WO2017148113A1 - 自动行车方法和装置 - Google Patents

自动行车方法和装置 Download PDF

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Publication number
WO2017148113A1
WO2017148113A1 PCT/CN2016/096461 CN2016096461W WO2017148113A1 WO 2017148113 A1 WO2017148113 A1 WO 2017148113A1 CN 2016096461 W CN2016096461 W CN 2016096461W WO 2017148113 A1 WO2017148113 A1 WO 2017148113A1
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WIPO (PCT)
Prior art keywords
vehicle
queue
driving state
server
receiving
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PCT/CN2016/096461
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English (en)
French (fr)
Inventor
马勇
Original Assignee
乐视控股（北京）有限公司
乐视云计算有限公司
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Publication of WO2017148113A1 publication Critical patent/WO2017148113A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2756/00—Output or target parameters relating to data
    • B60W2756/10—Involving external transmission of data to or from the vehicle

Definitions

  • the invention belongs to the field of intelligent automobiles, and in particular to an automatic driving method and device.
  • the first row shows the situation when traffic jams, and there is almost equal safety distance between the car and the car.
  • the second line shows the vehicle's travelability.
  • the car 2 follows.
  • V is the average speed of the car S's forward S meters.
  • the third line shows that after the car 2 follows the S meter, the car 3 follows.
  • the entire team was slow to travel and would take a lot of time.
  • the embodiment of the present invention provides an automatic driving method and device for solving the technical problem that the fleet is slow to travel and consumes more time in the case of traffic jam in the prior art.
  • an embodiment of the present invention discloses an automatic driving method, including: uploading GPS data to a server to determine whether the vehicle is in a vehicle queue; and receiving the server sharing when the vehicle is in a vehicle queue The driving state of the preceding vehicle; synchronizing the driving state of the vehicle to the driving state of the preceding vehicle.
  • an embodiment of the present invention further discloses an automatic driving method, including: uploading GPS data to a server to determine whether the vehicle is in a vehicle queue; when the vehicle is in the vehicle In the queue and in the queue position in the vehicle queue, the driving state of the vehicle is uploaded to the server, and the driving state of the vehicle is shared by the server to other vehicles in the vehicle queue.
  • an embodiment of the present invention further discloses an automatic driving method, comprising: receiving GPS data uploaded by a vehicle; determining, according to the GPS data, whether the vehicle has entered a vehicle queue; in response to the vehicle having Entering a vehicle queue to receive a driving state of a vehicle in a queue position in the vehicle queue; sharing a driving state of the vehicle in a head position to the vehicle, causing the driving state of the vehicle to be The driving state of the vehicle at the head of the team is synchronized.
  • an embodiment of the present invention further discloses an automatic driving method, comprising: receiving GPS data uploaded by a vehicle; determining, according to the GPS data, whether the vehicle has entered a vehicle queue; in response to the vehicle having Entering a vehicle queue, receiving a running state of a vehicle in front of the vehicle in the vehicle queue; sharing a traveling state of a vehicle in front of the vehicle to the vehicle, causing the traveling state of the vehicle to be in a vehicle The traveling state of the vehicle in front of the vehicle is synchronized.
  • an embodiment of the present invention further discloses an automatic driving device, comprising: a first uploading module, configured to upload GPS data to a server to determine whether the vehicle is in a vehicle queue; and the first receiving module uses Receiving a preceding vehicle driving state shared by the server when the vehicle is in the vehicle queue; and a synchronization module for synchronizing the driving state of the vehicle to the preceding vehicle driving state.
  • an automatic driving device comprising: an automatic driving device, comprising: a second uploading module, configured to upload GPS data to a server to determine whether the vehicle is in a third uploading module, configured to upload a driving state of the vehicle to the server when the vehicle is in a vehicle queue and in a queue position in the vehicle queue, where the server The driving state is shared to other vehicles in the vehicle queue.
  • an automatic driving device comprising: a second receiving module, configured to receive GPS data uploaded by a vehicle; and a first processing module, configured to determine, according to the GPS data, whether the vehicle is Having entered a vehicle queue; a third receiving module responsive to the vehicle having entered a vehicle queue, receiving a driving state of the vehicle in a queue position in the vehicle queue; a first sharing module for The traveling state of the vehicle in the head position is shared with the vehicle, and the traveling state of the vehicle is synchronized with the traveling state of the vehicle at the head position.
  • an embodiment of the present invention further discloses an automatic driving device, comprising: a fourth receiving module, configured to receive GPS data uploaded by a vehicle; and a second processing module, configured to determine, according to the GPS data, Whether the vehicle has entered a vehicle queue; a fifth receiving module for responding to the vehicle The vehicle has entered a queue of vehicles to receive the driving state of the vehicle in front of the vehicle in the queue of vehicles; a second sharing module for sharing the driving state of the vehicle in front of the vehicle to the vehicle, so that The running state of the vehicle is synchronized with the running state of the vehicle in front of the vehicle.
  • the embodiment of the invention further provides a non-transitory computer readable storage medium, wherein the non-transitory computer readable storage medium stores computer-executable instructions for performing any of the above Automatic driving method.
  • An embodiment of the present invention further provides an electronic device, including: one or more processors; and a memory; wherein the memory stores instructions executable by the one or more processors, the instructions being Set to perform any of the above automatic driving methods.
  • Embodiments of the present invention also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are When executed, the computer is caused to perform any of the above-described automatic driving methods.
  • the automatic driving method and device synchronize the driving state of the vehicle according to the driving state of the preceding vehicle, so that the driving states of all the vehicles in the vehicle queue are kept consistent, and the artificial behavior is reduced.
  • the judgment and waiting time during driving improve the road traffic efficiency.
  • FIG. 1 is a schematic diagram of vehicle traffic when a traffic jam occurs in the prior art
  • FIG. 2 is a schematic diagram of a scenario of an automatic driving method according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of control when a vehicle enters an automatic driving mode according to an embodiment of the present invention
  • FIG. 4 is a block diagram of an automatic driving device according to an embodiment of the present invention.
  • FIG. 5 is a block diagram of an automatic driving device according to an embodiment of the present invention.
  • FIG. 6 is a block diagram of an automatic driving device according to an embodiment of the present invention.
