WO2020249121A1 - 一种车辆跟驰方法及装置 - Google Patents

一种车辆跟驰方法及装置 Download PDF

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Publication number
WO2020249121A1
WO2020249121A1 PCT/CN2020/096008 CN2020096008W WO2020249121A1 WO 2020249121 A1 WO2020249121 A1 WO 2020249121A1 CN 2020096008 W CN2020096008 W CN 2020096008W WO 2020249121 A1 WO2020249121 A1 WO 2020249121A1
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vehicle
following
car
information
server
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PCT/CN2020/096008
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English (en)
French (fr)
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刘艳
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华为技术有限公司
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Publication of WO2020249121A1 publication Critical patent/WO2020249121A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • This application relates to the field of intelligent driving technology for the Internet of Vehicles, and in particular to a method and device for car following of a vehicle.
  • the car-following model uses dynamic methods to study the corresponding behavior of the car-following car caused by the change of the leading car's motion state.
  • Car-following vehicles must meet two conditions: one is that the speed of the following vehicle cannot be greater than the speed of the preceding vehicle for a long time, and can only swing near the speed of the preceding vehicle, otherwise a collision will occur. This is the speed condition; Keep a safe distance, that is, after the front car brakes, there is enough distance between the two workshops, so that there is enough time for the driver of the following car to react and take braking measures.
  • ACC adaptive cruise control
  • Vehicle longitudinal control technology that maintains a stable distance between vehicles.
  • ACC technology has the following shortcomings: When the vehicle's on-board equipment detects the driving state such as the displacement and speed of the preceding vehicle, there is a certain delay in the internal processing of the on-board equipment. If the delay is too large, it is easy to induce unstable traffic flow; The detected displacement and speed information are processed by differential processing to obtain the corresponding acceleration information, which will amplify the detection error of the on-board equipment, which is not conducive to the stability of the ACC vehicle.
  • the acceleration information guides the effective prediction of the vehicle's next driving state, which is to ensure Important information that can be consistent with the driving state of the preceding vehicle.
  • FIG. 2 shows the schematic diagram of the cooperative adaptive cruise control (CACC) structure.
  • CACC cooperative adaptive cruise control
  • CACC technology has the following shortcomings: DSRC is not safe enough; CACC system lacks multi-manufacturer interoperability and coordination; CACC focuses on the microscopic driving behavior of the car following and the preceding vehicle, and lacks control of the traffic conditions ahead of the lane/vehicle, such as traffic lights/congestion It is not conducive to the car-following vehicle to switch the driving mode in time and accurately; the CACC system requires a high level of the car’s upper system, and requires various perception matching and computing capabilities to calculate the appropriate vehicle speed in real time.
  • This application provides a vehicle following method and device to provide comprehensive and accurate vehicle following information.
  • a car-following method includes: receiving slow driving warning information from a server; and sending a car-following start request message to the server, wherein the car following start request message includes vehicle driving Path; acquiring car-following information, where the car-following information includes the car-following speed range and the vehicle distance range, and the car-following information is determined based on one or more of the following information: the speed of the car being followed, Location, road condition information on the driving path of the vehicle; and adjusting the speed of the vehicle and the distance from the vehicle being followed according to the vehicle following information.
  • the car following information is determined based on the speed, location, and road condition information of the vehicle being followed, which can provide comprehensive and accurate car following information for vehicle following.
  • the method further includes: reporting its own vehicle speed information and location information to the server.
  • all vehicles including car-following vehicles
  • the acquiring vehicle following information includes: receiving one or more of the following information from the server: the speed and location of the vehicle being followed, and road condition information on the vehicle's travel path; and One or more of the speed and position of the vehicle being followed, and road condition information on the travel path of the vehicle determine the vehicle following information.
  • the car-following vehicle may receive one or more of the speed and location of the car-following vehicle sent by the server, and road condition information on the driving path of the vehicle, and determine itself according to the one or more information above Car following information.
  • the acquiring the car following information includes: receiving the car following information from the server.
  • the server can determine the car following information, and the car following vehicle receives the car following information sent by the server.
  • the method further includes: receiving updated road condition information on the driving path of the vehicle and/or driving state information of the followed vehicle from the server.
