WO2018210184A1 - 车队的控制方法、设备及车联网系统 - Google Patents

车队的控制方法、设备及车联网系统 Download PDF

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Publication number
WO2018210184A1
WO2018210184A1 PCT/CN2018/086493 CN2018086493W WO2018210184A1 WO 2018210184 A1 WO2018210184 A1 WO 2018210184A1 CN 2018086493 W CN2018086493 W CN 2018086493W WO 2018210184 A1 WO2018210184 A1 WO 2018210184A1
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Prior art keywords
vehicle
fleet
information
sub
car
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PCT/CN2018/086493
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English (en)
French (fr)
Inventor
赵灿
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华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP18801319.7A priority Critical patent/EP3618023A4/en
Publication of WO2018210184A1 publication Critical patent/WO2018210184A1/zh
Priority to US16/682,376 priority patent/US11657718B2/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0293—Convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Definitions

  • the present application relates to the field of car networking, and more particularly to a control method, device, and car networking system for a fleet.
  • Vehicle Platooning is an important application in the Internet of Vehicles.
  • Vehicle Platooning refers to a fleet of vehicles equipped with intelligent sensing devices and short-range communication devices.
  • the lead vehicle (LV) is controlled by the driver and uses V2V communication technology to control the first car in the fleet.
  • the following following vehicle (FV) follows the trajectory of the head vehicle to achieve automatic multi-vehicle queueing.
  • the first car is controlled by the vehicle to vehicle (V2V) technology to follow the following vehicles, and the following vehicles in the fleet can achieve almost zero reaction time to synchronize the driving behavior of the first car.
  • V2V vehicle to vehicle
  • the present application provides a control method, a device and a vehicle networking system for a fleet of vehicles, which can ensure that the fleet is safely passed through the restricted section.
  • a control method for a fleet is provided, the method being performed by a roadside device, a control center, or a front vehicle of a fleet, the method comprising:
  • the segmentation information includes an identification of at least one sub-car, and each sub-car and the previous following vehicle The distance between each sub-header is the first following vehicle at the fleet segment, and each sub-header controls the following vehicle within the segment in which it is controlled.
  • the embodiment of the present invention determines whether the vehicle fleet can safely pass the weight limit road section, and if it is determined that the vehicle team cannot safely pass the weight limit road section, the segment information of the vehicle team is determined, so that the head vehicle can segment the vehicle team according to the segmentation information, thereby The team can safely pass the restricted road section.
  • the method before the determining whether the fleet is safe to pass the restricted road segment, the method further includes:
  • the fleet information including the fleet's driving route, speed, location, vehicle spacing, weight and length of each vehicle in the fleet;
  • Obtaining information about the limited road segment where the information of the limited road segment includes a length and a load of the limited road segment;
  • Determining the segmentation information of the fleet when the fleet cannot safely pass the restricted road segment including:
  • the segmentation information is determined according to the fleet information, the information of the other vehicles, and the information of the restricted road section.
  • the embodiment of the present invention determines the segmentation information of the fleet based on the above information, and enables the fleet to safely pass the restricted road segment after segmentation according to the segmentation information.
  • vehicles located within a preset distance of the fleet include: a vehicle having a distance from the fleet that is less than or equal to the preset distance and does not belong to the fleet.
  • the method is performed by a control center, a roadside device, or a front vehicle of a fleet
  • the obtaining information of other vehicles located within a preset distance of the fleet includes: receiving the vehicle located at the fleet Information about other vehicles within a preset distance.
  • the method is performed by a control center or a vehicle of a fleet, and before the determining whether the fleet can safely pass the restricted section, the method further includes:
  • the indication information is used to indicate that the vehicle network has completely covered the vehicle on the road.
  • the method is performed by a roadside device, and the acquiring information of other vehicles located within a preset distance of the fleet includes:
  • Information of the other vehicles is determined based on the acquired images.
  • the method is performed by a roadside device, and before the determining whether the fleet is safe to pass the restricted road segment, the method further includes:
  • the determining that the vehicle network has not completely covered the vehicles on the road includes:
  • the first vehicle information including at least one of the following information: location information of the vehicle and vehicle type information of the vehicle;
  • the second vehicle information including at least one of the following: location information of the vehicle and vehicle type information of the vehicle;
  • the vehicle network has not completely covered the vehicle on the road.
  • the method is performed by a roadside device, a control center, or a front vehicle of a fleet, and determining whether the fleet can safely pass the restricted road segment includes:
  • the method is performed by a roadside device, a control center, or a front vehicle of a fleet. Before the determining whether the fleet can safely pass the restricted road segment, the method further includes:
  • the condition includes that the distance between the fleet and the restricted road section is less than or equal to a preset distance, and the weight limit road segment has not completed the weight limit prediction.
  • condition further includes having permission to perform a weighted prediction. This will help avoid the waste of resources caused by repeated execution of weighted prediction by the RSE and the control center.
  • the method is performed by a roadside device or a control center, and the method further includes:
  • the segmentation information is sent to the head car of the fleet.
  • a control method for a fleet is provided, the method being executable by a head vehicle in the fleet, the method comprising:
  • the head vehicle in the fleet acquires segmentation information of the fleet, the segmentation information includes an identification of at least one sub-car, and each of the at least one sub-car and the previous one
  • the distance between the following vehicles, the first sub-car is the first following vehicle at the fleet segment, and each sub-car controls the following vehicle in the segment where the sub-car is controlled;
  • the head vehicle segments the fleet according to the segmentation information, and after the fleet segmentation, the head vehicle and the at least one sub-car drive control remaining remaining in each segment of the fleet The vehicle is driving.
  • the head vehicle in the fleet can segment the fleet according to the segmentation information of the fleet, thereby enabling the fleet to safely pass the restricted section.
  • the head vehicle segments the fleet according to the segmentation information, including:
  • the notification message includes: indication information indicating that the control is given to the at least one sub-car and the at least The distance between each of the sub-cars and the previous one following the vehicle.
  • the notification message may further include an identifier of the following vehicle that is controlled by each of the at least one sub-car.
  • the method further includes: the head vehicle transmitting an identification of the sub-car in the respective segment to the at least one following vehicle controlled by the at least one sub-car.
  • the method further includes:
  • the head vehicle cancels control of the at least one sub-car according to the merging request, and re-controls the at least one sub-car and the following controlled vehicles of the at least one sub-car.
  • the first vehicle of the fleet acquires the segmentation information of the fleet, including: the first car receives the segment information sent by a roadside device or a control center, or obtains from the memory. Segmentation information.
  • the head vehicle receives the segment information sent by the roadside device or the control center; or the segment information of the fleet is determined by the team's head car If so, the head vehicle obtains the segmentation information from its own memory.
  • the method further includes:
  • the head vehicle transmits fleet information to the roadside equipment or the control center, the fleet information including speed, location, and vehicle spacing of the fleet.
  • the fleet information further includes a driving route of the fleet, a weight and a length of each vehicle in the fleet.
  • a control method for a fleet is provided, the method being executable by a following vehicle in the fleet, the method comprising:
  • a follow-up vehicle in the fleet receives a notification message sent by the first vehicle of the fleet, the notification message including indication information for indicating control of the sub-car and a distance between the sub-car and the previous following vehicle
  • the sub-car is the first following vehicle at the fleet segment;
  • the following vehicle controls the following vehicle travel within the segment in which the sub-car is located as a sub-car according to the notification message and maintains the distance with a previous one of the fleets following the vehicle.
  • the sub-car in the fleet can maintain a certain distance from the previous following vehicle and control the following vehicle in the segment in which it is located, thereby enabling the fleet to safely pass the restricted section.
  • the method further includes:
  • the following vehicle in the case of determining that the restricted section has passed, transmits a merge request to the head vehicle, the merge request for requesting re-control of the sub-car by the head vehicle and the sub-car control follows the vehicle.
  • a control device is provided, the control device being used to implement the method of any of the above-mentioned possible implementations of the first aspect or the first aspect.
  • control device may comprise means for performing the method of the first aspect or any of the possible implementations of the first aspect.
  • an in-vehicle terminal the vehicle-mounted terminal being used to implement the method of any one of the above-mentioned possible implementations of the second aspect or the second aspect.
  • the in-vehicle terminal may comprise means for performing the method of any of the possible implementations of the second aspect or the second aspect.
  • an in-vehicle terminal is provided, which is used to implement the method described in any one of the foregoing possible implementation manners of the third aspect or the third aspect.
  • the in-vehicle terminal may comprise means for performing the method of any of the possible implementations of the third aspect or the third aspect.
  • a control device including a processor, a transceiver, and a memory, wherein the processor, the transceiver, and the memory communicate with each other through an internal connection path, the memory being configured to store an instruction,
  • the processor is operative to execute the instructions stored by the memory, and execution of the instructions stored in the memory causes the control device to perform the method of any of the first aspect or the first aspect of the first aspect.
  • an in-vehicle terminal including a processor, a transceiver, and a memory, wherein the processor, the transceiver, and the memory communicate with each other through an internal connection path, the memory is configured to store an instruction, The processor is configured to execute the instructions stored by the memory, and execution of the instructions stored in the memory causes the in-vehicle terminal to perform the method of any one of the possible implementations of the second aspect or the second aspect.
  • a ninth aspect provides an in-vehicle terminal including a processor, a transceiver, and a memory, wherein the processor, the transceiver, and the memory communicate with each other through an internal connection path, the memory is configured to store an instruction, The processor is configured to execute the instructions stored by the memory, and execution of the instructions stored in the memory causes the in-vehicle terminal to perform the method of any one of the possible implementations of the third aspect or the third aspect.
  • a tenth aspect a computer readable storage medium storing a program, the program causing a control device to perform the method of any of the first aspect or the first aspect of the first aspect .
  • a computer readable storage medium storing a program for causing an in-vehicle terminal to perform the above-described second aspect or any of the possible implementations of the second aspect method.
  • a computer readable storage medium storing a program for causing an in-vehicle terminal to perform the above-described third aspect or any of the possible implementations of the third aspect method.
  • Figure 1 is a schematic view of vehicle formation travel
  • FIG. 2 is a schematic diagram of vehicle formation travel according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a control device or an in-vehicle terminal according to an embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of a control method of a fleet according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of a method for determining a car network scenario according to an embodiment of the present invention
  • FIG. 6 is a schematic flowchart of a control method of a vehicle fleet according to another embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a method of calculating segmentation information of a fleet of vehicles according to an embodiment of the present invention.
  • FIG. 8 is a schematic flowchart of a control method of a vehicle fleet according to another embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a control device according to another embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of an in-vehicle terminal according to another embodiment of the present invention.
  • FIG. 11 is a schematic structural diagram of an in-vehicle terminal according to another embodiment of the present invention.
  • the embodiments of the present invention are mainly applied to an intelligent transportation systems (ITS) communication scenario, involving communication between various ITS communication nodes on different platforms, such as vehicles, roadside equipment (RSE). , handheld devices, and control centers.
  • Communication technologies used in ITS communication scenarios include, but are not limited to, ITS-G5, Infrared (IR) communication, dedicated short range communications (DSRC), wireless fidelity (WiFi), cellular (cellular) Technology and Internet technology.
  • ITS-G5 Infrared
  • DSRC dedicated short range communications
  • WiFi wireless fidelity
  • cellular cellular
  • Devices in the Internet of Vehicles can exchange information and use information to analyze and make decisions, thereby improving traffic safety and traffic efficiency and saving energy. Platooning is an application example in the ITS system.
  • the communication nodes involved in the embodiments of the present invention include a vehicle, a roadside device, and a control center.
  • the vehicle can be subdivided into a head vehicle, a following vehicle, and other vehicles.
  • the concept of a sub-car is also introduced in the embodiment of the present invention. The technical terms involved in the embodiments of the present invention are described below.
  • Vehicle A sensor device that collects the speed, position, configuration, and identity of the vehicle itself, as well as the surrounding environment. It can support interaction with the RSE and surrounding vehicles through near field communication. Support long-distance communication connection control center, or connect to control center through RSE.
  • Lead vehicle (LV) The vehicle at the forefront of the queue in platooning, as shown in Figure 1.
  • the head car is controlled by the driver and can be used to control other vehicles in the fleet through V2V communication.
  • V vehicle other than the head car in platooning, as shown in Figure 1.
  • the following vehicles are controlled by the first car.
  • OV Vehicles other than the team are not in the fleet, as shown in Figure 1.
  • Sub lead vehicle After the platooning team is segmented, the first car at the segment is shown in Figure 2. The sub-header temporarily functions as a head car to control the driving of the vehicle in the segment.
  • Roadside equipment It can collect data of vehicles within the communication distance range through V2V communication, and can also obtain vehicle information through sensing devices. For example, peripheral images can be acquired by image acquisition equipment, and image analysis can be obtained according to image analysis. Vehicle Information. Roadside equipment also supports information interaction with the control center, with edge calculation and decision making capabilities.
  • Control center collects the data of the car and RSE for analysis, and sends the results of the decision to the car and RSE to control the driving of the vehicle and the processing of the RSE.
  • the embodiment of the present invention proposes a control method of the fleet to determine in advance whether the fleet can safely pass the restricted section. If it is determined that the fleet cannot safely pass the restricted section, the fleet is notified to segment. , so that the team is safely passed through the restricted section after segmentation.
  • FIG. 3 shows a block diagram of a portion of the structure of an apparatus 300 related to an embodiment of the present invention. 3 shows that the device 300 may be a control device or an in-vehicle terminal in an embodiment of the present invention, wherein the in-vehicle terminal may be applied to a head vehicle or a following vehicle in a fleet. As shown in FIG. 3, device 300 can include a processor 310, a transceiver 320, and a memory 330.
  • the processor 310 includes one or more processing cores, and the processor 310 executes various functional applications and data processing by running a software program.
  • Transceiver 320 can be used to communicate with other devices.
  • Memory 330 is coupled to processor 310, which can be used to store software programs.