  • FIG. 7 is a block diagram of an automatic driving device according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
  • the vehicle is connected to the server through the Internet during driving, and the GPS data of the vehicle is uploaded to the server, and the server analyzes the GPS data of all the vehicles, and detects the vehicles in the same road section to determine whether There are a plurality of vehicles that are in the same lane and maintain a certain safe distance from each other. If this happens, the vehicles are divided into the same vehicle queue, and the vehicles that are divided into the vehicle queue are received from the server.
  • the driving state of the vehicle is synchronized according to the driving state of the preceding vehicle, so that the driving states of all the vehicles in the vehicle queue are kept consistent, the judgment and waiting time during the driving are reduced, and the traffic efficiency of the road is improved.
  • the automatic driving method provided by the present invention can be applied to a vehicle queue formed by a traffic jam or a plurality of vehicles that are normally traveling.
  • FIG. 2 is a schematic diagram of a scenario architecture of an embodiment of the present invention, in which a plurality of vehicles are advancing on a road and simultaneously establish a communication connection with the server 10 via the Internet.
  • the vehicle can be connected to the Internet through the vehicle WIFI module or the mobile data module.
  • the vehicle WIFI module or the mobile data module can be set in the vehicle console, the vehicle antenna or the mobile terminal used by the driver, and the mobile terminal used by the driver can It is a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, and the like.
  • Each vehicle uploads GPS data to the server 10, and the GPS data comes from the vehicle GPS module.
  • the vehicle GPS module can also be installed in the vehicle console, the vehicle antenna, or the mobile terminal used by the driver.
  • the server 10 analyzes the GPS data uploaded by the vehicle to identify a plurality of vehicles capable of forming a queue of vehicles.
  • the server 10 can identify vehicle fleets formed by traffic jams on certain road segments. Column. Firstly, the slow-moving road sections are obtained from the real-time road condition data, and the vehicles in the slow-moving road sections are further divided according to different lanes, and the front and rear vehicles in the same lane are divided into one vehicle queue. The vehicle queue formed at this time is a vehicle queue at the time of traffic jam.
  • the server 10 After identifying the vehicle queue formed by the traffic jam section, the server 10 sends a prompt message to the vehicle in the vehicle queue to prompt the driver to enter a vehicle queue, and the vehicle enters the automatic driving mode; or the driver selects whether Enter the automatic driving mode.
  • the driving state includes, but is not limited to, state information such as vehicle speed, acceleration, and traveling direction.
  • the sharing of the driving state of the preceding vehicle includes the following methods:
  • the vehicle 11 in the queue position of the vehicle queue becomes particularly important, and the sharing of the driving state is started from the traveling state of the vehicle 11 at the head position. Therefore, regardless of which sharing mode is used by the server 10, the vehicle 11 in the head position enters the automatic driving mode, and the traveling state is uploaded to the server 10.
  • the traveling state of the vehicle 11 at the head position is transmitted to other vehicles in the vehicle queue, and the traveling state of the vehicle 11 at the head position is shared. .
  • the traveling state of the vehicle 11 at the head position changes, the traveling state of the other vehicles in the vehicle queue changes with the vehicle 11 at the head position.
  • the server 10 When the server 10 adopts the above-mentioned (2) driving state sharing mode, the server receives the driving state uploaded by all the vehicles such as the vehicle 11, the second vehicle 12, and the third vehicle 13 in the queue position in the vehicle queue. (Sometimes, the vehicle at the end of the team may not need to upload the driving state, and when a new vehicle is added to the queue of the vehicle at the end of the queue, the vehicle needs to upload the driving state to share the driving state to the rear. Vehicles in the vehicle queue).
  • the server 10 shares the traveling state of the vehicle 11 in the head position with the second vehicle 12, shares the traveling state of the second vehicle 12 with the third vehicle 13, and so on, so that the said position is at the head of the team.
  • the driving state of the vehicle 11 changes, which will cause the rear The chain reaction of the vehicle.
  • the vehicle 11 in the head position it can be changed by the driver to drive the driving state, or the driving state can be changed by the automatic driving.
  • the vehicle 11 located at the head of the team can collect images of the road ahead and the surrounding road conditions through an on-board camera (which can be disposed on the outer surface of the vehicle body), and trigger an automatic driving control command after analyzing the image features, or
  • the driving recorder is used to collect the front image, and the front image is recognized to trigger the automatic driving control command.
  • the vehicle in front may be a vehicle located in front of the vehicle in the queue of the vehicle, such as the above-mentioned (2) driving state sharing mode; the vehicle in front may also be in front of the vehicle in the vehicle queue.
  • the Nth vehicle (N ⁇ 2) can preset the value of N in the server 10 according to different practical application scenarios.
  • the server 10 can identify a queue of vehicles formed in a road section in a normal traffic state, that is, when multiple vehicles are traveling normally in a certain road section, if they are in the same lane and always maintain a certain relationship between each other With a safe distance, these multiple vehicles can be divided into one vehicle queue.
  • the manner in which the server 10 synchronizes the traveling state of the vehicle queue is the same as that of the previous embodiment, and the description thereof will not be repeated here.
  • other vehicles in the vehicle queue also accelerate; when the vehicle in the head position begins to decelerate, other vehicles in the vehicle queue also accelerate.
  • the road section that allows the vehicle to travel normally can also be added to the vehicle queue and enter the automatic driving mode.
  • the control of the vehicle's own running state can be achieved in the following manner.
  • the in-vehicle console 20 and the server 10 establish a communication connection through the Internet, and the in-vehicle console 20 communicates with the electronic throttle system through the vehicle internal bus (for example, CAN bus, LIN bus, MOST bus, FLEXRAY bus, etc.).
  • An Electronic Control Unit (ECU) 21 and an ECU 22 of the electronic brake system are communicatively coupled to transmit corresponding control commands.
  • the onboard console 20 transmits a first control command to the ECU 21 of the electronic throttle system to change the vehicle from the stop to the forward travel; when the current vehicle travel state changes from travel to stop, the onboard console 20 moves to the electronic brake.
  • the ECU 22 of the system transmits a second control command to change the vehicle from running to stop; when the current vehicle accelerates, the vehicle-mounted console 20 sends a third control command to the ECU 21 of the electronic throttle system to accelerate the vehicle; when the current vehicle is decelerating,
  • the in-vehicle console 20 transmits a fourth control command to the ECU 21 of the electronic throttle system to decelerate the vehicle.
  • the onboard console 20 is communicably connected to the ECU of the steering wheel through the system bus to transmit corresponding control commands.
