave rotation unit and the organization fleet unit separately or jointly include a computer processor for information reception and calculation, and dedicated short-range communications (Dedicated Short-Range Communications, DSRC) for communication between cars. ). At least one of an in-vehicle communication system and an embedded system for analyzing road conditions, and an operating system for automatic driving. The environment detection system includes the Advanced Driver Assistance System (ADAS) for detecting the environment inside and outside the car. The advanced driving assistance system includes different types of vehicle sensors, such as millimeter wave radar, ultrasonic radar, infrared radar, laser radar, CCD\CMOS image sensor and wheel speed sensor, as well as electronic control unit and Actuator.

Please refer to Figure 4, Figure 4 is a self-driving car driving method with average energy consumption A flowchart of a specific embodiment. In a specific embodiment, the driving method of the average energy consumption of a self-driving car of the present invention is applied to a fleet 11 with a plurality of fleet cars 12, which includes the following steps: S21: receiving a plurality of fleet cars 12 with current locations and current vehicles Car condition information of the situation and destination; S22: generate rotation planning information based on the car condition information; and S23: assign multiple fleet cars 12 to master and slave according to the rotation planning information, and let each fleet car 12 follow the rotation planning information Carry out the rotation in the sequence of the corresponding rotation schedule in the corresponding rotation schedule; repeat the above steps continuously for the fleet 11 or repeat the above steps when the waiting car 15 joins the fleet 11 or the fleet car 12 that wants to leave the fleet 11 .

Please refer to FIGS. 5 and 6 again. FIG. 5 is a flowchart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention, and FIG. 6 is a specific embodiment of a driving method with average energy consumption of a self-driving vehicle according to the present invention flow chart. When a waiting car 15 wants to join the fleet 11, before step S21, the following steps are further included: S121: receiving information about the application organization of the waiting car 15 who wants to join the fleet 11; S122: receiving the fleet 11 and waiting car 15 Current vehicle condition information and environmental information; and S123: generate consent organization information or rejection organization information based on at least one of the vehicle condition information and environmental information; and the steps to be performed when the vehicle 15 wants to join the fleet 11 to be added: S124: generate application Organization information, vehicle condition information and environmental information; S125: Determine whether the agreed organization information generated by the fleet 11 is received; when the vehicle to join 15 does not receive the agreed organization information, but receives the rejection organization information, return to step S124 to search again Other teams 11; When the car to join 15 receives the agreed organization information, steps S126 to S126 are executed: join the fleet 11 and become one of the fleet cars 12 of the fleet 11; the car to join 15 joins the fleet 11 through the above steps, and then uses this The invented driving system 2 and its method achieve average energy consumption.

Please refer to FIG. 5 and FIG. 7 again. FIG. 7 is a flowchart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention. In a specific embodiment, the driving method of the present invention further includes the following steps before step S121: S111: the fleet 11 generates invitation organization information; and the waiting car 15 also includes the following steps: S112: receiving invitation organization information; When the joining car 15 does not receive the consent organization information, but receives the rejection organization information, it returns to step S112 to re-receive the invitation organization information of other fleets 11; when the joining car 15 receives the consent organization information, step S126 is executed. The expansion of the fleet 11 can not only be achieved by the active addition of the waiting car 15, but also by the fleet 11 performing the above steps to actively expand the fleet 12 of the fleet 11. When the number of vehicles 12 in the fleet 11 is larger, the effect of average energy consumption is better.

Please refer to FIGS. 8 and 9. FIG. 8 is a flowchart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention, and FIG. 9 is a flowchart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention Figure. Since the destination of each fleet car 12 in the fleet 11 may be different, when a fleet car 12 arrives at a desired destination, it needs to leave the fleet 11 where it is. In a specific embodiment, before step S21, the following steps are further included: S131: receiving information about the departure organization of any vehicle 12 in the vehicle fleet 11; and S132: Generate environmental information with the driving conditions around the current fleet 11; and the fleet car 12 that generates the out-of-organization information will perform the following steps: S133: Generate out-of-organization information; S134: Receive environmental information with the current driving conditions around the fleet 11 ; And S135: Leaving the convoy 11; wherein, when the convoy car 12 generates departing organization information, the convoy car 12 will leave the convoy 11 according to the received environmental information, or further leave the current lane position. In other words, the fleet car 12 that wants to leave the fleet 11 will determine when it is suitable to change lanes based on the received environmental information with the current driving conditions around the fleet 11. In the driving method, the subsequent step S21 is executed according to the convoy 11 after the convoy car 12 is disengaged.