  • the memory 330 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (electrically erasable read only memory) Programmable read-only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (read only memory image, ROM), magnetic memory, flash memory, disk or optical disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM erasable programmable read only memory
  • PROM programmable read only memory
  • read only memory image, ROM magnetic memory
  • flash memory disk or optical disk.
  • the structure of the device 300 shown in FIG. 3 does not constitute a limitation of the control device or the vehicle-mounted terminal, and may include more or less components than those illustrated, or combine some components, or Different parts are arranged.
  • method 400 includes the following.
  • the control center or RSE determines if the fleet can safely pass the restricted section.
  • the control center or RSE determines the segmentation information of the fleet, the segmentation information includes the identification of at least one sub-car, and each sub-car of at least one sub-car. The distance from the previous following vehicle; each sub-car is the first following vehicle at the fleet segment, and each sub-car controls the following vehicle in the segment where the sub-car is controlled.
  • the control center or the RSE sends the segmentation information to the head vehicle.
  • the head vehicle receives the segmentation information.
  • 410-430 in the method shown in Figure 4 can be performed by the control center or RSE.
  • the head vehicle After receiving the segmentation information sent by the control center or the RSE, the head vehicle segments the fleet according to the segmentation information. After the segmentation, the head car and at least one sub-car control the remaining following vehicles in each segment of the fleet.
  • the head vehicle segments the fleet according to the segmentation information, including: the first car sends a notification message to the at least one sub-car, the notification message includes: indicating to give control of the at least one sub-car The indication information and the distance between each of the at least one sub-car and the previous following vehicle. That is, the notification message is used to notify the at least one sub-car control and notify each of the at least one sub-cars of the distance from the previous following vehicle.
  • each sub-header controls its own following following vehicle to travel according to the notification message, and maintains a corresponding distance from the previous following vehicle.
  • the notification message may further include an identifier of the following vehicle that is controlled by each of the at least one sub-car.
  • each sub-car After passing through the restricted section, each sub-car can send a merger request to the head vehicle, requesting that the vehicle in the section in which it is located be re-controlled by the head vehicle. After receiving the merger request, the head vehicle can cancel the control of the sub-car and re-control the vehicle traveling in the segment where the sub-car is located. It should be noted that the head vehicle can immediately cancel the control right of the sub-car after receiving the merge request of a sub-car, and re-control the vehicle running in the segment where the sub-car is located. In this way, when the team segment passes through the restricted road section, it re-integrates and continues to drive.
  • the segment information of the fleet is sent to the first vehicle of the fleet, so that the first vehicle performs the vehicle fleet according to the segmentation information. Segmentation so that the team can safely pass the restricted section.
  • method 400 may further include the control center or RSE determining a condition that meets the weighted prediction.
  • the condition includes that the distance between the vehicle team and the limited weight road section is less than or equal to the preset distance, and the weight limit road section has not completed the weight limit prediction. That is to say, if the control center or the RSE determines that the distance between the fleet and the restricted road section is less than or equal to the preset distance, and the limited road section has not completed the weight limit prediction, it is determined whether the fleet can safely pass the limited road section.
  • the preset distance can be determined according to the maximum braking distance of the fleet. For example, the braking distance of the truck speed of 100 kilometers per hour is 100-1000 meters, and the maximum braking distance of 1000m can be set as the preset distance. It is also possible to set a more reasonable preset distance by considering weather, road surface, vehicle speed, and vehicle model information.
  • the restricted road section has not completed the limit weight prediction, it means that it has not been judged whether the fleet can safely pass the restricted road section. If the restricted road section has completed the limit weight prediction, it means that it has judged whether the fleet can safely pass the limit. Heavy road section. In the case that it is determined that the limited weight section has not completed the weight limit prediction, it is determined whether the vehicle fleet can safely pass the weight limit road section, thereby avoiding the repeated implementation of the weight limit prediction of the limited weight road section, thereby avoiding the weight limit prediction due to repeated execution of the limited weight road section. The resulting resources are wasted.
  • the condition may further include having permission to perform the weighted prediction.
  • an identifier indicating that there is permission to perform weighted prediction is stored in the control center or RSE. If the RSE and the control center repeatedly perform the weighted prediction, it will waste resources. Therefore, the RSE or the control center can be configured with permissions in advance, and the restricted RSE or the control center can perform the weight limit prediction, which will prevent the RSE and the control center from repeatedly performing the weight limit. The waste of resources caused by the forecast.
  • the method 400 may further include:
  • the control center or RSE obtains the fleet's fleet information.
  • the fleet information includes the vehicle's driving route, speed, location, vehicle spacing, and the weight and length of each vehicle in the fleet;
  • the control center or RSE obtains information of other vehicles located within the preset distance of the fleet, and the information of other vehicles includes the speed, position and weight of other vehicles;
  • the control center or the RSE obtains the information of the limited road section, and the information of the limited road section includes the length and load of the limited road section.
  • the fleet information may further include an identification of the fleet, an identification of the LV, and an identification of the FV.
  • the information of the fleet may also include the acceleration of the fleet, and the information of other vehicles may also include the acceleration of other vehicles.
  • the head vehicle in the fleet of embodiments of the present invention may send fleet information to the control center or RSE. That is to say, the control center or the RSE obtains the fleet information of the fleet including: the control center or the fleet information sent by the RSE receiving the first vehicle of the fleet.
  • the head car can uniformly report all the fleet information, such as the team's driving route, speed, position, vehicle spacing, weight and length of each vehicle in the fleet.
  • the first car can also report all the fleet information in the initial stage, such as the team's driving route, speed, position, vehicle spacing, weight and length of each vehicle in the fleet, etc. If some of the fleet information changes during the driving process, then The head car can also dynamically report some of the fleet information that has changed, such as the speed, location, and distance of the vehicle.
  • the control center or the RSE determines whether the fleet can safely pass the restricted section: the control center or the RSE determines whether the restricted section can be safely passed based on the information of the fleet, information of other vehicles, and information of the restricted section.
  • the control center or the RSE determines the segmentation information of the fleet, including: the control center or the RSE determines the segmentation information of the fleet based on the information of the fleet, information of other vehicles, and information of the restricted sections.
  • control center or RSE can collect information about the fleet, other vehicles, and restricted sections, and use this information to determine if the fleet can safely pass the restricted section.
  • segmentation information of the fleet is further determined based on the information to ensure that the fleet passes the restricted road section safely.
  • the information of the limited road segment may be pre-configured in the control center or the RSE.
  • the information of the control center or the RSE acquiring the limited road segment includes: the control center or the RSE acquiring the information of the limited road segment from the memory.
  • the information that the control center obtains the limited road segment may further include: the control center receiving the information of the limited road segment sent by the roadside device.
  • control center obtaining information of other vehicles located within a preset distance of the fleet includes the control center receiving information of other vehicles located within a preset distance of the fleet.
  • the vehicles on the road have the ability to report their respective speed, position and weight to the control center.
  • the information that the RSE acquires other vehicles within a preset distance of the fleet includes: the RSE capturing images of other vehicles within a preset distance of the fleet; the RSE determining information for other vehicles based on the acquired images. Based on the vehicle information estimated by the image analysis, the RSE determines whether the fleet can safely pass the restricted section. If the RSE determines that the fleet cannot safely pass the restricted section, the control team will control the segment.
  • the RSE can perform image analysis on the multiple acquired images and determine the speed, position, and weight of other vehicles based on the image analysis results. For example, the RSE can determine the speed of the vehicle based on the positional change in the image acquired multiple times by the same vehicle and the time interval of the multiple acquired images. The RSE can also obtain vehicle model information based on the image analysis results to estimate the weight of the vehicle. Alternatively, the RSE may further obtain the identification of the vehicle according to the image analysis result, and then determine the weight of the vehicle according to the correspondence between the identifier and the weight of the pre-stored vehicle, wherein the identification of the vehicle may be a license plate number, and may also be other vehicles capable of identifying the vehicle. logo.
  • 410-430 of the method illustrated in FIG. 4 is performed by the RSE.
  • the method 400 may further include the RSE determining that the vehicle network has not completely covered the vehicle on the road. Accordingly, the RSE determines that the vehicle network has not fully covered the vehicles on the road, including:
  • RSE collects surrounding images
  • the RSE determines first vehicle information according to the image, and the first vehicle information includes at least one of the following information: location information of the vehicle and vehicle type information of the vehicle;
  • the RSE receives second vehicle information transmitted by the surrounding vehicle, and the second vehicle information includes at least one of the following information: location information of the vehicle and vehicle type information of the vehicle;
  • the RSE compares the first vehicle information with the second vehicle information
  • the RSE determines that the vehicle network has not completely covered the vehicle on the road.
  • the first vehicle information determined by the RSE according to the collected image includes location information and/or vehicle type information of all the vehicles in the image.
  • the second vehicle information includes vehicle information transmitted by all vehicles within the shooting range of the camera of the RSE.
  • the RSE compares the position information and/or vehicle type information of all the vehicles in the image acquired at a certain time with the position information and/or vehicle type information of the vehicle received at that time. If the two match exactly, it is considered that the Internet of Vehicles completely covers the vehicles on the road, otherwise it is considered that the vehicle network has not completely covered the vehicles on the road. It should be understood that in order to ensure the accuracy of the prediction, the vehicle data of multiple cycles may be collected and compared with the data reported by the surrounding vehicles, for example, at intervals of 10 minutes.
  • the control center or the RSE can receive the vehicle information reported by the vehicle, and predict whether the fleet can safely pass the limited road section according to the vehicle information reported by the vehicle, if judging If the team cannot safely pass the restricted section, the team will be controlled to segment.
  • the method 400 may further include: the control center receiving the indication information sent by the roadside device, the indication information is used to indicate that the vehicle network has completely covered the road. Vehicles. After the control center knows that the vehicle network has completely covered the vehicles on the road, it can determine whether the fleet can safely pass the restricted road section based on the received vehicle information, fleet information and information of the restricted road sections.
  • a method of determining whether the vehicle network completely covers the vehicle on the road is described in detail below with reference to FIG.
  • the method shown in Figure 5 includes the following.
  • the identifier of the weight limit prediction in the RSE is true (true).
  • the RSE is responsible for the prediction of the team passing the restricted road section; when the flag is false (false), the RSE is not responsible for the pre-judgment of the team through the restricted road section.
  • the vehicle may periodically release vehicle information, such as vehicle information including information such as location, speed, weight, length, configuration, and the like of the vehicle.
  • vehicle information including information such as location, speed, weight, length, configuration, and the like of the vehicle.
  • the vehicle may issue vehicle information through a Cooperative Awareness Message (CAM) message, but the embodiment of the present invention does not limit this, and the vehicle information may also be released by other types of messages.
  • CAM Cooperative Awareness Message
  • the RSE collects surrounding images through the camera.
  • Analyze an image collected at a specific time point determine surrounding vehicle position and vehicle type information according to image analysis, and determine whether the vehicle position and vehicle type information determined according to the image analysis matches the vehicle position and vehicle type information reported by the surrounding vehicle, if If it matches, then execute 507; otherwise, jump to 502 to wait for the next detection cycle.
  • the peripheral image may be collected again by a preset time period (for example, 10 minutes), and the vehicle information determined by the image analysis is compared with the vehicle information reported by the surrounding vehicle again, if the comparison is completed multiple times (for example, 5 times). Matching, it is considered that the vehicles on the road are all connected, that is, the vehicle network has completely covered the vehicles on the road, and executes 507; if the multiple comparisons are not completely matched, it is considered that not all the vehicles have been networked, and jump to 502 and wait for the next One detection cycle.
  • a preset time period for example, 10 minutes
  • the vehicle information determined by the image analysis is compared with the vehicle information reported by the surrounding vehicle again, if the comparison is completed multiple times (for example, 5 times).
  • Matching it is considered that the vehicles on the road are all connected, that is, the vehicle network has completely covered the vehicles on the road, and executes 507; if the multiple comparisons are not completely matched, it is considered that not all the vehicles have been networked, and jump
  • the RSE sets the flag for performing heavy-duty road segment prediction to false.
  • the RSE notifies the control center or the head car in the fleet to perform the weight limit pre-judgment.
  • the RSE will not judge the situation of the Internet, and will subsequently switch to the weight limit prediction by the control center or the first vehicle.
  • the control center or the head vehicle sets the limit weight pre-judgment flag to true according to the notification of the RSE. This means that when the condition of the weight limit judgment is satisfied, the weight limit prediction is performed by the control center or the head vehicle, and the subsequent operation can refer to the content shown in FIG. 6.
  • the embodiment of the invention solves the problem of scene judgment in the evolution process of the vehicle network deployment, and at the same time, sets the identifier for the limited road segment prediction in the control center and the RSE, and provides a basis for judging the subsequent business process, and different vehicle network coverage scenarios. Different solutions can be used depending on the identity.
  • FIGS. 6 and 7 show an example of the method shown in FIG. 4.
  • the example shown in FIG. 6 is described by taking a control center as an example, and the example shown in FIG. 7 is described by using RSE as an example.
  • FIG. 6 is a schematic flow chart of a control method of a fleet according to another embodiment of the present invention.
  • the control center determines whether there is a limited road section in the driving route of the fleet, and starts at a fixed distance from the limited weight section. Collect vehicle information within a certain range of the restricted road section.
  • the comprehensive fleet information, vehicle information around the team, and information on the restricted road sections are comprehensively predicted whether the team can successfully pass the restricted section.
  • the fleet information may include the speed, acceleration, position of the fleet, the length of the vehicle, the weight and the distance.
  • the vehicle information around the fleet includes the speed, acceleration, position and weight of the vehicle around the fleet.
  • the information of the restricted section includes the weight limit. The length and load of the road segment. If the control center predicts that the fleet cannot safely pass the restricted section, the control center calculates the segmentation information of the fleet and sends it to the LV. The LV segments the fleet according to the segmentation information sent by the control center. After the SLV passed the weight limit road, the LV was requested to rejoin the team, release the control, and the LV integrated the team to continue driving. Specifically, the method shown in FIG. 6 includes the following.