  • the vehicle-mounted terminal device may be a vehicle-mounted console or a mobile terminal used by a driver, and the device includes:
  • the first uploading module 30 is configured to upload GPS data to the server to determine whether the vehicle is in the vehicle queue;
  • the first receiving module 31 is configured to receive a preceding vehicle driving state shared by the server when the vehicle is in the vehicle queue;
  • the synchronization module 32 is configured to synchronize the driving state of the vehicle to the preceding driving state.
  • the first receiving module 31 further includes:
  • a first receiving submodule configured to receive, when the vehicle is in the vehicle queue, a driving state of the vehicle shared by the server in the queue of the vehicle in the queue position;
  • the synchronization module 32 further includes:
  • the first synchronization sub-module is configured to synchronize the driving state of the vehicle to the driving state of the vehicle at the head position in the vehicle queue.
  • the first receiving module 31 further includes:
  • a first uploading submodule for uploading a driving state of the vehicle to the server
  • a second receiving submodule configured to receive a running state of a vehicle shared by the server in front of the vehicle in the vehicle queue
  • the synchronization module 32 further includes:
  • a second synchronization sub-module for synchronizing the driving state of the vehicle to be in front of the vehicle in the vehicle queue The driving state of the vehicle.
  • the first uploading module 30 further includes:
  • the second uploading sub-module is configured to upload GPS data to the server to determine whether the vehicle is in a queue of vehicles that are normally traveling.
  • FIG. 5 is an automatic driving device according to an embodiment of the present invention, which is located on the vehicle-mounted terminal device side, and the vehicle-mounted terminal device may be a vehicle-mounted console or a mobile terminal used by a driver, and the device includes:
  • a second uploading module 33 configured to upload GPS data to the server to determine whether the vehicle is in the vehicle queue
  • the third uploading module 34 is configured to upload the driving state of the vehicle to the server when the vehicle is in the vehicle queue and in the queue position in the vehicle queue, and the server shares the driving state of the vehicle to the other in the vehicle queue. vehicle.
  • FIG. 6 is an automatic driving device according to an embodiment of the present invention, which is located on the server side, and includes:
  • a second receiving module 40 configured to receive GPS data uploaded by the vehicle
  • the first processing module 41 is configured to determine, according to the GPS data, whether the vehicle has entered a vehicle queue;
  • the third receiving module 42 is configured to receive a running state of the vehicle in the queue position in the vehicle queue in response to the vehicle having entered a vehicle queue;
  • the first sharing module 43 is configured to share the traveling state of the vehicle at the head position to the vehicle, and synchronize the driving state of the vehicle with the driving state of the vehicle at the head position.
  • FIG. 7 is an automatic driving device according to an embodiment of the present invention, which is located on the server side, and includes:
  • the fourth receiving module 44 is configured to receive GPS data uploaded by the vehicle
  • a second processing module 45 configured to determine, according to GPS data, whether the vehicle has entered a vehicle queue
  • the fifth receiving module 46 is configured to receive a running state of the vehicle in front of the vehicle in the vehicle queue in response to the vehicle having entered a vehicle queue;
  • the second sharing module 47 is configured to share the traveling state of the vehicle in front of the vehicle to the vehicle, so that the running state of the vehicle is synchronized with the running state of the vehicle in front of the vehicle.
  • the hardware processor can be implemented. Each of the above functional modules.
  • the embodiment of the present invention provides an automatic driving device, which is located at the vehicle-mounted terminal device side, and the vehicle-mounted terminal device may be a vehicle-mounted console or a mobile terminal used by a driver, the device comprising: a first processor; a first memory of the processor executable instructions; wherein the first processor is configured to: upload GPS data to a server to determine if the vehicle is in a vehicle queue; receive the vehicle when the vehicle is in a vehicle queue The driving state of the preceding vehicle shared by the server; synchronizing the driving state of the vehicle to the driving state of the preceding vehicle.
  • receiving the preceding vehicle driving state shared by the server includes: receiving the server sharing in the vehicle queue when the vehicle is in the vehicle queue The driving state of the vehicle at the head of the team;
  • the synchronizing the traveling state of the vehicle to the preceding vehicle driving state includes synchronizing the traveling state of the own vehicle to a running state of the vehicle at the head position in the vehicle queue.
  • receiving the preceding vehicle driving state shared by the server includes: uploading a driving state of the vehicle to the server; and receiving the server sharing in the vehicle queue The driving state of the vehicle in front of the vehicle;
  • the synchronizing the traveling state of the own vehicle to the preceding driving state includes synchronizing the traveling state of the vehicle to a running state of the vehicle in front of the vehicle in the vehicle queue.
  • the uploading GPS data to the server to determine if the vehicle is in the vehicle queue comprises uploading GPS data to the server to determine if the vehicle is in a normally traveling vehicle queue.
  • the embodiment of the present invention provides an automatic driving device, which is located at the vehicle-mounted terminal device side, and the vehicle-mounted terminal device may be a vehicle-mounted console or a mobile terminal used by a driver, and the device includes: a second processor; a second memory of the processor executable instructions; wherein the second processor is configured to: upload GPS data to a server to determine if the vehicle is in a vehicle queue; when the vehicle is in a vehicle queue and at the vehicle When the queue is in the head position, the driving state of the vehicle is uploaded to the server, and the server shares the driving state of the vehicle to other vehicles in the vehicle queue.
  • An embodiment of the present invention provides an automatic driving device, which is located at a server side, the device includes: a third processor; a third memory for storing third processor executable instructions; wherein the third processor is configured Receiving: receiving GPS data uploaded by the vehicle; determining, according to the GPS data, whether the vehicle has entered a vehicle queue; receiving in the vehicle queue in response to the vehicle having entered a vehicle queue a running state of the vehicle at the head position; sharing the traveling state of the vehicle at the head position to the vehicle, synchronizing the running state of the vehicle with the traveling state of the vehicle at the head position.
  • An embodiment of the present invention provides an automatic driving device, which is located at a server side, the device includes: a fourth processor; a fourth memory for storing fourth processor executable instructions; wherein the fourth processor is configured Receiving: receiving GPS data uploaded by the vehicle; determining, according to the GPS data, whether the vehicle has entered a vehicle queue; receiving a vehicle in front of the vehicle in the vehicle queue in response to the vehicle having entered a vehicle queue Driving state; sharing the traveling state of the vehicle in front of the vehicle to the vehicle, synchronizing the traveling state of the vehicle with the traveling state of the vehicle in front of the vehicle.