Please refer to FIG. 4 again. In a specific embodiment, step S23 further includes the following sub-steps: S231: receiving rotation planning information; S232: performing multiple fleet vehicles based on the master-slave allocation information in the rotation planning information 12 master-slave allocation; and S233: According to the rotation schedule signal in the rotation planning information, let each fleet car 12 perform the rotation in the arrangement sequence according to the corresponding rotation schedule; use the above steps, and match as The rotation method described in Figure 2 can complete the rotation. In each rotation, the fleet car 12 that wants to change lanes will first confirm the driving conditions around itself. Under safe driving conditions, the vehicle fleet 12 completes the lane change.

In a specific embodiment, when the vehicle fleet 11 is located around and the driving conditions are not good, such as traffic jams, and there is currently no room to change the lane to be changed, the second round schedule will be It will be extended until the driving conditions are better for rotation. The subsequent rotation schedule will be adjusted accordingly or the original rotation schedule will be maintained.

In a specific embodiment, when a car in the fleet 11 is behind for a long time and seriously hinders the rotation, the driving system 2 of the present invention will invite this vehicle to join the fleet 11, thereby allowing the driving method of the present invention Can proceed smoothly.

In a specific embodiment, when the fleet 11 undergoes a sudden change in driving conditions during the rotation, and the lane-changing fleet 12 cannot be rotated to the rear of the fleet 11, the driving system 2 of the present invention will force this fleet Car 12 leaves the convoy 11. This allows the driving method to proceed smoothly.

Compared with the prior art, the driving system 2 and the method thereof for the average energy consumption of self-driving cars of the present invention are composed of self-driving cars using the Internet of Vehicles to form a fleet 11 and performing vehicle rotation in a tandem driving manner. The tandem driving system uses the road area in an optimized way. The driving system 2 utilizes the wheel adjustment of the vehicles to make each fleet car 12 turn to the first one in a timely and appropriate manner, and then average the energy consumption of each fleet car 12. The present invention also improves the limit of the conventional technology to save energy by a single vehicle on its own, and also avoids uneven energy consumption and dangerous driving environment caused by only large vehicles driving in front. The driving system 2 of the present invention can also assist the fleet of vehicles 12 in poor condition to reach the destination smoothly.

Based on the detailed description of the above specific embodiments, it is hoped that the characteristics and spirit of the present invention can be described more clearly, rather than limiting the scope of the present invention by the specific embodiments disclosed above. On the contrary, its purpose is to cover various changes and equivalent arrangements within the scope of the patent application for the present invention.

2: driving system

21: Vehicle condition detection unit

22: control unit

23: Communication unit

24: master-slave rotation unit

25: Organize the fleet unit

26: Environmental detection unit

Claims (10)