  • the RSE periodically issues road information, where the road information includes information of the limited road section, and the information of the limited road section includes a load of the limited road section and a length of the limited weight section.
  • the 601 may not be executed.
  • the road information may be pre-configured in the control center.
  • the OV periodically issues vehicle information through a CAM message, for example, the vehicle information includes: location, speed, weight, and length of the vehicle.
  • the LV sends the fleet information through the CAM message.
  • the fleet information includes the team logo, the LV speed, the position, the route, the ID of each FV in the fleet, the length, the weight, and the preceding vehicle spacing.
  • the control center maintains a local dynamic map (LDM) according to the road information issued by the RSE.
  • LDM local dynamic map
  • the control center can combine the map data and the road information sent by the RSE to maintain the local dynamic map according to the timeliness of the data.
  • the control center determines whether to perform prediction through the limited road section.
  • the control center needs to meet the following conditions at the same time: a) there is a limited road section in the driving route of the fleet; b) the control center has the authority to perform the weight limit prediction, for example, the identification of the limited road section saved on the control center is true. ; c) The current limit road section has not completed the limit weight prediction. For example, the sign of the limit road section for the control center to save the prediction is false; d) the distance of the vehicle team from the limit road section is less than or equal to the preset distance (such as 1000 meters).
  • 606 is performed; otherwise, the execution of 601-604 is continued, that is, the control center continues to receive the information reported by the RSE, OV, and LV, and maintains the local dynamic map.
  • the control center comprehensively predicts whether the fleet can safely pass the restricted road section according to the information of the fleet, the information of other vehicles around the fleet, and the information of the limited road sections.
  • the control center may further set the identifier of the restricted road segment completion prediction to be true after the prediction, so that the control center may repeatedly prevent the weight limit prediction from being repeatedly performed. If the control center determines that the fleet can safely pass the restricted section, the control center continues to wait for the LV to report the data. If the control center determines that the fleet cannot safely pass the restricted section, the control center segments the fleet and calculates the segmentation position of the fleet and the distance S between the segment and the previous vehicle. The following example illustrates the calculation of the segment position of the fleet and the distance between the segments.
  • T1 current time +1000 / fleet speed
  • T2 current time + (1000 + fleet length) / fleet speed.
  • the time interval ⁇ T is used to predict whether other vehicles around the T1 to T2 period are within the predicted range, and other vehicles around are The position within the predicted range is predicted based on the weight information of the vehicle within the predicted range.
  • the prediction range refers to a range covered by the length of the limited road section on the current road, and ⁇ T depends on the length of time in which the front-end vehicle is out of the predicted range within the current prediction range. For each moment, predict whether the team can successfully pass the restricted section. If it is predicted that the weight of the vehicle within the current predicted range has reached the maximum load of the limited road section, then all vehicles within the predicted range fail to pass the limit road section (ie, within the ⁇ T period), and the following vehicles cannot reach the upper limit weight. The road section, at this time, can expand the distance between the teams until it can carry the rear load. At the same time, T2 is recalculated based on the expanded distance between the teams.
  • the segmentation information of the fleet passing the restricted section and the spacing of the segments are given.
  • a portion of the load redundancy may be reserved depending on the vehicle type information of other vehicles around the fleet. It should be understood that vehicles that are within the predicted range at different times are dynamically changing. It should also be understood that ⁇ T is also dynamically varied due to the speed of the foremost vehicle within the predicted range at each time and the relative position within the predicted range.
  • the first prediction range at time T1 refers to the range on the road that is located in front of the head vehicle, and the distance to the head vehicle is less than or equal to the length of the weight limit road segment, as shown in Figure 7, the road falls between A and B.
  • the vehicle 1 at the forefront of the first prediction range of ⁇ T is out of the prediction range;
  • the prediction range at the time T1+ ⁇ T refers to: the starting position of the vehicle 2 as the starting point, and the length is the range of the length of the limited section, as shown in the figure
  • the road shown in 7 falls on the range between C and D; and so on, after each vehicle leaves the current forecast range, the next moment is determined starting from the vehicle located behind the vehicle and closest to the vehicle.
  • the prediction range is repeated n times until all the vehicles in the fleet reach the limit section, ie T1+n ⁇ T ⁇ T2. It is predicted whether the fleet within the predicted range can smoothly pass the restricted section by the interval ⁇ T.
  • the control center sends segmentation information to the LV, where the segmentation information includes an identifier (ID) of the SLV at the segment and a distance from the SLV and the preceding vehicle.
  • ID an identifier
  • the LV After receiving the segmentation information, the LV sends a notification message to the SLV according to the segmentation information, notifying the SLV control right, and notifying the SLV and the previous FV and the ID of the SLV controlled FV.
  • the first notification message includes: indication information indicating the SLV control right, a distance between the SLV and the previous FV, and an identifier of the FV controlled by the SLV.
  • the LV may send the first notification message to multiple SLVs in a broadcast, multicast, or unicast manner, which is not limited in this embodiment of the present invention.
  • the LV sends the ID of the SLV to the FV in the segment where the SLV is located. Thus the FV will travel under the control of the SLV.
  • the FV After receiving the second notification message, the FV refreshes the record of the local SLV and saves the ID of the SLV.
  • the SLV sends a request message to the FV in the segment where it is located, and controls the FV to travel.
  • the request message is used to adjust the vehicle speed to the target vehicle speed.
  • the request message includes the target vehicle speed and the ID of the SLV.
  • the FV After receiving the request message, the FV checks the ID of the SLV. If the check fails, the FV discards the request message and does not process.
  • the FV travels according to the request message of the SLV. For example, adjust the speed to the target speed.
  • the SLV passes through the restricted road section.
  • the SLV sends a merge request to the LV, where it is requested to re-control the vehicle in the segment where the SLV is located by the LV, where the merge request includes ID information of the SLV.
  • the LV After receiving the merge request, the LV notifies the control center, and the refresh limit prediction completion identifier is false.
  • LV control SLV returned.
  • the LV sends a merge response to the SLV to indicate SLV release control, controlled by the LV.
  • LV control FV back to the team.
  • the LV informs the FV to drive under the control of the LV.
  • the FV can refresh the local SLV record, delete the recorded SLV ID, and then the FV defaults to driving under the control of the LV.
  • the FV can also record the ID of the LV, and then the FV travels under the control of the LV.
  • the LV will take over the SLV and FV and the team will drive normally.
  • FIG. 8 is a schematic flow chart of a control method of a fleet according to another embodiment of the present invention.
  • the embodiment of the present invention corresponds to a scenario in which the identification of the weight limit prediction in the RSE is true, that is, a scenario in which the vehicle network is not completely deployed.
  • the RSE and the control center cannot receive information about all vehicles in the vicinity of the fleet and the restricted road section. Therefore, in the embodiment of the present invention, the camera can be deployed on the RSE at both ends of the limited road surface, and the weight information of the vehicle on the road can be predicted by image processing.
  • the RSE calculates the segmentation information of the fleet and sends it to the LV.
  • the LV performs the fleet according to the segmentation information. Segmentation, after segmentation, is controlled by the LV and SLV to follow the vehicle in each segment. After the SLV passes the heavy-duty section, it requests to the LV to rejoin the team, then the LV cancels the control of the SLV, and the LV re-integrates the fleet and continues to drive.
  • the method shown in FIG. 8 includes the following.
  • the LV issues the fleet information through the CAM message, and the fleet information may include the fleet ID, the LV speed, the location, the route, the ID of each vehicle in the fleet, the length, the weight, and the distance between the preceding vehicles.
  • the 802 and the RSE determine whether to perform the prediction through the limited road section.
  • the RSE needs to meet the following conditions at the same time: a) The RSE has the authority to perform the weighted prediction. For example, the identifier of the restricted road segment saved on the RSE is true; b) the current weight limit segment has not completed the weight limit prediction, such as RSE. The saved current limit road segment completion prediction indicator is false; c) the distance from the fleet to the limited weight road segment is less than or equal to the preset distance (eg 1500 meters). Since the RSE requires multiple cycles for re-sampling, it is necessary to reserve the sampling period. If it is determined that the prediction in the restricted road section is to be performed, the 801 is continued, that is, the control center continues to receive the information reported by the LV, and determines whether the prediction through the limited road section is required.
  • the RSE analyzes the collected images and estimates information about other vehicles around the fleet. The RSE then comprehensively predicts whether the fleet can safely pass the restricted section based on fleet information, information from other vehicles around the fleet, and information on the restricted sections. Optionally, the RSE may also set the identifier of the restricted road segment completion prediction to be true after the prediction, so that the RSE may be prevented from repeatedly performing the weight limit prediction. If the RSE determines that the team can safely pass the restricted section, the RSE will continue to wait for the next team to report the data; if the RSE determines that the team cannot safely pass the restricted section, the RSE will segment the fleet and calculate the fleet segment and the segment. The distance from the front car.
  • the camera's acquisition range is 500-2000 meters.
  • Images are captured at multiple time points by the camera, and other vehicles (hereinafter referred to as static vehicles) that have little change in relative position with the fleet are identified by image recognition technology, and the weight is calculated based on the models of the static vehicles and the load conditions.
  • the weight information of the static vehicle According to the traffic volume in the vehicle direction and the camera range, other vehicles with a relatively large change in the relative position of the fleet (hereinafter referred to as dynamic vehicles) are estimated, and the weight information of these dynamic vehicles is estimated according to the vehicle type information in the range of the camera collection.
  • the information of the static vehicle and the dynamic vehicle is combined to determine whether the fleet can safely pass the restricted road section, and the segment position of the fleet and the distance between the segments are estimated without safely passing the restricted road section.
  • the RSE sends segmentation information to the LV, including an ID of the SLV at the segment and a distance between each SLV and the previous FV.
  • 805-816 can refer to 608-619 in the method shown in FIG. 6. To avoid repetition, details are not described herein again.
  • the control center or the RSE performs the weight limit prediction as an example, but the embodiment of the present invention is not limited thereto, and the weight limit prediction may be performed by the first car in the fleet. .
  • the head vehicle determines whether the fleet can safely pass the restricted road section, and when the fleet cannot safely pass the limited road section, determines the segmentation information of the fleet, and segments the fleet according to the segmentation information.
  • the method used by the head vehicle to determine whether the vehicle fleet can safely pass through the weight limit road section is similar to the method adopted by the control center in the various embodiments shown above. To avoid repetition, no further details are provided herein.
  • the head vehicle in the fleet can communicate with other vehicles within a preset distance, and the head vehicle can receive information such as speed, position, and weight of the other vehicle from other vehicles.
  • the head vehicle in the fleet may also receive information such as speed, position, and weight of other vehicles from the control center or RSE.
  • the head car can also receive information on the restricted road section from the control center or the RSE, or can store the information of the limited road section in the head car in advance.
  • the head vehicle can also determine the conditions for meeting the weight limit prediction before the head vehicle determines whether the team can safely pass the weight limit section.
  • the head vehicle can also determine the conditions for meeting the weight limit prediction before the head vehicle determines whether the team can safely pass the weight limit section.
  • a control device and an in-vehicle terminal according to an embodiment of the present invention will be described below with reference to FIGS. 9 through 11.
  • FIG. 9 is a schematic structural diagram of a control device 900 according to an embodiment of the present invention. It should be understood that control device 900 can be a control center or RSE in the methods illustrated in Figures 4, 5, 6, and 8. It should be understood that the control device 900 can also be a head car in a fleet. As shown in FIG. 9, the control device 900 includes a processing unit 910 and a communication unit 920.
  • the processing unit 910 is configured to determine whether the fleet can safely pass the limited road section
  • the processing unit 910 is further configured to determine segmentation information of the fleet when the fleet cannot safely pass the restricted section, the segmentation information includes an identifier of at least one sub-car, and each sub-car and the previous following vehicle The distance between each sub-header is the first following vehicle at the team segment, and each sub-header controls the following vehicle in the segment where the sub-car is controlled.
  • the communication unit 920 is for communicating with other devices.
  • the control device of the embodiment of the present invention predicts whether the vehicle fleet can safely pass the weight limit road section, and if it is determined that the vehicle team cannot safely pass the weight limit road section, the segment information of the vehicle team is sent to the vehicle head vehicle, so that the head vehicle according to the segment information Segment the fleet so that the team can safely pass the restricted section.
  • processing unit 910 is specifically configured to:
  • Obtain the team's fleet information including the team's driving route, speed, location, vehicle spacing, weight and length of each vehicle in the fleet;
  • Acquiring information of other vehicles located within a preset distance of the fleet the information of other vehicles including the speed, position and weight of other vehicles;
  • the information of the limited road section includes the length and the load of the limited road section;
  • the segmentation information is determined based on the fleet information, the information of other vehicles, and the information of the limited road sections.
  • control device 900 is a control center or an in-vehicle terminal applied to the head vehicle.
  • the communication unit 920 is further configured to receive messages reported by other vehicles located within a preset distance of the fleet.
  • processing unit 910 is specifically configured to acquire information of other vehicles from the message received by the communication unit 920.
  • control device 900 is a control center or an in-vehicle terminal applied to the head vehicle.
  • the communication unit 920 is further configured to receive, after the processing unit 910 determines whether the fleet is safe to pass the restricted road segment, the indication information sent by the roadside device, the indication information is used to indicate that the vehicle network has completely covered the vehicle on the road.
  • control device 900 is an RSE. Accordingly, device 900 can also include an image acquisition unit 930.
  • the image acquisition unit 930 is configured to collect images of other vehicles located within a preset distance of the fleet; the processing unit 910 is specifically configured to determine information of other vehicles according to the images collected by the image collection unit 830.
  • control device 900 is an RSE.
  • the processing unit 910 is further configured to determine that the vehicle network has not completely covered the vehicle on the road before determining whether the fleet can safely pass the restricted road section.