  • the embodiment of the present invention further provides a non-transitory computer readable storage medium storing computer-executable instructions executable in the foregoing method embodiments. Any kind of automatic driving method.
  • FIG. 8 is a schematic diagram showing the hardware structure of an electronic device for performing any of the above-described automatic driving methods according to an embodiment of the present invention. As shown in FIG. 8, the device includes:
  • processors 510 and memory 520 one processor 510 is taken as an example in FIG.
  • the electronic device that performs any of the above automatic driving methods may further include: an input device 530 and an output device 540.
  • the processor 510, the memory 520, the input device 530, and the output device 540 may be connected by a bus or other means, as exemplified by a bus connection in FIG.
  • the memory 520 is a non-volatile computer readable storage medium, and can be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions corresponding to the automatic driving method in the embodiment of the present invention.
  • / module for example, the first uploading module 30, the first receiving module 31 and the synchronization module 32 shown in FIG. 4, or the second uploading module 33 and the third uploading module 34 shown in FIG. 5, or The second receiving module 40, the first processing module 41, the third receiving module 42 and the first sharing module 43 shown in FIG. 6, or the fourth receiving module 44, the second processing module 45, and the first embodiment shown in FIG. Five receiving module 46 and second sharing module 47).
  • the processor 510 executes various functional applications and data processing of the electronic device by executing non-volatile software programs, instructions, and modules stored in the memory 520, that is, implementing any one of the above method embodiments.
  • the memory 520 can include a storage program area and a storage data area, wherein the storage program area can store operations The system, the application required for at least one function; the storage data area can store data created according to the use of the automatic driving device (such as FIGS. 4, 5, 6, and 7). Further, the memory 520 may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some embodiments, the memory 520 can optionally include a memory remotely located relative to the processor 510 that can be connected to the automated driving device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • Input device 530 can receive input numeric or character information and generate key signal inputs related to user settings and function control of the automated driving device.
  • the output device 540 can include a display device such as a display screen.
  • the one or more modules are stored in the memory 520, and when executed by the one or more processors 510, perform an automated driving method in any of the above method embodiments.
  • Embodiments of the present invention also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are When executed, the computer is caused to perform any one of the above method embodiments.
  • the program when executed, may include the flow of an embodiment of the methods as described above.
  • the storage medium may be a magnetic disk, an optical disk, a read only memory (ROM), or a random access memory (RAM).