A driving system with average energy consumption of a self-driving car, applied to a fleet of vehicles with a plurality of fleets, comprising: a vehicle condition detection unit, which is arranged in at least one of the fleet of vehicles to detect the current position of the fleet , The current vehicle status and destination, and generate a vehicle status information; a control unit is connected with the vehicle status detection unit to generate a round of scheduling information after receiving the vehicle status information, the rotation planning information includes a round of scheduling information Signal and a master-slave allocation signal; and a master-slave rotation unit connected to the control unit. According to the master-slave allocation signal, the plurality of vehicles in the fleet are allocated in a master-slave manner, and then the plurality of vehicles in the fleet are allocated into a master fleet The vehicle and at least one slave vehicle fleet, control the main vehicle fleet to drive at the forefront of the vehicle fleet and the vehicle fleet to drive in the same lane, and make each vehicle fleet according to the rotation time signal with the rotation time and sequence The cars are rotated in the arrangement sequence according to the corresponding rotation schedule. After the rotation, the main team car becomes the slave car in the new arrangement order, and one of the at least one slave car fleet becomes the one in the new arrangement order. The main vehicle fleet drives at the forefront of the vehicle fleet. For example, the driving system for the average energy consumption of self-driving cars in the first item of the scope of patent application, wherein the rotation planning information is generated by the control unit of the main vehicle fleet. For example, the driving system for the average energy consumption of self-driving cars in the scope of the patent application, in which the order of the fleet of vehicles in the fleet is arranged in the order of the main fleet car first and the at least one slave fleet car behind . For example, the driving system for the average energy consumption of self-driving cars in the first item of the scope of patent application includes: An organization fleet unit is connected to the control unit to generate an application for organization information or a departure organization information; and an environment detection unit is connected to the control unit to detect the current driving conditions around the vehicle, and Generate a piece of environmental information; wherein the control unit can further receive the organization information of the application for one of the vehicles that want to join the fleet from outside, or the information of the leaving organization of at least one vehicle in the fleet that wants to leave the fleet, when After the control unit receives the application organization information, the control unit generates a consent organization information based on the vehicle condition information and the environmental information of the vehicle to be added, and the vehicle to be added receives the consent organization information and joins the fleet to become the vehicle After one of the vehicles in the fleet, the driving system generates the rotation planning information according to the current vehicle condition information of the fleet; when the fleet vehicle generates the de-organization information, the control unit of the fleet vehicle is based on the current fleet information The environmental information leaves the fleet. For example, in the driving system with average energy consumption of self-driving cars in the scope of patent application, the rotation planning information further includes that a fleet of vehicles with poor vehicle conditions will not be included in the rotation. A driving method with average energy consumption of a self-driving car is applied to a fleet of vehicles with a plurality of fleets, and includes the following steps: receiving information of one of the current location, current vehicle status, and destination of the fleet of vehicles; according to the vehicle status The information generates a round of planning information; according to the round planning information, a plurality of vehicles of the fleet are assigned to master and slaves, and the plurality of vehicles of the fleet are allocated into a master fleet and at least one slave fleet; control the master fleet to drive at the highest position of the fleet Ahead and the convoy is driving in the same lane On; and let each of the vehicles in the fleet perform the rotation in the arrangement sequence according to the corresponding rotation schedule in the rotation planning information. After the rotation, the main vehicle becomes the secondary vehicle in the new arrangement sequence, and the At least one of the slave cars becomes the master car in the new arrangement order and drives at the front of the caravan. For example, the driving method with average energy consumption of self-driving cars in the scope of patent application, before receiving a plurality of vehicle status information of the current position, current vehicle condition and destination of the fleet of vehicles, it further includes the following steps: receiving foreign desires One of the vehicles to be added to join the fleet to apply for organization information; to receive the current vehicle status information of the fleet and the vehicle to be added, and multiple environmental information with the vehicle fleet and the driving conditions around the vehicle to be joined; and according to At least one of the vehicle condition information and the environmental information is used to generate a consent organization information; wherein the to-be-joined vehicle joins the fleet after receiving the consent organization information and becomes one of the fleet vehicles. For example, the driving method with average energy consumption of self-driving cars in the 7th item of the scope of patent application includes the following steps before receiving the organization information of the vehicle to be joined by the foreigner who wants to join the fleet: generating an invitation organization information; The vehicle to be added generates the application organization information according to the received invitation organization information. For example, the driving method with average energy consumption of self-driving vehicles in the scope of patent application, before receiving the vehicle condition information of the plurality of vehicles in the fleet with the current location, current vehicle condition and destination, further includes the following steps: Receive any one of the vehicles in the vehicle fleet leaving organization information; and generate environmental information with current driving conditions around the vehicle fleet; wherein, when the vehicle fleet generates the information about leaving the organization, the vehicle fleet is based on the environmental information Leave the convoy. For example, the driving method with average energy consumption of self-driving vehicles in the scope of patent application, wherein the rotation planning information further includes that a fleet of vehicles with poor vehicle conditions are not included in the rotation.

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