  • the image collecting unit 930 is further configured to: collect an image of the periphery of the device; the processing unit 810 is further configured to determine first vehicle information of the surrounding vehicle according to the image, where the first vehicle information includes at least one of the following information: a location of the vehicle The information and the vehicle type information of the vehicle; the communication unit 920 is further configured to: receive second vehicle information sent by the surrounding vehicle of the device, where the second vehicle information includes at least one of the following information: location information of the vehicle and vehicle type information of the vehicle; and the processing unit 910 Specifically, the first vehicle information determined by the processing unit 910 and the second vehicle information received by the communication unit 920 are determined. If the first vehicle information is different from the second vehicle information, it is determined that the vehicle network has not completely covered the vehicle on the road.
  • the processing unit 910 is specifically configured to determine, according to the information of the fleet information, the information of the other vehicles, and the information of the restricted road segment, whether the restricted road section can be safely passed.
  • control device 900 is a control center or RSE.
  • the communication unit 920 is configured to transmit the segmentation information determined by the processing unit 910 to the head vehicle of the fleet.
  • the processing unit 910 is further configured to determine a condition that meets the weight limit prediction before determining whether the fleet can safely pass the weight limit road segment.
  • the condition includes that the distance between the vehicle team and the limited weight road section is less than or equal to the preset distance, and the weight limit road section has not completed the weight limit prediction.
  • condition further includes having permission to perform the weighted prediction.
  • control device 900 may correspond to a control center of a control method of a fleet according to an embodiment of the present invention, an RSE or a head vehicle in a fleet, and control the above and other operations of respective modules in the device 900.
  • the functions and/or functions are respectively implemented in order to implement the corresponding processes of the control center or the RSE in the respective methods described above, and are not described herein again for brevity.
  • processing unit may be implemented by a processor and the communication unit may be implemented by a transceiver.
  • the processing unit 910 is implemented by a processor and the communication unit 920 is implemented by a transceiver, the structure of the control device can be referred to FIG. 3, and details are not described herein again.
  • FIG. 10 is a schematic structural diagram of an in-vehicle terminal 1000 according to an embodiment of the present invention.
  • the in-vehicle terminal 1000 is applied to a head vehicle in a fleet.
  • the in-vehicle terminal 1000 includes a communication unit 1010 and a processing unit 1020.
  • the communication unit 1010 is for communicating with other devices.
  • the processing unit 1020 is configured to acquire segmentation information of the fleet, the segmentation information includes an identifier of the at least one sub-car, and a distance between each sub-car of the at least one sub-car and the previous following vehicle
  • Each sub-header is the first following vehicle at the team segment, and each sub-header controls the following vehicle in the segment where the sub-car is controlled.
  • the processing unit 1020 is further configured to segment the fleet according to the segmentation information, and after the segment is segmented, the head vehicle and the at least one sub-car control the remaining following vehicles in each segment of the fleet.
  • the head vehicle in the fleet can segment the fleet according to the segmentation information of the fleet, thereby enabling the fleet to safely pass the restricted section.
  • the processing unit 1020 is specifically configured to: according to the segmentation information, control the communication unit 1010 to send a notification message to the at least one sub-car, the notification message includes: indication information for indicating control of the at least one sub-car and The distance between each of the at least one sub-cars and the previous one following the vehicle.
  • processing unit 1020 is further configured to, according to the segmentation information, control the communication unit to send the identifier of the sub-car in the respective segment to the at least one following vehicle controlled by the at least one sub-car.
  • the communication unit 1010 is further configured to receive a merge request sent by at least one sub-car, and the merge request is used to request that the at least one sub-car is re-controlled by the head car and the following vehicle controlled by the at least one sub-car .
  • the processing unit 1020 is further configured to cancel control of at least one sub-car according to the merging request received by the communication unit 1010, and re-control the following controlled vehicles of at least one sub-car and at least one sub-car .
  • the communication unit 1010 is configured to receive a segmentation message sent by a roadside device or a control center, where the segmentation message includes segmentation information.
  • the processing unit 1020 is specifically configured to obtain the segmentation information from the segmentation message received by the communication unit 1010.
  • the communication unit 1010 is further configured to send the fleet information to the roadside device or the control center, where the fleet information includes the speed, location, and vehicle spacing of the fleet.
  • the fleet information also includes the driving route of the fleet, the weight and length of each vehicle in the fleet.
  • vehicle-mounted terminal 1000 may correspond to a head vehicle of a control method of a fleet according to an embodiment of the present invention, and the above-described and other operations and/or functions of respective modules in the vehicle-mounted terminal 1000 are respectively implemented for 4 to the corresponding processes in the respective methods in FIG. 6 and FIG. 8 , for brevity, no further details are provided herein.
  • the communication unit can be implemented by a transceiver, and the processing unit can be implemented by a processor.
  • the processing unit 1020 is implemented by a processor and the communication unit 1010 is implemented by a transceiver, the structure of the in-vehicle terminal can be referred to FIG. 3, and details are not described herein again.
  • FIG. 11 is a schematic structural diagram of an in-vehicle terminal 1100 according to another embodiment of the present invention.
  • the in-vehicle terminal 1100 is applied to the following vehicle in the fleet.
  • the in-vehicle terminal 1100 includes a communication unit 1110 and a processing unit 1120.