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without deliberate labor.

Abstract

一种自动行车方法和装置，该方法包括：上传GPS数据至服务器，以确定本车是否处于车辆队列中；当本车处于所述车辆队列中时，接收所述服务器共享的前车行驶状态；将本车的行驶状态同步为所述前车行驶状态。本车的行驶状态会根据该前车行驶状态进行同步，使车辆队列中的全部车辆的行驶状态保持一致，减少了人为驾驶时的判断和等待时间，提高了道路的通行效率。

Description

自动行车方法和装置
本申请要求于2016年03月01日提交中国专利局、申请号为2016101161531、发明名称为“自动行车方法和装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明属于智能汽车领域，具体地说，涉及一种自动行车方法和装置。
背景技术
在公路上发生堵车时，整个道路的通行能力会急剧下降。因为一旦发生堵车，由于驾驶员的反应延迟、考虑安全驾驶距离等原因，后车只有在前车前进一定距离后才会跟车。发明人在实现本发明的过程中发现，这个过程不断向车队尾传播，造成道路通行缓慢。
如图1所示，第一行所示为堵车时的情形，车与车之间存在几乎相等的安全距离。第二行所示为车辆可行进情形，车1前进S米之后，车2跟进。车1通行到车2跟进所需时间T1＝S/V，V是车1的前进S米的平均车速。第三行所示为车2跟进S米之后，车3跟进。车1通行到车3跟进所需时间T2＝S/V+S/V＝2*S/V，那么，车1通行到第N辆车可跟进的时间Tn＝N*S/V。整个车队先前行驶缓慢，会耗费很多时间。
发明内容
有鉴于此，本发明实施例提供了一种自动行车方法和装置，用以解决现有技术中在堵车情况下车队行驶缓慢，耗时较多的技术问题。
为了解决上述技术问题，本发明实施例公开了一种自动行车方法，包括：上传GPS数据至服务器，以确定本车是否处于车辆队列中；当本车处于车辆队列中时，接收所述服务器共享的前车行驶状态；将本车的行驶状态同步为所述前车行驶状态。
为了解决上述技术问题，本发明实施例还公开了一种自动行车方法，包括：上传GPS数据至服务器，以确定本车是否处于车辆队列中；当本车处于所述车辆 队列中并且在所述车辆队列中处于队首位置时，上传本车的行驶状态至所述服务器，由所述服务器将本车的行驶状态共享至所述车辆队列中的其他车辆。
为了解决上述技术问题，本发明实施例还公开了一种自动行车方法，包括：接收车辆上传的GPS数据；根据所述GPS数据确定所述车辆是否已进入一个车辆队列；响应于所述车辆已进入一个车辆队列，接收在所述车辆队列中处于队首位置的车辆的行驶状态；将所述处于队首位置的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与所述处于队首位置的车辆的行驶状态同步。
为了解决上述技术问题，本发明实施例还公开了一种自动行车方法，包括：接收车辆上传的GPS数据；根据所述GPS数据确定所述车辆是否已进入一个车辆队列；响应于所述车辆已进入一个车辆队列，接收在所述车辆队列中处于所述车辆前方的车辆的行驶状态；将处于所述车辆前方的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与处于所述车辆前方的车辆的行驶状态同步。
为了解决上述技术问题，本发明实施例还公开了一种自动行车装置，包括：第一上传模块，用于上传GPS数据至服务器，以确定本车是否处于车辆队列中；第一接收模块，用于当本车处于所述车辆队列中时，接收所述服务器共享的前车行驶状态；同步模块，用于将本车的行驶状态同步为所述前车行驶状态。
为了解决上述技术问题，本发明还公开了一种自动行车装置，包括：一种自动行车装置，其特征在于，包括：第二上传模块，用于上传GPS数据至服务器，以确定本车是否处于车辆队列中；第三上传模块，用于当本车处于车辆队列中并且在所述车辆队列中处于队首位置时，上传本车的行驶状态至所述服务器，由所述服务器将本车的行驶状态共享至所述车辆队列中的其他车辆。
为了解决上述技术问题，本发明还公开了一种自动行车装置，包括：第二接收模块，用于接收车辆上传的GPS数据；第一处理模块，用于根据所述GPS数据确定所述车辆是否已进入一个车辆队列；第三接收模块，用于响应于所述车辆已进入一个车辆队列，接收在所述车辆队列中处于队首位置的车辆的行驶状态；第一共享模块，用于将所述处于队首位置的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与所述处于队首位置的车辆的行驶状态同步。
为了解决上述技术问题，本发明实施例还公开了一种自动行车装置，包括：第四接收模块，用于接收车辆上传的GPS数据；第二处理模块，用于根据所述GPS数据确定所述车辆是否已进入一个车辆队列；第五接收模块，用于响应于所述车 辆已进入一个车辆队列，接收在所述车辆队列中处于所述车辆前方的车辆的行驶状态；第二共享模块，用于将处于所述车辆前方的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与处于所述车辆前方的车辆的行驶状态同步。
本发明实施例还提供了一种非易失性计算机可读存储介质，其中，该非易失性计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于执行上述任意一种自动行车方法。
本发明实施例还提供了一种电子设备，包括：一个或多个处理器；以及，存储器；其中，所述存储器存储有可被所述一个或多个处理器执行的指令，所述指令被设置为用于执行上述任意一种自动行车方法。
本发明实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行上述任意一种自动行车方法。
与现有技术相比，本发明实施例提供的自动行车方法和装置，本车的行驶状态会根据该前车行驶状态进行同步，使车辆队列中的全部车辆的行驶状态保持一致，减少了人为驾驶时的判断和等待时间，提高了道路的通行效率。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本发明。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是现有技术中堵车时的车辆通行示意图；
图2是本发明实施例的自动行车方法的场景示意图；
图3是本发明实施例车辆进入自动驾驶模式时的控制示意图；
图4是本发明实施例提供的一种自动行车装置的框图；
图5是本发明实施例提供的一种自动行车装置的框图；
图6是本发明实施例提供的一种自动行车装置的框图；
图7是本发明实施例提供的一种自动行车装置的框图；
图8为本发明实施例提供的一种电子设备的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施例中，车辆在行驶过程中通过互联网连接至服务器，将本车的GPS数据上传至该服务器，服务器对所有车辆的GPS数据进行分析，对处于同一路段的车辆进行检测，以确定是否存在多辆车处于同一车道并且彼此保持一定安全距离的状态下的行驶，如果出现这一情形则将这些车辆划分至同一个车辆队列中，被划分到车辆队列中的车辆会从服务器接收到前车行驶状态，本车的行驶状态会根据该前车行驶状态进行同步，使车辆队列中的全部车辆的行驶状态保持一致，减少了人为驾驶时的判断和等待时间，提高了道路的通行效率，在堵车时或者在正常行驶的多辆车所形成的车辆队列都可以适用本发明所提供的自动行车方法。
图2是本发明实施例的场景架构示意图，多辆车前进在道路上并且同时通过互联网与服务器10建立通信连接。车辆可通过车载WIFI模块或移动数据模块接入到互联网，车载WIFI模块或移动数据模块可以被设置在车载控制台、车载天线或者驾驶者所使用的移动终端中，驾驶者所使用的移动终端可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，个人数字助理等。