  • the server collects real-time road condition information on the driving path of the vehicle and/or driving state information of the followed vehicle, and the following vehicle receives the real-time information collected by the server from the server to update the vehicle following information.
  • the method further includes: not receiving updated driving state information of the followed vehicle within a set time period, and sending a car following cancel message to the server.
  • the driving status information of the followed vehicle will change in real time, and the server needs to update the driving status information of the followed vehicle in time. If the following vehicle does not receive the updated driving status of the followed vehicle within the set time Status information, it can be considered that no car following is required, and a car following cancel message is sent to the server.
  • the method further includes: receiving slow driving warning release information from the server; and sending a car following shutdown message to the server.
  • the car-following vehicle receives the slow driving warning release message sent by the server, it can determine that it is no longer necessary to follow the car and send the car-following off message to the server.
  • the method further includes: determining to change the driving path of the vehicle; and sending a car following cancellation message to the server.
  • the car-following vehicle determines to change the driving path of the vehicle, it will no longer follow the car in front and send a car-following cancellation message to the server.
  • a car-following method includes: sending slow driving warning information; and receiving a car-following start request message from an Internet of Vehicles communication device, wherein the car following start request message includes a vehicle travel path And sending one or more of the following information to the vehicle networking communication device: the speed and location of the vehicle being followed, the road condition information on the path of the vehicle, or according to the speed, location, and location of the vehicle being followed One or more pieces of information in the road condition information on the vehicle travel path determine vehicle following information, and send the vehicle following information to the vehicle networking communication device, wherein the vehicle following information includes the range of car following speed And the vehicle distance range.
  • the method further includes: receiving vehicle speed information and location information from one or more vehicles.
  • the method further includes: sending car-following warning information to the car-following vehicle, where the car-following warning information is used to remind the car-following vehicle to start car following.
  • the method further includes: receiving car-following prompt information from the car-following vehicle, where the car-following prompt information is used to prompt that the car-following vehicle does not have the condition to be followed;
  • the vehicle networking communication device sends the car-following prompt information; and the server receives a car-following closing message from the vehicle networking communication device.
  • the method further includes: receiving updated driving status information from the following vehicle; and sending updated road condition information on the vehicle travel path to the following vehicle, and/ Or the driving state information of the followed vehicle.
  • the method further includes: sending slow driving warning release information to the car networking communication device; and receiving a car following shutdown message from the car networking communication device.
  • the method further includes: when the vehicle networking communication device changes the driving path of the vehicle, receiving a car following cancellation message from the vehicle networking communication device.
  • a vehicle networking communication device is provided, and the vehicle networking communication device is used to implement the behavior function of the car following vehicle in the above method.
  • the function can be realized by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above-mentioned functions.
  • a server which is used to implement the behavior function of the server in the above method.
  • the function can be realized by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above-mentioned functions.
  • a vehicle networking communication device including a processor, a transceiver, and a memory, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor executes the program instructions , So that the Internet of Vehicles communication device performs the following operations: using the transceiver to receive slow driving warning information from the server; using the transceiver to send a car-following start request message to the server, wherein the car-following start The request message includes the vehicle travel path to obtain car-following information, where the car-following information includes the car-following speed range and the vehicle distance range, and the car-following information is determined based on one or more of the following information: The speed and position of the vehicle, and road condition information on the path of the vehicle; and according to the vehicle following information, adjusting its own vehicle speed and the distance from the vehicle being followed.
  • the processor is further configured to perform the following operations: use the transceiver to report its own vehicle speed information and location information to the server.
  • the processor executes the operation of acquiring the vehicle following information, including: using the transceiver to receive one or more of the following information from the server: the speed, position, and position of the vehicle being followed. Road condition information on the vehicle traveling path; and determining the vehicle following information based on one or more of the speed and location of the vehicle being followed, and road condition information on the vehicle traveling path.
  • the processor executing the operation of acquiring the car following information includes: receiving the car following information from the server by the transceiver.
  • the processor is further configured to perform the following operations: use the transceiver to receive updated road condition information on the vehicle travel path from the server, and/or information of the followed vehicle Driving status information.
  • the processor is further configured to perform the following operations: the updated driving state information of the followed vehicle is not received within a set time period, and the transceiver is used to send the following operation to the server. Chi canceled the message.