  • the communication unit 1110 is configured to receive a notification message sent by the first vehicle of the fleet, where the notification message includes indication information for indicating control of the sub-car and a distance between the sub-car and the previous following vehicle;
  • the processing unit 1120 is configured to, according to the notification message received by the communication unit 1110, cause the following vehicle to control the following vehicle in the segment in which the sub-car is located, and keep the vehicle at a distance from the previous one in the fleet.
  • the sub-car in the fleet can maintain a certain distance from the previous following vehicle and control the following vehicle in the segment in which it is located, thereby enabling the fleet to safely pass the restricted section.
  • the processing unit 1120 is further configured to determine whether to pass the limited road segment.
  • the communication unit 1110 is further configured to: when the processing unit 1120 determines that the restricted road section has passed, send a merge request to the head vehicle, where the merge request is used to request that the child car in which the vehicle terminal 1100 is located is re-controlled by the head vehicle and the child car Controlled follow-up vehicles.
  • the in-vehicle terminal 1100 may correspond to a sub-car of a control method of a fleet according to an embodiment of the present invention, and the above-described and other operations and/or functions of respective modules in the in-vehicle terminal 1100 are respectively implemented for The corresponding processes performed by the sub-cars in the respective methods in FIG. 5, FIG. 6, and FIG. 8 are not described herein again for brevity.
  • the communication unit may be implemented by a transceiver, and the processing unit may be implemented by a processor.
  • the processing unit 1120 is implemented by a processor and the communication unit 1110 is implemented by a transceiver, the structure of the vehicle-mounted terminal may be referred to FIG. No longer.
  • Another embodiment of the present invention further provides a vehicle networking system including the control device shown in FIG. 9 and a head vehicle loaded with the vehicle terminal shown in FIG. 10; at least one loaded with the vehicle terminal shown in FIG. a car; and at least one following the vehicle.
  • the vehicle networking system of the embodiment of the present invention enables the fleet to safely pass the restricted road section.
  • the disclosed systems, devices, and methods may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the functions may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a standalone product.
  • the technical solution of the various embodiments of the present invention, or the part contributing to the prior art or the part of the technical solution may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program code. .

Abstract

本申请提供了一种车队的控制方法、设备及车联网系统。该方法包括：确定车队是否能够安全通过限重路段；在车队无法安全通过限重路段时，确定车队的分段信息，分段信息包括至少一辆子头车的标识，以及每辆子头车与前一辆跟随车辆之间的距离，每辆子头车为车队分段处的第一辆跟随车辆，每辆子头车控制所在分段内的跟随车辆行驶。本发明实施例通过预判车队是否能够安全通过限重路段，如果判断车队无法安全通过限重路段，则确定车队的分段信息，使头车能够根据该分段信息对车队进行分段，从而使得车队能够安全通过限重路段。

Description

车队的控制方法、设备及车联网系统
本申请要求于2017年5月15日提交中国专利局、申请号为201710340834.0、发明名称为“车队的控制方法、设备及车联网系统”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
本申请涉及车联网领域，并且更具体地，涉及车队的控制方法、设备及车联网系统。
背景技术
车辆编队行驶(Vehicle Platooning)是车联网中的一个重要应用。如图1所示，Vehicle Platooning是指装载智能传感设备和短距离通信设备的车辆列队组成一排车队，头车(lead vehicle，LV)由驾驶员控制，利用V2V通信技术控制车队中头车后面的跟随车辆(following vehicle，FV)跟随头车的运动轨迹行驶，实现多车辆列队自动行驶。头车通过车对车(vehicle to vehicle，V2V)技术控制后面的跟随车辆行驶，车队中的跟随车辆可以实现几乎零反应时间同步头车的驾驶行为。
随着Vehicle Platooning应用的推广，会出现高负重的卡车近距离编队行驶的场景，本申请的发明人发现，当这些高负重的卡车车队通过限重路段(如桥梁等)时，很有可能超出限重路段的整体负重，对限重路段造成严重损伤，加快限重路段的损坏和老化，增加了限重路段的维护成本。极端情况下，还可能造成限重路段坍塌，从而导致重大的人员伤亡和经济损失，而现有技术并没有意识到这种风险，也没有相应的解决方案。
因此，如何保证车队安全通过限重路段成为需要解决的技术问题。
发明内容
本申请提供一种车队的控制方法、设备及车联网系统，能够保证车队安全通过限重路段。
第一方面，提供了一种车队的控制方法，所述方法由路边设备、控制中心或车队的头车执行，所述方法包括：
确定所述车队是否能够安全通过限重路段；
在所述车队无法安全通过所述限重路段时，确定所述车队的分段信息，所述分段信息包括至少一辆子头车的标识，以及每辆子头车与前一辆跟随车辆之间的距离，所述每辆子头车为所述车队分段处的第一辆跟随车辆，所述每辆子头车控制所在分段内的跟随车辆行驶。
本发明实施例通过预判车队是否能够安全通过限重路段，如果判断车队无法安全通过限重路段，确定车队的分段信息，使得头车能够根据该分段信息对车队进行分段，从而使得车队能够安全通过限重路段。
在一些可能的实现方式中，在所述确定所述车队是否能够安全通过限重路段之前，所 述方法还包括：
获取所述车队的车队信息，所述车队信息包括所述车队的行车路线、速度、位置、车辆间距、所述车队中各个车辆的重量和长度；
获取位于所述车队的预设距离内的其他车辆的信息，所述其他车辆的信息包括所述其他车辆的速度、位置和重量；
获取所述限重路段的信息，所述限重路段的信息包括所述限重路段的长度和载荷；
所述在所述车队无法安全通过所述限重路段时，确定所述车队的分段信息，包括：
根据所述车队信息、所述其他车辆的信息和所述限重路段的信息，确定所述分段信息。
本发明实施例根据以上信息确定车队的分段信息，能够使得车队根据该分段信息分段后安全通过限重路段。
需要说明的是，位于所述车队的预设距离内的其他车辆包括：与所述车队之间的距离小于或等于所述预设距离且不属于所述车队的车辆。
在一些可能的实现方式中，所述方法由控制中心、路边设备或车队的头车执行，所述获取位于所述车队的预设距离内的其他车辆的信息包括：接收位于所述车队的预设距离内的其他车辆的信息。
在一些可能的实现方式中，所述方法由控制中心或车队的头车执行，在所述确定所述车队是否能够安全通过限重路段之前，所述方法还包括：
接收所述路边设备发送的指示信息，所述指示信息用于指示车联网已完全覆盖道路上的车辆。
在一些可能的实现方式中，所述方法由路边设备执行，所述获取位于所述车队的预设距离内的其他车辆的信息包括：
采集位于所述车队的预设距离内的其他车辆的图像；
根据采集到的图像确定所述其他车辆的信息。
在一些可能的实现方式中，所述方法由路边设备执行，在所述确定所述车队是否能够安全通过限重路段之前，所述方法还包括：
确定车联网尚未完全覆盖道路上的车辆。
在一些可能的实现方式中，所述确定车联网尚未完全覆盖道路上的车辆包括：
采集周边的图像；
根据所述图像确定周边车辆的第一车辆信息，所述第一车辆信息包括以下至少一种信息：车辆的位置信息和车辆的车型信息；
接收周边车辆发送的第二车辆信息，所述第二车辆信息包括以下至少一种信息：车辆的位置信息和车辆的车型信息；
比较所述第一车辆信息和所述第二车辆信息；
如果所述第一车辆信息与所述第二车辆信息不同，则确定车联网尚未完全覆盖道路上的车辆。
在一些可能的实现方式中，所述方法由路边设备、控制中心或车队的头车执行，所述确定所述车队是否能够安全通过所述限重路段包括：
根据所述车队信息、所述其他车辆的信息和所述限重路段的信息确定是否能够安全通 过所述限重路段。
在一些可能的实现方式中，所述方法由路边设备、控制中心或车队的头车执行，在所述确定所述车队是否能够安全通过限重路段之前，所述方法还包括：
确定满足限重预测的条件。
在一些可能的实现方式中，所述条件包括所述车队与所述限重路段的距离小于或等于预设距离，且所述限重路段尚未完成限重预测。
在一些可能的实现方式中，所述条件还包括有权限执行限重预测。这样有利于避免RSE和控制中心重复执行限重预测造成的资源浪费。
在一些可能的实现方式中，所述方法由路边设备或控制中心执行，所述方法还包括：
向所述车队的头车发送所述分段信息。
第二方面，提供了一种车队的控制方法，所述方法可以由所述车队中的头车执行，所述方法包括：
所述车队中的头车获取所述车队的分段信息，所述分段信息包括至少一辆子头车的标识，以及所述至少一辆子头车中的每辆子头车与前一辆跟随车辆之间的距离，所述每辆子头车为所述车队分段处的第一辆跟随车辆，所述每辆子头车控制所在分段内的跟随车辆行驶；
所述头车根据所述分段信息对所述车队进行分段，所述车队分段后由所述头车和所述至少一辆子头车控制所述车队中各个分段内的剩余跟随车辆行驶。
本发明实施例中车队中的头车可以根据车队的分段信息对车队进行分段，从而使得车队能够安全通过限重路段。
在一些可能的实现方式中，所述头车根据所述分段信息对所述车队进行分段，包括：
所述头车根据所述分段信息向所述至少一辆子头车发送通知消息，所述通知消息包括：用于指示赋予所述至少一辆子头车控制权的指示信息和所述至少一辆子头车各自与前一辆跟随车辆之间的距离。可选地，该通知消息中还可以包括至少一辆子头车各自控制的跟随车辆的标识。
在一些可能的实现方式中，所述方法还包括：所述头车向所述至少一辆子头车控制的至少一辆跟随车辆发送各自所在分段内的子头车的标识。
在一些可能的实现方式中，所述方法还包括：
所述头车接收所述至少一辆子头车发送的合并请求，所述合并请求用于请求由所述头车重新控制所述至少一辆子头车以及所述至少一辆子头车各自控制的跟随车辆；
所述头车根据所述合并请求取消所述至少一辆子头车的控制权，重新控制所述至少一辆子头车以及所述至少一辆子头车各自控制的跟随车辆。
在一些可能的实现方式中，所述车队的头车获取所述车队的分段信息，包括：所述头车接收路边设备或控制中心发送的所述分段信息，或从存储器中获取所述分段信息。
具体地，若车队的分段信息是由路边设备或控制中心确定的，则头车接收路边设备或控制中心发送的所述分段信息；或车队的分段信息是由车队的头车确定的，则头车从自身的存储器中获取所述分段信息。
在一些可能的实现方式中，所述方法还包括：
所述头车向所述路边设备或所述控制中心发送车队信息，所述车队信息包括所述车队的速度、位置和车辆间距。
在一些可能的实现方式中，所述车队信息还包括所述车队的行车路线、所述车队中的各个车辆的重量和长度。
第三方面，提供了一种车队的控制方法，所述方法可以由所述车队中的跟随车辆执行，所述方法包括：
所述车队中的跟随车辆接收所述车队的头车发送的通知消息，所述通知消息包括用于指示赋予子头车控制权的指示信息以及子头车与前一辆跟随车辆之间的距离，所述子头车为所述车队分段处的第一辆跟随车辆；
所述跟随车辆根据所述通知消息作为子头车控制所述子头车所在分段内的跟随车辆行驶，并与所述车队中的前一辆跟随车辆保持所述距离。
本发明实施例中车队中的子头车可以与前一辆跟随车辆保持一定的距离，并控制其所在分段内的跟随车辆行驶，从而使得车队能够安全通过限重路段。
在一些可能的实现方式中，所述方法还包括：
所述跟随车辆确定是否通过限重路段；
所述跟随车辆在确定已通过限重路段的情况下，向所述头车发送合并请求，所述合并请求用于请求由所述头车重新控制所述子头车以及所述子头车控制的跟随车辆。
第四方面，提供了一种控制设备，所述控制设备用于实现第一方面或第一方面的上述任一种可能的实现方式所述的方法。
具体地，所述控制设备可以包括用于执行第一方面或第一方面的任一种可能的实现方式所述的方法的单元。
第五方面，提供了一种车载终端，所述车载终端用于实现第二方面或第二方面的上述任一种可能的实现方式所述的方法。
具体地，所述车载终端可以包括用于执行第二方面或第二方面的任一种可能的实现方式所述的方法的单元。
第六方面，提供了一种车载终端，所述车载终端用于实现第三方面或第三方面的上述任一种可能的实现方式所述的方法。
具体地，所述车载终端可以包括用于执行第三方面或第三方面的任一种可能的实现方式所述的方法的单元。
第七方面，提供了一种控制设备，包括处理器、收发器和存储器，所述处理器、所述收发器和所述存储器通过内部连接通路互相通信，所述存储器用于存储指令，所述处理器用于执行所述存储器存储的指令，并且对所述存储器中存储的指令的执行使得所述控制设备执行第一方面或第一方面的任一种可能的实现方式所述的方法。
第八方面，提供了一种车载终端，包括处理器、收发器和存储器，所述处理器、所述收发器和所述存储器通过内部连接通路互相通信，所述存储器用于存储指令，所述处理器用于执行所述存储器存储的指令，并且对所述存储器中存储的指令的执行使得所述车载终端执行第二方面或第二方面的任一种可能的实现方式所述的方法。