每辆车上传GPS数据至服务器10，GPS数据来自于车载GPS模块，车载GPS模块也可以被设置在车载控制台、车载天线、或者驾驶者所使用的移动终端中。
服务器10对车辆上传的GPS数据进行分析，以识别出能够形成车辆队列的多部车辆。
在一个实施例中，服务器10可以识别出某些路段在堵车时所形成的车辆队 列。首先从实时路况数据中获取通行缓慢的路段，再对处于通行缓慢的路段的车辆按照不同车道进一步划分，将处于同一车道内的前后多部车辆划分为一个车辆队列。此时形成的车辆队列是堵车时的车辆队列。
识别出在堵车路段所形成的车辆队列后，服务器10会向该车辆队列中的车辆发送提示消息，以提示驾驶者已进入一个车辆队列，本车进入自动驾驶模式；或者由驾驶者来选择是否进入自动驾驶模式。
进入自动驾驶模式后，车辆会跟随前方车辆的行驶状态，此时需要服务器10将前车行驶状态共享给车辆队列中的后方车辆。行驶状态包括但不限于车速、加速度、行驶方向等状态信息。
对于前车行驶状态的共享包括以下方式：
(1)将在车辆队列中处于队首位置的车辆11的行驶状态共享至车辆队列中的所有其他车辆；(2)在车辆队列中将行驶状态依次向后方车辆进行共享，即车辆队列中的位于队首位置的车辆将行驶状态共享至第二辆车，第二辆车将行驶状态共享至第三辆车，依次类推。
那么，该车辆队列中处于队首位置的车辆11会变得尤为重要，行驶状态的共享都是从队首位置的车辆11的行驶状态开始。因此，无论服务器10采用上述哪种共享方式，处于队首位置的车辆11进入自动驾驶模式后，会将行驶状态上传到服务器10。
当服务器10采用上述第(1)种行驶状态共享方式时，会将处于队首位置的车辆11的行驶状态发送至车辆队列中的其他车辆，实现处于队首位置的车辆11的行驶状态的共享。所述处于队首位置的车辆11的行驶状态发生变化时，车辆队列中的其他车辆的行驶状态都会随着所述处于队首位置的车辆11发生变化。
当服务器10采用上述第(2)种行驶状态共享方式时，服务器会接收到车辆队列中的处于队首位置的车辆11、第二辆车12、第三辆车13等所有车辆上传的行驶状态(有时，处于队尾位置的车辆可以不需要上传行驶状态，而当队尾又有新的车辆加入到车辆队列中时，则该车需要上传行驶状态，以将行驶状态共享给后方新加入到车辆队列中的车辆)。服务器10将所述处于队首位置的车辆11的行驶状态共享给第二辆车12，将第二辆车12的行驶状态共享给第三辆车13，依次类推，这样所述位于队首位置的车辆11的行驶状态发生变化，将会引起后方 车辆的连锁反应。
对处于队首位置的车辆11来说，其可以由驾驶员人为驾驶来改变行驶状态，或者通过自动驾驶来改变行驶状态。采用自动驾驶时，位于队首位置的车辆11可通过车载摄像头(可被设置在车体外表面)来采集车辆前方以及周围路况的图像，经过对图像特征的分析来触发自动驾驶的控制指令，或者通过行车记录仪来采集前方图像，对前方图像进行识别后触发自动驾驶的控制指令。
在出现堵车的路段，当前车辆队列的位于队首位置的车辆11的行驶状态由停止变为向前行驶时，后方的其他车辆也随之向前行驶；当位于队首位置的车辆11的行驶状态由向前行驶变为停止时，后方的其他车辆也随之停止；减少了人为驾驶时每个驾驶员的反应时间，提高堵车时的道路通行效率。如果采取每部车辆都与自己前方的车辆的行驶状态进行同步的方式，则可以进一步起到在自动驾驶状态下降低发生追尾概率的效果。其中，前方的车辆可以是在车辆队列中处于本车前方的位于队首位置的车辆，如上述第(2)种行驶状态共享方式；前方的车辆还可以是在车辆队列中处于本车前方的第N辆(N≥2)，可根据不同的实际应用场景在服务器10预设N的取值。而采用与处于本车前方的位于队首位置的车辆进行行驶状态同步的方式，能够使车辆的行驶状态在车辆队列中依次传递，在实现自动驾驶的同时也带来更佳的安全性。
在另一个实施例中，服务器10可以识别出在处于正常通行状态的路段所形成的车辆队列，即当多部车辆在某一路段中正常行驶时，如果处于同一车道并且彼此之间始终保持一定安全距离，则可以将这多部车辆划分为一个车辆队列。
服务器10对于该车辆队列的行驶状态的同步方式与上一实施例相同，在此不再重复说明。当处于队首位置的车辆开始加速行驶时，车辆队列中的其他车辆也随之加速行驶；当处于队首位置的车辆开始减速行驶时，车辆队列中的其他车辆也随之加速行驶。使车辆在正常行驶的路段也可以被加入车辆队列并进入自动驾驶模式。
在上述各实施例中，车辆对自身行驶状态的控制可通过以下方式来实现。如图3所示，车载控制台20与服务器10通过互联网建立通信连接，车载控制台20通过车辆内部总线(例如CAN总线、LIN总线、MOST总线、FLEXRAY总线等等)分别与电子油门系统的电子控制单元(Electronic Control Unit，ECU)21以及电子刹车系统的ECU22通信连接，用以发送对应的控制指令。当前车行驶状态从 停止变为行驶时，车载控制台20向电子油门系统的ECU21发送第一控制指令，使车辆从停止变为向前行驶；当前车行驶状态从行驶变为停止时，车载控制台20向电子刹车系统的ECU22发送第二控制指令，使车辆从行驶变为停止；当前车加速行驶时，车载控制台20向电子油门系统的ECU21发送第三控制指令，使车辆加速行驶；当前车减速行驶时，车载控制台20向电子油门系统的ECU21发送第四控制指令，使车辆减速行驶。在一个实施例中，如果前方的车辆改变行驶方向(例如左转弯或右转弯)，车辆队列中后方的其他车辆也可以跟随其改变方向。此时，车载控制台20通过系统总线与方向盘的ECU通信连接，以发送相应的控制指令。
图4是本发明实施例提供的一种自动行车装置，位于车载终端设备侧，该车载终端设备可以是车载控制台或者驾驶者所使用的移动终端，该装置包括：
第一上传模块30，用于上传GPS数据至服务器，以确定本车是否处于车辆队列中；
第一接收模块31，用于当本车处于车辆队列中时，接收服务器共享的前车行驶状态；
同步模块32，用于将本车的行驶状态同步为前车行驶状态。
在一个实施例中，该第一接收模块31进一步包括：
第一接收子模块，用于当本车处于车辆队列中时，接收服务器共享的在车辆队列中处于队首位置的车辆的行驶状态；
该同步模块32进一步包括：
第一同步子模块，用于将本车的行驶状态同步为在所述车辆队列中处于队首位置的车辆的行驶状态。
在一个实施例中，该第一接收模块31进一步包括：
第一上传子模块，用于上传本车的行驶状态至服务器；
第二接收子模块，用于接收服务器共享的在车辆队列中处于本车前方的车辆的行驶状态；
该同步模块32进一步包括：
第二同步子模块，用于将本车的行驶状态同步为在车辆队列中处于本车前方 的车辆的行驶状态。
在一个实施例中，该第一上传模块30进一步包括：
第二上传子模块，用于上传GPS数据至服务器，以确定本车是否处于正常行驶的车辆队列中。
图5是本发明实施例提供的一种自动行车装置，位于车载终端设备侧，该车载终端设备可以是车载控制台或者驾驶者所使用的移动终端，该装置包括：
第二上传模块33，用于上传GPS数据至服务器，以确定本车是否处于车辆队列中；
第三上传模块34，用于当本车处于车辆队列中并且在车辆队列中处于队首位置时，上传本车的行驶状态至服务器，由服务器将本车的行驶状态共享至车辆队列中的其他车辆。
图6是本发明实施例提供的一种自动行车装置，位于服务器侧，该装置包括：
第二接收模块40，用于接收车辆上传的GPS数据；
第一处理模块41，用于根据GPS数据确定车辆是否已进入一个车辆队列；
第三接收模块42，用于响应于车辆已进入一个车辆队列，接收在车辆队列中处于队首位置的车辆的行驶状态；
第一共享模块43，用于将处于队首位置的车辆的行驶状态共享至车辆，使车辆的行驶状态与处于队首位置的车辆的行驶状态同步。
图7是本发明实施例提供的一种自动行车装置，位于服务器侧，该装置包括：
第四接收模块44，用于接收车辆上传的GPS数据；
第二处理模块45，用于根据GPS数据确定所述车辆是否已进入一个车辆队列；
第五接收模块46，用于响应于车辆已进入一个车辆队列，接收在车辆队列中处于车辆前方的车辆的行驶状态；
第二共享模块47，用于将处于车辆前方的车辆的行驶状态共享至车辆，使车辆的行驶状态与处于车辆前方的车辆的行驶状态同步。