第九方面，提供了一种车载终端，包括处理器、收发器和存储器，所述处理器、所述 收发器和所述存储器通过内部连接通路互相通信，所述存储器用于存储指令，所述处理器用于执行所述存储器存储的指令，并且对所述存储器中存储的指令的执行使得所述车载终端执行第三方面或第三方面的任一种可能的实现方式所述的方法。
第十方面，提供了一种计算机可读存储介质，该计算机可读存储介质存储有程序，该程序使得控制设备执行上述第一方面或第一方面的任一种可能的实现方式所述的方法。
第十一方面，提供了一种计算机可读存储介质，该计算机可读存储介质存储有程序，该程序使得车载终端执行上述第二方面或第二方面的任一种可能的实现方式所述的方法。
第十二方面，提供了一种计算机可读存储介质，该计算机可读存储介质存储有程序，该程序使得车载终端执行上述第三方面或第三方面的任一种可能的实现方式所述的方法。
附图说明
图1是车辆编队行驶的示意图；
图2是根据本发明实施例的车辆编队行驶的示意图；
图3是根据本发明实施例的控制设备或车载终端的结构示意图；
图4是根据本发明实施例的车队的控制方法的示意性流程图；
图5是根据本发明实施例的判断车联网场景的方法的示意性流程图；
图6是根据本发明另一实施例的车队的控制方法的示意性流程图；
图7是根据本发明实施例的车队的分段信息的计算方法的示意图；
图8是根据本发明另一实施例的车队的控制方法的示意性流程图；
图9是根据本发明另一实施例的控制设备的结构示意图；
图10是根据本发明另一实施例的车载终端的结构示意图；
图11是根据本发明另一实施例的车载终端的结构示意图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
本发明实施例主要应用于智能交通系统(intelligent transportation systems，ITS)通信场景，涉及在不同平台上各种各样的ITS通信节点之间的通信，例如车、路边设备(roadside equipment，RSE)、手持设备以及控制中心等。ITS通信场景中采用的通信技术包括但不限于ITS-G5、红外(Infrared，IR)通信、专用短程通信技术(dedicated short range communications，DSRC)、无线保真(wireless fidelity，WiFi)、蜂窝(cellular)技术和因特网(Internet)技术等。车联网中的设备之间可以交互信息，利用信息综合分析决策，从而提高交通安全和交通效率，节省能源。Platooning是ITS系统中的一个应用实例。
本发明实施例中涉及的通信节点包括车、路边设备和控制中心，在platooning应用中车可以细分为头车、跟随车辆和其他车辆。另外，本发明实施例中还引入了子头车的概念。下面描述本发明实施例中涉及的专业术语。
车辆(vehicle)：装载传感器设备，可以采集车辆本身的速度、位置、配置和身份信息，也可以感知周围环境信息。可以支持通过近场通信与RSE和周围的车辆交互。支持长 距离通信连接控制中心，或通过RSE连接控制中心。
头车(lead vehicle，LV)：platooning中排在队列最前方的车辆，如图1所示。头车由驾驶员控制，可以通过V2V通信控制车队内的其他车辆行驶。
跟随车辆(following vehicle，FV)：platooning中除了头车之外的其他车辆，如图1所示。platooning编队行驶过程中跟随车辆受头车控制行驶。
其他车辆(other vehicle，OV)：车队以外的其他车辆，没有在车队内，如图1所示。
子头车(sub lead vehicle，SLV)：platooning车队分段后，分段处的第一辆车，如图2所示。子头车暂代头车的功能，控制该分段内的车辆行驶。
路边设备(roadside equipment，RSE)：可以通过V2V通信收集通信距离范围内的车的数据，也可以通过传感设备获取车辆信息，例如，可以通过图像采集设备获取周边的图像，根据图像分析获取车辆信息。路边设备还支持与控制中心进行信息交互，具有边缘计算和决策能力。
控制中心(control center)：收集车和RSE的数据进行分析，将决策的结果下发给车和RSE，控制车辆的行驶和RSE的处理。
为了保证车队能够安全通过限重路段，本发明实施例提出了一种车队的控制方法，提前判断车队是否能够安全通过限重路段，如果判断车队无法安全通过限重路段，则通知车队进行分段，使得车队分段后安全通过限重路段。
图3示出了与本发明实施例相关的设备300的部分结构的框图。图3示出设备300可以为本发明实施例中的控制设备或车载终端，其中该车载终端可以应用于车队中的头车或跟随车辆内。如图3所示，设备300可以包括处理器310、收发器320和存储器330。
处理器310包括一个或者一个以上处理核心，处理器310通过运行软件程序，从而执行各种功能应用以及数据处理。
收发器320可以用于与其它设备进行通信。
存储器330与处理器310相连，存储器330可用于存储软件程序。
存储器330可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(static random access memory，SRAM)，电可擦除可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)，可擦除可编程只读存储器(erasable programmable read only memory，EPROM)，可编程只读存储器(programmable read only memory，PROM)，只读存储器(read only memory image，ROM)，磁存储器，快闪存储器，磁盘或光盘。
本领域技术人员可以理解，图3中所示出的设备300的结构并不构成对控制设备或车载终端的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
图4是根据本发明实施例的车队的控制方法400的示意性流程图。如图4所示，方法400包括如下内容。
410、控制中心或RSE确定车队是否能够安全通过限重路段。
420、在车队无法安全通过限重路段时，控制中心或RSE确定车队的分段信息，分段信息包括至少一辆子头车的标识，以及至少一辆子头车中的每辆子头车与前一辆跟随车辆 之间的距离；每辆子头车为车队分段处的第一辆跟随车辆，每辆子头车控制所在分段内的跟随车辆行驶。
430、控制中心或RSE向头车发送该分段信息。
相应地，头车接收该分段信息。
需要说明的是，在车联网部署初期，车联网尚未完全覆盖道路上的车辆，装备通信能力的车辆的数量较少，即部分车辆不具备与控制中心或路边设备进行信息交互的能力。在这种情况下，可以由RSE执行图4所示方法中的410-430。
在车联网完全部署后，车联网完全覆盖道路上的车辆，道路上的所有车辆均具备与控制中心或路边设备进行信息交互的能力。在这种情况下，可以由控制中心或RSE执行图4所示方法中的410-430。
440、头车接收到控制中心或RSE发送的分段信息之后，根据该分段信息对车队进行分段。分段后由头车和至少一辆子头车控制车队中各个分段内的剩余跟随车辆行驶。
可选地，头车根据分段信息对车队进行分段，包括：头车向至少一辆子头车发送通知消息，该通知消息包括：用于指示赋予该至少一辆子头车控制权的指示信息以及至少一辆子头车各自与前一辆跟随车辆之间的距离。也就是说，该通知消息用于通知赋予至少一辆子头车控制权，并通知该至少一辆子头车各自与前一辆跟随车辆的距离。相应地，每辆子头车接收到该通知消息之后，根据该通知消息控制自身对应的跟随车辆行驶，并与前一辆跟随车辆保持相应的距离。
可选地，该通知消息中还可以包括至少一辆子头车各自控制的跟随车辆的标识。
每辆子头车在通过限重路段之后，可以向头车发送合并请求，请求由头车重新控制其所在分段内的车辆。头车接收到该合并请求之后，可以取消该子头车的控制权，并重新控制该子头车所在分段内的车辆行驶。需要说明的是，头车可以在收到一个子头车的合并请求之后，立即取消该子头车的控制权，并重新控制该子头车所在分段内的车辆行驶。这样，当车队分段通过限重路段之后重新整合，继续行驶。
本发明实施例通过预判车队是否能够安全通过限重路段，如果判断车队无法安全通过限重路段，则向车队的头车发送车队的分段信息，使头车根据该分段信息对车队进行分段，从而使得车队能够安全通过限重路段。
可选地，在410之前，方法400还可以包括：控制中心或RSE确定满足限重预测的条件。其中，该条件包括车队与限重路段的距离小于或等于预设距离，且限重路段尚未完成限重预测。也就是说，控制中心或RSE在确定车队与限重路段的距离小于或等于预设距离，且限重路段尚未完成限重预测的情况下，确定该车队是否能够安全通过限重路段。
需要说明的是，本发明实施例中，在车队距离限重路段小于等于预设距离时进行预测，是考虑到在极端情况下，限重路段的载荷已经等于或超过总体负重载荷，车队不能行驶上限重路段，需要使得车队在行驶到限重路段能够停下来。因此，可以根据车队的最大刹车距离确定该预设距离，例如，卡车时速百公里的刹车距离范围是100-1000米，可以设置最大刹车距离1000m作为预设距离。还可以综合考虑天气、路面、车速、车队的车型信息等设置更为合理的预设距离。
还需要说明的是，若限重路段尚未完成限重预测意味着还未判断车队是否能够安全通 过限重路段，若限重路段已完成限重预测则意味着已经判断了车队是否能够安全通过限重路段。在确定限重路段尚未完成限重预测的情况下再确定车队是否能够安全通过限重路段这样，能够避免重复执行限重路段的限重预测，从而避免了由于重复执行限重路段的限重预测造成的资源浪费。
可选地，该条件还可以包括有权限执行限重预测。例如，控制中心或RSE中存储有用于指示有权限执行限重预测的标识。如果RSE和控制中心重复执行限重预测将造成资源浪费，因此可以预先为RSE或控制中心配置权限，由具有权限的RSE或控制中心执行限重预测，将会避免RSE和控制中心重复执行限重预测造成的资源浪费。
可选地，方法400还可以包括：
控制中心或RSE获取车队的车队信息，车队信息包括车队的行车路线、速度、位置、车辆间距、车队中各个车辆的重量和长度；
控制中心或RSE获取位于车队的预设距离内的其他车辆的信息，其他车辆的信息包括其他车辆的速度、位置和重量；
控制中心或RSE获取限重路段的信息，限重路段的信息包括限重路段的长度和载荷。
可选地，车队信息还可以包括车队的标识、LV的标识、FV的标识。可选地，车队的信息还可以包括车队的加速度，其他车辆的信息也可以包括其他车辆的加速度。
应理解，本发明实施例中的车队中的头车可以向控制中心或RSE发送车队信息。也就是说，控制中心或RSE获取车队的车队信息包括：控制中心或RSE接收车队的头车发送的车队信息。需要说明的是，头车可以统一上报所有的车队信息，如车队的行车路线、速度、位置、车辆间距、车队中各个车辆的重量和长度等。头车还可以在初始阶段统一上报所有的车队信息，如车队的行车路线、速度、位置、车辆间距、车队中各个车辆的重量和长度等，如果在行驶过程中部分车队信息发生了变化，则头车还可以动态地上报发生变化的部分车队信息，例如车队的速度、位置、车辆间距等。
相应地，在410中，控制中心或RSE确定车队是否能够安全通过限重路段包括：控制中心或RSE根据车队信息、其他车辆的信息和限重路段的信息确定是否能够安全通过限重路段。在420中，控制中心或RSE确定车队的分段信息，包括：控制中心或RSE根据车队信息、其他车辆的信息和限重路段的信息，确定车队的分段信息。
也就是说，控制中心或RSE可以收集车队、其他车辆和限重路段的相关信息，并根据这些信息确定车队是否能够安全通过限重路段。在确定车队无法安全通过限重路段时，进一步根据这些信息确定车队的分段信息，以保证车队安全通过限重路段。
在一些实施例中，可以在控制中心或RSE中预先配置限重路段的信息，控制中心或RSE获取限重路段的信息包括：控制中心或RSE从存储器中获取限重路段的信息。
在一些实施例中，控制中心获取限重路段的信息还可以包括：控制中心接收路边设备发送的限重路段的信息。
在一些实施例中，控制中心获取位于车队的预设距离内的其他车辆的信息包括：控制中心接收位于车队的预设距离内的其他车辆的信息。在本发明实施例中，道路上的车辆均具备向控制中心上报各自的速度、位置和重量等信息的能力。
在一些实施例中，RSE获取位于车队的预设距离内的其他车辆的信息包括：RSE采集 位于车队的预设距离内的其他车辆的图像；RSE根据采集到的图像确定其他车辆的信息。RSE根据图像分析估算出的车辆信息，判断车队能否安全通过限重路段，如果RSE判断车队无法安全通过限重路段，则控制车队进行分段。
在一些实施例中，RSE可以对多次采集到的图像进行图像分析，根据图像分析结果确定其他车辆的速度、位置和重量。例如，RSE可以根据同一车辆在多次采集到的图像中的位置变化和该多次采集图像的时间间隔确定该车辆的速度。RSE还可以根据图像分析结果得到车辆的车型信息可以估计车辆的重量。或者，RSE还可以根据图像分析结果得到车辆的标识，然后根据预先存储的车辆的标识与重量的对应关系确定该车辆的重量，其中车辆的标识可以为车牌号，还可以为其他能够识别车辆的标识。
在一些实施例中，由RSE执行图4所示方法中的410-430，在410之前，方法400还可以包括：RSE确定车联网尚未完全覆盖道路上的车辆。相应地，RSE确定车联网尚未完全覆盖道路上的车辆包括：
RSE采集周边的图像；
RSE根据该图像确定第一车辆信息，第一车辆信息包括以下至少一种信息：车辆的位置信息和车辆的车型信息；
RSE接收周边车辆发送的第二车辆信息，第二车辆信息包括以下至少一种信息：车辆的位置信息和车辆的车型信息；
RSE比较第一车辆信息和第二车辆信息；
RSE如果第一车辆信息与第二车辆信息不同，则确定车联网尚未完全覆盖道路上的车辆。
需要说明的是，RSE根据采集到的图像确定的第一车辆信息包括该图像中的所有的车辆的位置信息和/或车型信息。还需要说明的是，第二车辆信息包括位于RSE的摄像头的拍摄范围内的所有车辆发送的车辆信息。
也就是说，车联网是否完全覆盖道路上的车辆可以由RSE对通过摄像头采集到的周围车辆的数据和周围车辆上报的数据进行匹配。例如，RSE将在某一时刻采集到的图像中的所有车辆的位置信息和/或车型信息与在该时刻接收到的车辆的位置信息和/或车型信息进行比较。如果二者完全匹配则认为车联网完全覆盖道路上的车辆，否则认为是车联网尚未完全覆盖道路上的车辆。应理解，为了保证预测的准确性，可以采集多个周期的车辆数据与周围车辆上报的数据进行多次比较，比如以10分钟为间隔进行比较。另外，考虑到车联网部署的周期很长，是个逐步演进的过程，还可以设置一个定时器，周期性地检测车联网是否完全覆盖，比如1个月检测一次。当车联网部署完全后不再需要再进行检测。
在一些实施例中，通过车辆、RSE和控制中心的信息交互，控制中心或RSE可以接收到车辆上报的车辆信息，并根据车辆上报的车辆信息预估车队是否能够安全通过限重路段，若判断车队无法安全通过限重路段，则控制车队进行分段。
若由控制中心执行图4所示方法中的410-430，则在410之前，方法400还可以包括：控制中心接收路边设备发送的指示信息，指示信息用于指示车联网已完全覆盖道路上的车辆。控制中心获知车联网已完全覆盖道路上的车辆之后，即可根据接收到的车辆信息、车队信息和限重路段的信息，确定车队是否能够安全通过限重路段。
下面结合图5详细描述确定车联网是否完全覆盖道路上的车辆的方法。图5所示方法包括如下内容。
501、RSE内进行限重预测的标识为真(true)。该标识为true时，由RSE负责进行车队通过限重路段的预测；该标识为假(false)时，RSE不负责车队通过限重路段的预判。
502、启动定时器。
503、车辆可以周期性地发布车辆信息，例如车辆信息包括车辆的位置、速度、重量、长度、配置等信息。
例如，车辆可以通过合作感知消息(Cooperative awareness messages，CAM)消息发布车辆信息，但本发明实施例对此并不限定，还可以通过其他类型的消息发布车辆信息。
504、RSE通过摄像头采集周边的图像。
505、定时器到时后，触发进行车联网是否完全覆盖道路上的车辆的判断。
506、对特定时间点采集到的图像进行分析，根据图像分析确定周边的车辆位置和车型信息，确定根据图像分析确定的车辆位置和车型信息与周边车辆上报的车辆位置和车型信息是否匹配，如果匹配，则执行507；反之，跳转到502等待下个检测周期。
可选地，还可以间隔预设时段(如10分钟)再次采集周边图像，并对图像分析确定的车辆信息与周围车辆上报的车辆信息再次进行比较，如果多次(比如5次)比较均完全匹配，则认为道路上的车辆均已联网，即车联网已完全覆盖道路上的车辆，执行507；如果多次比较未完全匹配，则认为不是所有车都已进行联网，跳转到502等待下个检测周期。
507、RSE将进行限重路段预测的标识设置为false。
508、RSE通知控制中心或车队中的头车进行限重预判。
车联网完全覆盖道路上的车辆后RSE不会再进行车联网情况的判断，后续将切换至由控制中心或头车执行限重预测。
509、控制中心或头车根据RSE的通知将限重预判标识设置为true。这意味着，在满足限重判断的条件时，由控制中心或头车进行限重预测，后续操作可以参考图6所示内容。
本发明实施例解决了车联网部署演进过程中的场景判断问题，同时通过在控制中心和RSE中设置进行限重路段预测的标识，为后续业务流程提供了判断的依据，不同的车联网覆盖场景可以根据该标识采用不同的解决方案。
下面结合图6和图7详细描述根据本发明实施例的车队的控制方法。图6和图7所示为图4所示方法的例子，图6所示例子中以控制中心为例描述，图7所示例子中以RSE为例描述。
图6是根据本发明另一实施例的车队的控制方法的示意性流程图。本发明实施例中假设车辆全部部署了V2V近场通信能力，LV可以周期上报车队信息到控制中心，控制中心判断车队的行驶路线中是否存在限重路段，在距离限重路段固定距离时，启动收集限重路段一定范围内的车辆信息。综合车队信息、该车队周围的车辆信息以及限重路段的信息综合预判车队是否能够顺利通过限重路段。其中，车队信息可以包括车队的速度、加速度、位置、车队各车长度、重量和间距，车队周围的车辆信息包括车队周围的车辆的速度、加速度、位置和重量，限重路段的信息包括限重路段的长度和载荷。如果控制中心预判车队不能安全通过限重路段，则控制中心计算车队的分段信息并发送给LV，LV按照控制中心发 送的分段信息对车队进行分段。SLV通过限重路面后，请求LV重新加入车队，释放控制权，LV整合车队，继续行驶。具体地，图6所示方法包括如下内容。
601、RSE周期性地发布道路信息，该道路信息包括限重路段的信息，该限重路段的信息包括限重路段的载荷和限重路段的长度。
需要说明的是，也可以不执行601，例如可以在控制中心中预先配置道路信息。
602、OV通过CAM消息周期性地发布车辆信息，例如车辆信息包括：车辆的位置、速度、重量和长度等。
603、LV通过CAM消息发送车队信息，例如车队信息包括车队标识、LV速度、位置、路线、车队内各FV的ID、长度、重量与前车间距。
604、控制中心根据RSE发布的道路信息维护本地动态地图(local dynamic map，LDM)。例如，控制中心可以结合图商数据和RSE发送的道路信息，按照数据时效性，维护本地动态地图。
605、控制中心在收到LV的消息之后，判断是否进行通过限重路段的预测。控制中心进行限重预测需要同时满足以下条件：a)车队的行驶路线中存在限重路段；b)控制中心有权限进行限重预测，例如控制中心上保存的进行限重路段预测的标识为true；c)当前限重路段尚未完成限重预测，例如控制中心保存的限重路段完成预测的标识为false；d)车队距离限重路段的距离小于或等于预设距离(如1000米)。如果判断满足进行限重预测的条件，则执行606；否则，继续执行601-604，即控制中心继续接收RSE、OV、LV上报的信息，并维护本地动态地图。
606、控制中心根据车队信息、车队周围的其他车辆的信息和限重路段的信息综合预测车队是否能够安全通过限重路段。可选地，控制中心在预测完之后还可以将限重路段完成预测的标识设置为true，这样能够避免控制中心重复执行限重预测。如果控制中心确定车队能够安全通过限重路段，则控制中心继续等待LV上报数据。若控制中心确定车队无法安全通过限重路段，则控制中心对车队进行分段，计算车队的分段位置和分段处与前一辆车的间距S。下面举例说明计算车队的分段位置和分段处车间距。
假设车队距离限重路段1000m且车队匀速行驶。首先，计算车队到达限重路段的时刻T1：T1＝当前时刻+1000/车队速度，并计算车队中的所有车辆到达限重路段的时刻T2：T2＝当前时刻+(1000+车队长度)/车队速度。在车队距离限重路段1000米时，根据周围的其他车辆与车队的相对位置和相对车速，按照时间间隔ΔT预测T1到T2时段内周围的其他车辆是否在预测范围内，以及周围的其他车辆在预测范围内的位置，从而依据在预测范围内的车辆的重量信息进行预判。其中，预测范围是指的当前道路上以限重路段的长度覆盖的一段范围，ΔT取决于当前预测范围内最前端车辆驶出预测范围的时长。对于每个时刻预测车队是否能够顺利通过限重路段。如果预测当前预测范围内的车辆的重量已达到限重路段的最大负荷，则在该预测范围内的所有车辆均未通过限重路段时(即在ΔT时段内)，后面的车辆不能驶上限重路段，这时可以扩充车队间间距，直至能够承载后车负重。同时依据扩充后的车队间间距，重新计算T2。预测计算完成后，给出车队通过限重路段的分段信息和分段出的间距。可选地，根据车队周围的其他车辆的车型信息，还可以预留一部分载重冗余。应理解，不同时刻位于预测范围内的车辆是动态变化的。还应理解，由于每个时 刻的预测范围内最前端车辆的速度以及在预测范围内的相对位置不同，因此ΔT也是动态变化的。
在T1时刻的第一预测范围指的是：道路上位于头车前方，且到头车的距离小于或等于限重路段长度的范围，如图7所示道路上落在A与B之间的范围；经过ΔT第一预测范围内最前端的车辆1驶出预测范围；在T1+ΔT时刻的预测范围指的是：以车辆2的车头为起点，且长度为限重路段长度的范围，如图7所示道路上落在C与D之间的范围；依次类推，每一辆车驶出当前预测范围之后，以位于该车后方且与该车距离最近的车为起点重新确定下一时刻的预测范围，重复n次，直到车队中所有的车辆到达限重路段，即T1+n×ΔT≥T2。以时段ΔT为间隔预测位于预测范围内的车队是否能够顺利通过限重路段。
需要说明的是，以上仅为车队的分段位置和分段处车间距的计算方法的一个例子，是为了帮助本领域技术人员更好地理解本发明实施例，而非要限制本发明实施例的范围。本领域技术人员根据所给出的以上例子可以进行各种等价的修改或变化，这样的修改或变化也落入本发明实施例的范围内。
如果确定车队无法安全通过限重路段，则执行607；如果确定车队能够安全通过限重路段，则继续执行601-605，即控制中心继续接收RSE、OV、LV上报的信息，维护本地动态地图，并判断是否需要进行通过限重路段的预测。
607、控制中心向LV下发分段信息，该分段信息包括分段处的SLV的标识(identification，ID)和与该SLV与前车的距离。
608、LV接收到分段信息之后，根据分段信息向SLV发送通知消息，通知赋予SLV控制权，并通知SLV与前面一辆FV的车距以及该SLV控制的FV的ID。第一通知消息包括：用于指示赋予SLV控制权的指示信息、SLV与前一辆FV之间的距离以及SLV各自控制的FV的标识。
当分段信息中包括多个SLV时，LV可以采用广播、组播或单播的方式向多个SLV发送第一通知消息，本发明实施例对此并不限定。
609、LV向SLV所在分段内的FV发送该SLV的ID。这样FV将在该SLV的控制下行驶。
FV接收到第二通知消息之后，刷新本地的SLV的记录，保存该SLV的ID。
610、SLV向自身所在分段内的FV发送请求消息，控制FV行驶。例如该请求消息用于调整车速至目标车速。该请求消息包括目标车速和SLV的ID。
611、FV接收到请求消息之后校验SLV的ID，如果校验不通过则FV丢弃该请求消息不处理。
612、如果校验SLV的ID通过，则FV按照SLV的请求消息行驶。例如，调整车速至目标车速。
613、FV车速调整完成后向SLV返回响应消息。
614、SLV通过限重路段。
615、SLV向LV发送合并请求，用于请求由LV重新控制该SLV所在分段内的车辆，该合并请求包括SLV的ID信息。
616、LV收到该合并请求后通知控制中心，刷新限重预测完成标识为false。
617、LV控制SLV归队。例如，LV向SLV发送合并响应，用于指示SLV释放控制权， 由LV进行控制。
618、LV控制FV归队。例如，LV通知FV在LV的控制下行驶。可选地，FV可以刷新本地SLV记录，删除记录的SLV的ID，接下来FV默认在LV的控制下行驶。可选地，FV还可以记录LV的ID，接下来FV在LV的控制下行驶。
619、FV调整完成后返回响应消息。
此时，LV将重新接管SLV和FV，车队正常行驶。
图8是根据本发明另一实施例的车队的控制方法的示意性流程图。本发明实施例对应RSE中进行限重预测的标识为true的场景，即车联网未完全部署的场景，此时RSE和控制中心无法接收到车队周围和限重路段附近所有车辆的信息。因此，本发明实施例中可以通过在限重路面两端的RSE上部署摄像头，通过图像处理对道路上车辆的重量信息进行预测。如果预测车队能够安全通过限重路段，则继续等待车队下次上报消息；如果预测车队无法安全通过限重路段时，RSE计算车队的分段信息并发送给LV，LV按照分段信息对车队进行分段，分段后由LV和SLV控制各自分段内跟随车辆行驶。SLV通过限重路段后，向LV请求重新加入车队，然后LV取消SLV的控制权，LV重新整合车队，继续行驶。具体地，图8所示方法包括如下内容。
801、LV通过CAM消息发布车队信息，该车队信息可以包括车队ID、LV速度、位置、路线、车队内各车的ID、长度、重量、与前车间距。
802、RSE接收到LV发送的车队信息后，判断是否进行通过限重路段的预测。RSE进行限重预测需要同时满足以下条件：a)RSE有权限进行限重预测，例如RSE上保存的进行限重路段预测的标识为true；b)当前限重路段尚未完成限重预测，例如RSE保存的当前限重路段完成预测的标识为false；c)车队距离限重路段的距离小于或等于预设距离(如1500米)。由于RSE进行预测时需要多个周期进行重复采样，因此需要预留采样周期的时间。如果判断需要进行通过限重路段内的预测，则继续执行801，即控制中心继续接收LV上报的信息，并判断是否需要进行通过限重路段的预测。
803、RSE对采集到的图像进行分析，估算车队周围的其他车辆的信息。然后，RSE根据车队信息、车队周围的其他车辆的信息和限重路段的信息综合预测车队是否能够安全通过限重路段。可选地，RSE在预测完之后还可以将限重路段完成预测的标识设置为true，这样能够避免RSE重复执行限重预测。如果RSE确定车队能够安全通过限重路段，则RSE继续等待下次车队上报数据；如果RSE确定车队无法安全通过限重路段，则RSE对车队进行分段，计算出车队分段位置以及分段处与前车的距离。
假设摄像头的采集范围为是500-2000米。在限重路段两端1000m处安装摄像头，在车队距离限重路段1500m的时候进行限重预测。通过摄像头在多个时间点采集图像，采用图像识别技术识别出与车队的相对位置变化不大的其他车辆(下文称为静态车辆)，根据这些静态车辆的车型以及载货情况预估重量，计算出静态车辆的重量信息。再根据车向和摄像头范围内的车流量预估与车队的相对位置变化较大的其他车辆(下文称为动态车辆)，并根据摄像头采集范围内的车型信息预估这些动态车辆的重量信息，综合静态车辆和动态车辆的信息判断车队是否能够安全通过限重路段，在不能安全通过限重路段的情况下预估车队的分段位置以及分段之间的距离。
如果确定车队无法安全通过限重路段，则执行804；如果确定车队能够安全通过限重路段，则继续执行801-802，即控制中心继续接收LV上报的信息，并判断是否需要进行通过限重路段的预测。
804、RSE向LV下发分段信息，包括分段处的SLV的ID以及各个SLV与前面一辆FV之间的距离。
805-816可以参考图6所示方法中的608-619，为避免重复，在此不再赘述。
需要说明的是，以上所示各个方法实施例中仅以控制中心或RSE执行限重预测为例进行描述，但本发明实施例并不限于此，还可以由车队中的头车执行限重预测。具体地，头车确定车队是否能够安全通过限重路段，并在车队无法安全通过限重路段时，确定车队的分段信息，并根据该分段信息对车队进行分段。头车确定车队是否能够安全通过限重路段采用的方法与上文所示各个实施例中的控制中心采用的方法类似，为避免重复，在此不再赘述。在一些实施例中，车队中的头车能够与预设距离内的其他车辆通信，头车可以从其他车辆接收该其他车辆的速度、位置和重量等信息。在另一些实施例中，车队中的头车还可以从控制中心或RSE接收其他车辆的速度、位置和重量等信息。头车还可以从控制中心或RSE接收限重路段的信息，或者也可以预先在头车中存储限重路段的信息。
还需要说明的是，在头车确定车队是否能够安全通过限重路段之前，头车还可以确定满足限重预测的条件。具体可以参考上文所示方法实施例中由RSE和控制中心执行的相关内容，这里不再赘述。
下面将结合图9至图11描述根据本发明实施例的控制设备和车载终端。
图9是根据本发明实施例的控制设备900的结构示意图。应理解，控制设备900可以为图4、图5、图6和图8所示方法中的控制中心或RSE。应理解，控制设备900还可以为车队中的头车。如图9所示，控制设备900包括处理单元910和通信单元920。
处理单元910用于确定车队是否能够安全通过限重路段；
处理单元910还用于，在车队无法安全通过限重路段时，确定车队的分段信息，分段信息包括至少一辆子头车的标识，以及每辆子头车与前一辆跟随车辆之间的距离，每辆子头车为车队分段处的第一辆跟随车辆，每辆子头车控制所在分段内的跟随车辆行驶。
通信单元920用于与其他设备通信。
本发明实施例的控制设备通过预判车队是否能够安全通过限重路段，如果判断车队无法安全通过限重路段，则向车队的头车发送车队的分段信息，使头车根据该分段信息对车队进行分段，从而使得车队能够安全通过限重路段。
可选地，处理单元910具体用于：
获取车队的车队信息，车队信息包括车队的行车路线、速度、位置、车辆间距、车队中各个车辆的重量和长度；
获取位于车队的预设距离内的其他车辆的信息，其他车辆的信息包括其他车辆的速度、位置和重量；
获取限重路段的信息，限重路段的信息包括限重路段的长度和载荷；
根据车队信息、其他车辆的信息和限重路段的信息，确定分段信息。
可选地，控制设备900为控制中心或应用于头车中的车载终端。相应地，通信单元920 还用于接收位于车队的预设距离内的其他车辆上报的消息。相应地，处理单元910具体用于从通信单元920接收到的消息中获取其他车辆的信息。
可选地，控制设备900为控制中心或应用于头车中的车载终端。相应地，通信单元920还用于在处理单元910确定车队是否能够安全通过限重路段之前，接收路边设备发送的指示信息，指示信息用于指示车联网已完全覆盖道路上的车辆。
可选地，控制设备900为RSE。相应地，设备900还可以包括图像采集单元930。图像采集单元930用于采集位于车队的预设距离内的其他车辆的图像；处理单元910具体用于，根据图像采集单元830采集到的图像确定其他车辆的信息。
可选地，控制设备900为RSE。相应地，处理单元910还用于，在确定车队是否能够安全通过限重路段之前，确定车联网尚未完全覆盖道路上的车辆。
可选地，图像采集单元930还用于，采集设备周边的图像；处理单元810还用于，根据图像确定周边车辆的第一车辆信息，第一车辆信息包括以下至少一种信息：车辆的位置信息和车辆的车型信息；通信单元920还用于，接收设备的周边车辆发送的第二车辆信息，第二车辆信息包括以下至少一种信息：车辆的位置信息和车辆的车型信息；处理单元910具体用于：比较处理单元910确定的第一车辆信息和通信单元920接收到的第二车辆信息，如果第一车辆信息与第二车辆信息不同，则确定车联网尚未完全覆盖道路上的车辆。
可选地，处理单元910具体用于，根据车队信息、其他车辆的信息和限重路段的信息确定是否能够安全通过限重路段。
可选地，控制设备900为控制中心或RSE。相应地，通信单元920用于向车队的头车发送处理单元910确定的分段信息。
可选地，处理单元910还用于，在确定车队是否能够安全通过限重路段之前，确定满足限重预测的条件。
可选地，条件包括车队与限重路段的距离小于或等于预设距离，且限重路段尚未完成限重预测。
可选地，条件还包括有权限执行限重预测。
应理解，根据本发明实施例的控制设备900可对应于根据本发明实施例的车队的控制方法的控制中心、RSE或车队中的头车，并且控制设备900中的各个模块的上述和其它操作和/或功能分别为了实现上文描述的各个方法中控制中心或RSE执行的相应流程，为了简洁，在此不再赘述。
应注意，处理单元可以由处理器实现，通信单元可以由收发器实现。当处理单元910由处理器实现，通信单元920由收发器实现时，控制设备的结构可以参考图3所示，在此不再赘述。
图10是根据本发明实施例的车载终端1000的结构示意图。车载终端1000应用于车队中的头车内。如图10所示，车载终端1000包括通信单元1010和处理单元1020。
通信单元1010用于与其他设备通信。
处理单元1020用于获取车队的的分段信息，分段信息包括至少一辆子头车的标识，以及至少一辆子头车中的每辆子头车与前一辆跟随车辆之间的距离，每辆子头车为车队分段处的第一辆跟随车辆，每辆子头车控制所在分段内的跟随车辆行驶。
处理单元1020还用于根据该分段信息对车队进行分段，车队分段后由头车和至少一辆子头车控制车队中各个分段内的剩余跟随车辆行驶。
本发明实施例中车队中的头车可以根据车队的分段信息对车队进行分段，从而使得车队能够安全通过限重路段。
可选地，处理单元1020具体用于，根据分段信息控制通信单元1010向至少一辆子头车发送通知消息，通知消息包括：用于指示赋予至少一辆子头车控制权的指示信息和至少一辆子头车各自与前一辆跟随车辆之间的距离。
可选地，处理单元1020还用于，根据分段信息控制通信单元向至少一辆子头车控制的至少一辆跟随车辆发送各自所在分段内的子头车的标识。