此外，本发明实施例中可以通过硬件处理器(hardware processor)来实现 上述各个功能模块。
本发明实施例提供了一种自动行车装置，位于车载终端设备侧，该车载终端设备可以是车载控制台或者驾驶者所使用的移动终端，该装置包括：第一处理器；用于存储第一处理器可执行指令的第一存储器；其中，所述第一处理器被配置为：上传GPS数据至服务器，以确定本车是否处于车辆队列中；当本车处于车辆队列中时，接收所述服务器共享的前车行驶状态；将本车的行驶状态同步为所述前车行驶状态。
在一个实施例中，所述当本车处于车辆队列中时，接收所述服务器共享的前车行驶状态包括：当本车处于车辆队列中时，接收所述服务器共享的在所述车辆队列中处于队首位置的车辆的行驶状态；
所述将本车的行驶状态同步为所述前车行驶状态包括：将本车的行驶状态同步为在所述车辆队列中处于队首位置的车辆的行驶状态。
在一个实施例中，所述当本车处于车辆队列中时，接收所述服务器共享的前车行驶状态包括：上传本车的行驶状态至服务器；接收所述服务器共享的在所述车辆队列中处于本车前方的车辆的行驶状态；
所述将本车的行驶状态同步为所述前车行驶状态包括：将本车的行驶状态同步为在所述车辆队列中处于本车前方的车辆的行驶状态。
在一个实施例中，所述上传GPS数据至服务器，以确定本车是否处于车辆队列中包括：上传GPS数据至服务器，以确定本车是否处于正常行驶的车辆队列中。
本发明实施例提供了一种自动行车装置，位于车载终端设备侧，该车载终端设备可以是车载控制台或者驾驶者所使用的移动终端，该装置包括：第二处理器；用于存储第二处理器可执行指令的第二存储器；其中，所述第二处理器被配置为：上传GPS数据至服务器，以确定本车是否处于车辆队列中；当本车处于车辆队列中并且在所述车辆队列中处于队首位置时，上传本车的行驶状态至所述服务器，由所述服务器将本车的行驶状态共享至所述车辆队列中的其他车辆。
本发明实施例提供了一种自动行车装置，位于服务器侧，该装置包括：第三处理器；用于存储第三处理器可执行指令的第三存储器；其中，所述第三处理器被配置为：接收车辆上传的GPS数据；根据所述GPS数据确定所述车辆是否已进入一个车辆队列；响应于所述车辆已进入一个车辆队列，接收在所述车辆队列中 处于队首位置的车辆的行驶状态；将所述处于队首位置的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与所述处于队首位置的车辆的行驶状态同步。
本发明实施例提供了一种自动行车装置，位于服务器侧，该装置包括：第四处理器；用于存储第四处理器可执行指令的第四存储器；其中，所述第四处理器被配置为：接收车辆上传的GPS数据；根据所述GPS数据确定所述车辆是否已进入一个车辆队列；响应于所述车辆已进入一个车辆队列，接收在所述车辆队列中处于所述车辆前方的车辆的行驶状态；将处于所述车辆前方的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与处于所述车辆前方的车辆的行驶状态同步。
本发明实施例还提供了一种非易失性计算机可读存储介质，所述非易失性计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令可执行上述方法实施例中的任意一种自动行车方法。
图8是本发明实施例提供的执行上述任意一种自动行车方法的电子设备的硬件结构示意图，如图8所示，该设备包括：
一个或多个处理器510以及存储器520，图8中以一个处理器510为例。
执行上述任意一种自动行车方法的电子设备还可以包括：输入装置530和输出装置540。
处理器510、存储器520、输入装置530和输出装置540可以通过总线或者其他方式连接，图8中以通过总线连接为例。
存储器520作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本发明实施例中的自动行车方法对应的程序指令/模块(例如，附图4所示的第一上传模块30、第一接收模块31和同步模块32，或者，附图5所示的第二上传模块33和第三上传模块34，或者，附图6所示的第二接收模块40、第一处理模块41、第三接收模块42和第一共享模块43，或者，附图7所示的第四接收模块44、第二处理模块45、第五接收模块46和第二共享模块47)。处理器510通过运行存储在存储器520中的非易失性软件程序、指令以及模块，从而执行电子设备的各种功能应用以及数据处理，即实现上述方法实施例中的任意一种自动行车方法。
存储器520可以包括存储程序区和存储数据区，其中，存储程序区可存储操 作系统、至少一个功能所需要的应用程序；存储数据区可存储根据自动行车装置(如附图4、5、6和7)的使用所创建的数据等。此外，存储器520可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器520可选包括相对于处理器510远程设置的存储器，这些远程存储器可以通过网络连接至自动行车装置。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入装置530可接收输入的数字或字符信息，以及产生与自动行车装置的用户设置以及功能控制有关的键信号输入。输出装置540可包括显示屏等显示设备。
所述一个或者多个模块存储在所述存储器520中，当被所述一个或者多个处理器510执行时，执行上述任意方法实施例中的自动行车方法。
上述产品可执行本申请实施例所提供的方法，具备执行方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的方法。
本发明实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行上述方法实施例中的任意一种自动行车方法。
需要说明的是，本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一非易失性计算机可读存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方 式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (23)

  1. 一种自动行车方法，其特征在于，应用于车载终端设备，包括：
    上传GPS数据至服务器，以确定本车是否处于车辆队列中；
    当本车处于所述车辆队列中时，接收所述服务器共享的前车行驶状态；
    将本车的行驶状态同步为所述前车行驶状态。
  2. 根据权利要求1所述的方法，其特征在于，所述当本车处于车辆队列中时，接收所述服务器共享的前车行驶状态包括：
    当本车处于所述车辆队列中时，接收所述服务器共享的在所述车辆队列中处于队首位置的车辆的行驶状态；
    所述将本车的行驶状态同步为所述前车行驶状态包括：
    将本车的行驶状态同步为在所述车辆队列中处于队首位置的车辆的行驶状态。
  3. 根据权利要求1所述的方法，其特征在于，所述当本车处于车辆队列中时，接收所述服务器共享的前车行驶状态包括：
    上传本车的行驶状态至服务器；
    接收所述服务器共享的在所述车辆队列中处于本车前方的车辆的行驶状态；
    所述将本车的行驶状态同步为所述前车行驶状态包括：
    将本车的行驶状态同步为在所述车辆队列中处于本车前方的车辆的行驶状态。
  4. 根据权利要求1所述的方法，其特征在于，所述上传GPS数据至服务器，以确定本车是否处于车辆队列中包括：
    上传GPS数据至服务器，以确定本车是否处于正常行驶的车辆队列中。
  5. 一种自动行车方法，其特征在于，应用于车载终端设备，包括：
    上传GPS数据至服务器，以确定本车是否处于车辆队列中；
    当本车处于所述车辆队列中并且在所述车辆队列中处于队首位置时，上 传本车的行驶状态至所述服务器，以便将本车的行驶状态共享至所述车辆队列中的其他车辆。
  6. 一种自动行车方法，其特征在于，应用于服务器，包括：
    接收车辆上传的GPS数据；