可选地，通信单元1010还用于，接收至少一辆子头车发送的合并请求，合并请求用于请求由头车重新控制至少一辆子头车以及至少一辆子头车各自控制的跟随车辆。相应地，处理单元1020还用于，根据通信单元1010接收到的合并请求取消至少一辆子头车的控制权，重新控制至少一辆子头车以及至少一辆子头车各自控制的跟随车辆。
可选地，通信单元1010用于接收路边设备或控制中心发送的分段消息，分段消息包括分段信息。相应地，处理单元1020具体用于，从通信单元1010接收到的分段消息中获取该分段信息。
可选地，通信单元1010还用于，向路边设备或控制中心发送车队信息，车队信息包括车队的速度、位置和车辆间距。
可选地，车队信息还包括车队的行车路线、车队中的各个车辆的重量和长度。
应理解，根据本发明实施例的车载终端1000可对应于根据本发明实施例的车队的控制方法的头车，并且车载终端1000中的各个模块的上述和其它操作和/或功能分别为了实现图4至图6以及图8中的各个方法中头车执行的相应流程，为了简洁，在此不再赘述。
应注意，通信单元可以由收发器实现，处理单元可以由处理器实现。当处理单元1020由处理器实现，通信单元1010由收发器实现时，车载终端的结构可以参考图3所示，在此不再赘述。
图11是根据本发明另一实施例的车载终端1100的结构示意图。车载终端1100应用于车队中的跟随车辆内。车载终端1100包括通信单元1110和处理单元1120。
通信单元1110用于接收车队的头车发送的通知消息，通知消息包括用于指示赋予子头车控制权的指示信息以及子头车与前一辆跟随车辆之间的距离；
处理单元1120，用于根据通信单元1110接收到的通知消息使该跟随车辆作为子头车控制其所在分段内的跟随车辆行驶，并使车辆与车队中的前一辆跟随车辆保持距离。
本发明实施例中车队中的子头车可以与前一辆跟随车辆保持一定的距离，并控制其所在分段内的跟随车辆行驶，从而使得车队能够安全通过限重路段。
可选地，处理单元1120还用于，判断是否通过限重路段。通信单元1110还用于，在处理单元1120确定已通过限重路段的情况下，向头车发送合并请求，合并请求用于请求由头车重新控制车载终端1100所在的子头车以及该子头车控制的跟随车辆。
应理解，根据本发明实施例的车载终端1100可对应于根据本发明实施例的车队的控制方法的子头车，并且车载终端1100中的各个模块的上述和其它操作和/或功能分别为了 实现图5、图6以及图8中的各个方法中子头车执行的相应流程，为了简洁，在此不再赘述。
应注意，通信单元可以由收发器实现，处理单元可以由处理器实现.当处理单元1120由处理器实现，通信单元1110由收发器实现时，车载终端的结构可以参考图3所示，在此不再赘述。
本发明另一实施例还提供了一种车联网系统，该车联网系统包括图9所示控制设备、装载有图10所示车载终端的头车；装载有图11所示车载终端的至少一辆子头车；以及，至少一辆跟随车辆。本发明实施例的车联网系统能够使得车队能够安全通过限重路段。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
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单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明各个实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，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)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应所述以权利要求的保护范围为准。

Claims (43)

  1. 一种车队的控制方法，其特征在于，包括：
    确定所述车队是否能够安全通过限重路段；
    在所述车队无法安全通过所述限重路段时，确定所述车队的分段信息，所述分段信息包括至少一辆子头车的标识，以及每辆子头车与前一辆跟随车辆之间的距离，所述每辆子头车为所述车队分段处的第一辆跟随车辆，所述每辆子头车控制所在分段内的跟随车辆行驶。
  2. 根据权利要求1所述的方法，其特征在于，在所述确定所述车队是否能够安全通过限重路段之前，所述方法还包括：
    获取所述车队的车队信息，所述车队信息包括所述车队的行车路线、速度、位置、车辆间距、所述车队中各个车辆的重量和长度；
    获取位于所述车队的预设距离内的其他车辆的信息，所述其他车辆的信息包括所述其他车辆的速度、位置和重量；
    获取所述限重路段的信息，所述限重路段的信息包括所述限重路段的长度和载荷；
    所述在所述车队无法安全通过所述限重路段时，确定所述车队的分段信息，包括：
    在所述车队无法安全通过所述限重路段时，根据所述车队信息、所述其他车辆的信息和所述限重路段的信息，确定所述分段信息。
  3. 根据权利要求2所述的方法，其特征在于，所述获取位于所述车队的预设距离内的其他车辆的信息包括：
    接收位于所述车队的预设距离内的其他车辆的信息。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，在所述确定所述车队是否能够安全通过限重路段之前，所述方法还包括：
    接收路边设备发送的指示信息，所述指示信息用于指示车联网已完全覆盖道路上的车辆。
  5. 根据权利要求2所述的方法，其特征在于，所述获取位于所述车队的预设距离内的其他车辆的信息包括：
    采集位于所述车队的预设距离内的其他车辆的图像；
    根据采集到的图像确定所述其他车辆的信息。
  6. 根据权利要求5所述的方法，其特征在于，在所述确定所述车队是否能够安全通过限重路段之前，所述方法还包括：
    确定车联网尚未完全覆盖道路上的车辆。
  7. 根据权利要求6所述的方法，其特征在于，所述确定车联网尚未完全覆盖道路上的车辆包括：
    采集周边的图像；
    根据所述图像确定周边车辆的第一车辆信息，所述第一车辆信息包括以下至少一种信息：车辆的位置信息和车辆的车型信息；
    接收周边车辆发送的第二车辆信息，所述第二车辆信息包括以下至少一种信息：车辆的位置信息和车辆的车型信息；
    比较所述第一车辆信息和所述第二车辆信息；
    如果所述第一车辆信息与所述第二车辆信息不同，则确定车联网尚未完全覆盖道路上的车辆。
  8. 根据权利要求2至7中任一项所述的方法，其特征在于，所述确定所述车队是否能够安全通过所述限重路段包括：
    根据所述车队信息、所述其他车辆的信息和所述限重路段的信息确定是否能够安全通过所述限重路段。
  9. 根据权利要求1至8中任一项所述的方法，其特征在于，在所述确定所述车队是否能够安全通过限重路段之前，所述方法还包括：
    确定满足限重预测的条件。
  10. 根据权利要求9所述的方法，其特征在于，所述条件包括所述车队与所述限重路段的距离小于或等于预设距离，且所述限重路段尚未完成限重预测。
  11. 根据权利要求10所述的方法，其特征在于，所述条件还包括有权限执行限重预测。
  12. 根据权利要求1至11中任一项所述的方法，其特征在于，还包括：
    向所述车队的头车发送所述分段信息。
  13. 一种车队的控制方法，其特征在于，包括：
    所述车队的头车获取所述车队的分段信息，所述分段信息包括至少一辆子头车的标识，以及所述至少一辆子头车中的每辆子头车与前一辆跟随车辆之间的距离，所述每辆子头车为所述车队分段处的第一辆跟随车辆，所述每辆子头车控制所在分段内的跟随车辆行驶；
    所述头车根据所述分段信息对所述车队进行分段，所述车队分段后由所述头车和所述至少一辆子头车控制所述车队中各个分段内的跟随车辆行驶。
  14. 根据权利要求13所述的方法，其特征在于，所述头车根据所述分段信息对所述车队进行分段，包括：
    所述头车根据所述分段信息向所述至少一辆子头车发送通知消息，所述通知消息包括：用于指示赋予所述至少一辆子头车控制权的指示信息和所述至少一辆子头车各自与前一辆跟随车辆之间的距离。
  15. 根据权利要求14所述的方法，其特征在于，还包括：
    所述头车向所述至少一辆子头车控制的至少一辆跟随车辆发送各自所在分段内的子头车的标识。
  16. 根据权利要求13至15中任一项所述的方法，其特征在于，还包括：
    所述头车接收所述至少一辆子头车发送的合并请求，所述合并请求用于请求由所述头车重新控制所述至少一辆子头车以及所述至少一辆子头车各自控制的跟随车辆；
    所述头车根据所述合并请求取消所述至少一辆子头车的控制权，重新控制所述至少一辆子头车以及所述至少一辆子头车各自控制的跟随车辆。
  17. 根据权利要求13至16中任一项所述的方法，其特征在于，所述车队的头车获取 所述车队的分段信息，包括：
    所述头车接收路边设备或控制中心发送的所述分段信息。
  18. 根据权利要求13至17中任一项所述的方法，其特征在于，还包括：
    所述头车向路边设备或控制中心发送车队信息，所述车队信息包括所述车队的速度、位置和车辆间距。
  19. 根据权利要求18所述的方法，其特征在于，所述车队信息还包括所述车队的行车路线、所述车队中的各个车辆的重量和长度。
  20. 一种车队的控制方法，其特征在于，包括：
    所述车队中的跟随车辆接收所述车队的头车发送的通知消息，所述通知消息包括用于指示赋予子头车控制权的指示信息以及子头车与前一辆跟随车辆之间的距离，所述子头车为所述车队分段处的第一辆跟随车辆；
    所述跟随车辆根据所述通知消息作为子头车控制所述子头车所在分段内的跟随车辆行驶，并与所述车队中的前一辆跟随车辆保持所述距离。
  21. 根据权利要求20所述的方法，其特征在于，还包括：
    所述跟随车辆确定是否通过限重路段；
    所述跟随车辆在确定已通过限重路段的情况下，向所述头车发送合并请求，所述合并请求用于请求由所述头车重新控制所述子头车以及所述子头车控制的跟随车辆。
  22. 一种控制设备，其特征在于，包括：
    处理单元，用于确定所述车队是否能够安全通过限重路段；
    所述处理单元还用于，在所述车队无法安全通过所述限重路段时，确定所述车队的分段信息，所述分段信息包括至少一辆子头车的标识，以及每辆子头车与前一辆跟随车辆之间的距离，所述每辆子头车为所述车队分段处的第一辆跟随车辆，所述每辆子头车控制所在分段内的跟随车辆行驶。
  23. 根据权利要求22所述的设备，其特征在于，所述处理单元具体用于：
    获取所述车队的车队信息，所述车队信息包括所述车队的行车路线、速度、位置、车辆间距、所述车队中各个车辆的重量和长度；
    获取位于所述车队的预设距离内的其他车辆的信息，所述其他车辆的信息包括所述其他车辆的速度、位置和重量；
    获取所述限重路段的信息，所述限重路段的信息包括所述限重路段的长度和载荷；
    在所述车队无法安全通过所述限重路段时，根据所述车队信息、所述其他车辆的信息和所述限重路段的信息，确定所述分段信息。
  24. 根据权利要求23所述的设备，其特征在于，还包括：
    第一通信单元，用于接收位于所述车队的预设距离内的其他车辆上报的消息；
    所述处理单元具体用于从所述第一通信单元接收到的消息中获取所述其他车辆的信息。
  25. 根据权利要求22至24中任一项所述的设备，其特征在于，所述第一通信单元还用于，在所述处理单元确定所述车队是否能够安全通过限重路段之前，接收路边设备发送的指示信息，所述指示信息用于指示车联网已完全覆盖道路上的车辆。
  26. 根据权利要求23所述的设备，其特征在于，还包括：
    图像采集单元，用于采集位于所述车队的预设距离内的其他车辆的图像；
    所述处理单元具体用于，根据所述图像采集单元采集到的图像确定所述其他车辆的信息。
  27. 根据权利要求26所述的设备，其特征在于，所述处理单元还用于，在确定所述车队是否能够安全通过限重路段之前，确定车联网尚未完全覆盖道路上的车辆。
  28. 根据权利要求27所述的设备，其特征在于，还包括：第二通信单元；
    所述图像采集单元还用于，采集所述设备周边的图像；
    所述处理单元还用于，根据所述图像确定周边车辆的第一车辆信息，所述第一车辆信息包括以下至少一种信息：车辆的位置信息和车辆的车型信息；
    所述第二通信单元，用于接收周边车辆发送的第二车辆信息，所述第二车辆信息包括以下至少一种信息：车辆的位置信息和车辆的车型信息；
    所述处理单元具体用于：比较所述处理单元确定的所述第一车辆信息和所述第二通信单元接收到的所述第二车辆信息，如果所述第一车辆信息与所述第二车辆信息不同，则确定车联网尚未完全覆盖道路上的车辆。
  29. 根据权利要求23至28中任一项所述的设备，其特征在于，所述处理单元具体用于，根据所述车队信息、所述其他车辆的信息和所述限重路段的信息确定是否能够安全通过所述限重路段。
  30. 根据权利要求22至29中任一项所述的设备，其特征在于，所述处理单元还用于，在确定所述车队是否能够安全通过限重路段之前，确定满足限重预测的条件。
  31. 根据权利要求30所述的设备，其特征在于，所述条件包括所述车队与所述限重路段的距离小于或等于预设距离，且所述限重路段尚未完成限重预测。
  32. 根据权利要求31所述的设备，其特征在于，所述条件还包括有权限执行限重预测。
  33. 根据权利要求22至32中任一项所述的设备，其特征在于，还包括：
    第三通信单元，用于向所述车队的头车发送所述处理单元确定的所述分段信息
  34. 一种车载终端，其特征在于，所述车载终端应用于车队中的头车内，所述车载终端包括：
    处理单元，用于获取所述车队的分段信息，所述分段信息包括至少一辆子头车的标识，以及所述至少一辆子头车中的每辆子头车与前一辆跟随车辆之间的距离，所述每辆子头车为所述车队分段处的第一辆跟随车辆，所述每辆子头车控制所在分段内的跟随车辆行驶；
    所述处理单元还用于，根据所述分段信息对所述车队进行分段，所述车队分段后由所述头车和所述至少一辆子头车控制所述车队中各个分段内的剩余跟随车辆行驶。
  35. 根据权利要求34所述的车载终端，其特征在于，还包括：第一通信单元；
    所述处理单元具体用于，根据所述分段信息控制所述第一通信单元向所述至少一辆子头车发送通知消息，所述通知消息包括：用于指示赋予所述至少一辆子头车控制权的指示信息和所述至少一辆子头车各自与前一辆跟随车辆之间的距离。
  36. 根据权利要求35所述的车载终端，其特征在于，
    所述处理单元还用于，根据所述分段信息控制所述第一通信单元向所述至少一辆子头车控制的至少一辆跟随车辆发送各自所在分段内的子头车的标识。
  37. 根据权利要求34至36中任一项所述的车载终端，其特征在于，还包括：第二通信单元，用于接收所述至少一辆子头车发送的合并请求，所述合并请求用于请求由所述头车重新控制所述至少一辆子头车以及所述至少一辆子头车各自控制的跟随车辆；
    所述处理单元还用于，根据所述第二通信单元接收到的所述合并请求取消所述至少一辆子头车的控制权，重新控制所述至少一辆子头车以及所述至少一辆子头车各自控制的跟随车辆。
  38. 根据权利要求34至37中任一项所述的车载终端，其特征在于，还包括：
    第三通信单元，用于接收路边设备或控制中心发送的分段消息，所述分段消息包括所述分段信息；
    所述处理单元具体用于，从所述第三通信单元接收到的所述分段消息中获取所述分段信息。
  39. 根据权利要求34至38中任一项所述的车载终端，其特征在于，还包括：
    第四通信单元，用于向路边设备或控制中心发送车队信息，所述车队信息包括所述车队的速度、位置和车辆间距。
  40. 根据权利要求39所述的设备，其特征在于，所述车队信息还包括所述车队的行车路线、所述车队中的各个车辆的重量和长度。
  41. 一种车载终端，其特征在于，所述车载终端应用于车队中的跟随车辆内，所述车载终端包括：
    通信单元，用于接收所述车队的头车发送的通知消息，所述通知消息包括用于指示赋予子头车控制权的指示信息以及子头车与前一辆跟随车辆之间的距离，所述子头车为所述车队分段处的第一辆跟随车辆；
    处理单元，用于根据所述通信单元接收到的所述通知消息使所述跟随车辆作为子头车控制所述子头车所在分段内的跟随车辆行驶，并使所述子头车与所述车队中的前一辆跟随车辆保持所述距离。
  42. 根据权利要求41所述的车载终端，其特征在于，
    所述处理单元还用于，确定是否通过限重路段；
    所述通信单元还用于，在所述处理单元确定已通过限重路段的情况下，向所述头车发送合并请求，所述合并请求用于请求由所述头车重新控制所述子头车以及所述子头车控制的跟随车辆。
  43. 一种车联网系统，其特征在于，包括：
    如权利要求22至33中任一项所述的控制设备；
    头车，所述头车装载有如权利要求34至40中任一项所述的车载终端；
    至少一辆子头车，所述至少一辆子头车中的每辆子头车装载有如权利要求41或42所述的车载终端；以及，
    至少一辆跟随车辆。
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