    根据所述GPS数据确定所述车辆是否已进入一个车辆队列；
    响应于所述车辆已进入一个车辆队列，接收在所述车辆队列中处于队首位置的车辆的行驶状态；
    将所述处于队首位置的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与所述处于队首位置的车辆的行驶状态同步。
  7. 一种自动行车方法，其特征在于，应用于服务器，包括：
    接收车辆上传的GPS数据；
    根据所述GPS数据确定所述车辆是否已进入一个车辆队列；
    响应于所述车辆已进入一个车辆队列，接收在所述车辆队列中处于所述车辆前方的车辆的行驶状态；
    将处于所述车辆前方的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与处于所述车辆前方的车辆的行驶状态同步。
  8. 一种自动行车装置，其特征在于，应用于车载终端设备，包括：
    第一上传模块，用于上传GPS数据至服务器，以确定本车是否处于车辆队列中；
    第一接收模块，用于当本车处于所述车辆队列中时，接收所述服务器共享的前车行驶状态；
    同步模块，用于将本车的行驶状态同步为所述前车行驶状态。
  9. 根据权利要求8所述的装置，其特征在于，所述第一接收模块包括：
    第一接收子模块，用于当本车处于所述车辆队列中时，接收所述服务器共享的在所述车辆队列中处于队首位置的车辆的行驶状态；
    所述同步模块包括：
    第一同步子模块，用于将本车的行驶状态同步为在所述车辆队列中处于 队首位置的车辆的行驶状态。
  10. 根据权利要求8所述的装置，其特征在于，所述第一接收模块包括：
    第一上传子模块，用于上传本车的行驶状态至服务器；
    第二接收子模块，用于接收所述服务器共享的在所述车辆队列中处于本车前方的车辆的行驶状态；
    所述同步模块包括：
    第二同步子模块，用于将本车的行驶状态同步为在所述车辆队列中处于本车前方的车辆的行驶状态。
  11. 根据权利要求8所述的装置，其特征在于，所述第一上传模块包括：
    第二上传子模块，用于上传GPS数据至服务器，以确定本车是否处于正常行驶的车辆队列中。
  12. 一种自动行车装置，其特征在于，应用于车载终端设备，包括：
    第二上传模块，用于上传GPS数据至服务器，以确定本车是否处于车辆队列中；
    第三上传模块，用于当本车处于所述车辆队列中并且在所述车辆队列中处于队首位置时，上传本车的行驶状态至所述服务器，由所述服务器将本车的行驶状态共享至所述车辆队列中的其他车辆。
  13. 一种自动行车装置，其特征在于，应用于服务器，包括：
    第二接收模块，用于接收车辆上传的GPS数据；
    第一处理模块，用于根据所述GPS数据确定所述车辆是否已进入一个车辆队列；
    第三接收模块，用于响应于所述车辆已进入一个车辆队列，接收在所述车辆队列中处于队首位置的车辆的行驶状态；
    第一共享模块，用于将所述处于队首位置的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与所述处于队首位置的车辆的行驶状态同步。
  14. 一种自动行车装置，其特征在于，应用于服务器，包括：
    第四接收模块，用于接收车辆上传的GPS数据；
    第二处理模块，用于根据所述GPS数据确定所述车辆是否已进入一个车辆队列；
    第五接收模块，用于响应于所述车辆已进入一个车辆队列，接收在所述车辆队列中处于所述车辆前方的车辆的行驶状态；
    第二共享模块，用于将处于所述车辆前方的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与处于所述车辆前方的车辆的行驶状态同步。
  15. 一种非易失性计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令设置为：
    上传GPS数据至服务器，以确定本车是否处于车辆队列中；
    当本车处于所述车辆队列中时，接收所述服务器共享的前车行驶状态；
    将本车的行驶状态同步为所述前车行驶状态。
  16. 一种非易失性计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令设置为：
    上传GPS数据至服务器，以确定本车是否处于车辆队列中；
    当本车处于所述车辆队列中并且在所述车辆队列中处于队首位置时，上传本车的行驶状态至所述服务器，以便将本车的行驶状态共享至所述车辆队列中的其他车辆。
  17. 一种非易失性计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令设置为：
    接收车辆上传的GPS数据；
    根据所述GPS数据确定所述车辆是否已进入一个车辆队列；
    响应于所述车辆已进入一个车辆队列，接收在所述车辆队列中处于队首位置的车辆的行驶状态；
    将所述处于队首位置的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与所述处于队首位置的车辆的行驶状态同步。
  18. 一种非易失性计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令设置为：
    接收车辆上传的GPS数据；
    根据所述GPS数据确定所述车辆是否已进入一个车辆队列；
    响应于所述车辆已进入一个车辆队列，接收在所述车辆队列中处于所述车辆前方的车辆的行驶状态；
    将处于所述车辆前方的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与处于所述车辆前方的车辆的行驶状态同步。
  19. 一种电子设备，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够：
    上传GPS数据至服务器，以确定本车是否处于车辆队列中；
    当本车处于所述车辆队列中时，接收所述服务器共享的前车行驶状态；
    将本车的行驶状态同步为所述前车行驶状态。
  20. 一种电子设备，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够：
    上传GPS数据至服务器，以确定本车是否处于车辆队列中；
    当本车处于所述车辆队列中并且在所述车辆队列中处于队首位置时，上传本车的行驶状态至所述服务器，以便将本车的行驶状态共享至所述车辆队列中的其他车辆。
  21. 一种电子设备，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够：
    接收车辆上传的GPS数据；
    根据所述GPS数据确定所述车辆是否已进入一个车辆队列；
    响应于所述车辆已进入一个车辆队列，接收在所述车辆队列中处于队首位置的车辆的行驶状态；
    将所述处于队首位置的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与所述处于队首位置的车辆的行驶状态同步。
  22. 一种电子设备，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够：
    接收车辆上传的GPS数据；
    根据所述GPS数据确定所述车辆是否已进入一个车辆队列；
    响应于所述车辆已进入一个车辆队列，接收在所述车辆队列中处于所述车辆前方的车辆的行驶状态；
    将处于所述车辆前方的车辆的行驶状态共享至所述车辆，使所述车辆的行驶状态与处于所述车辆前方的车辆的行驶状态同步。
  23. 一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行权利要求1至7任一项所述的方法。
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