  • the processor is further configured to perform the following operations: use the transceiver to receive slow driving warning release information from the server; and use the transceiver to send a car following off message to the server.
  • the processor is further configured to perform the following operations: determining to change the driving path of the vehicle; and using the transceiver to send a car following cancellation message to the server.
  • a server including a processor, a transceiver, and a memory, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor executes the program instructions to enable
  • the server performs the following operations: using the transceiver to send slow driving warning information; using the transceiver to receive a car-following start request message from a car-following vehicle, wherein the car following start request message includes the vehicle travel path; and Use the transceiver to send one or more of the following information to the car-following vehicle: the speed and location of the following vehicle, and road condition information on the path of the vehicle, or according to the speed and location of the following vehicle One or more information in the road condition information on the driving path of the vehicle determines the car following information, and the transceiver is used to send the car following information to the car following vehicle, wherein the vehicle following information Including car following speed range and vehicle distance range.
  • the processor is further configured to perform the following operations: use the transceiver to receive vehicle speed information and location information from one or more vehicles.
  • the processor is further configured to perform the following operations: use the transceiver to send car-following warning information to the car-following vehicle, and the car-following warning information is used to remind the car-following vehicle to start car following .
  • the processor is further configured to perform the following operations: use the transceiver to receive car-following prompt information from the car-following vehicle, where the car-following prompt information is used to prompt the car-following The vehicle does not have the condition to be car-following; the transceiver is used to send the car-following prompt message to the car-following vehicle; and the transceiver is used to receive the car-following closing message from the car following vehicle.
  • the processor is further configured to perform the following operations: use the transceiver to receive updated driving state information from the followed vehicle; and use the transceiver to send the following vehicle to the followed vehicle Send updated road condition information on the travel path of the vehicle and/or travel state information of the followed vehicle.
  • the processor is further configured to perform the following operations: use the transceiver to send slow driving warning release information to the car-following vehicle; and use the transceiver to receive follow-up information from the car-following vehicle. Chi closed the news.
  • the processor is further configured to perform the following operation: when the car following vehicle changes the vehicle travel path, use the transceiver to receive a car following cancel message from the car following vehicle.
  • a computer-readable storage medium is provided, and instructions are stored in the computer-readable storage medium, which when run on a computer, cause the computer to execute the methods described in the above aspects.
  • a computer program product containing instructions, which when run on a computer, causes the computer to execute the methods described in the foregoing aspects.
  • Figure 1 is a schematic diagram of the structure of adaptive cruise
  • Figure 2 is a schematic structural diagram of cooperative adaptive cruise control
  • Figure 3 is a schematic diagram of an intelligent transportation system based on the V2X architecture
  • Fig. 4 is a system architecture diagram for car following provided by an embodiment of the application.
  • FIG. 5 is a schematic flowchart of a method for car following provided by an embodiment of this application.
  • FIG. 6 is a schematic flowchart of another vehicle following method according to an embodiment of the application.
  • FIG. 7 is a schematic flowchart of another vehicle following method according to an embodiment of the application.
  • FIG. 8 is a schematic flowchart of another vehicle following method according to an embodiment of the application.
  • FIG. 9 is a schematic structural diagram of a vehicle networking communication device provided by an embodiment of the application.
  • FIG. 10 is a schematic structural diagram of a server provided by an embodiment of this application.
  • FIG. 11 is a schematic structural diagram of another vehicle networking communication device/server provided by an embodiment of the application.
  • Internet of Vehicles A huge interactive network composed of vehicle location, speed and route information. By equipped with advanced on-board sensors, controllers and actuators, the vehicle completes the collection of its own environment and status information; through wireless communication and network technology, it realizes intelligent information exchange and sharing between the vehicle and X (people, vehicles, roads, backgrounds, etc.) ; It has functions such as complex environment perception, intelligent decision-making, coordinated control and execution to achieve "zero casualties, zero congestion", and ultimately achieve the goal of safety, efficiency and energy saving.
  • Roadside unit Installed on the roadside, using dedicated short-range communications (DSRC) technology or long-term evolution vehicle networking (LTE-V), and
  • the onboard unit (OBU) or the information box (telematics box, T-Box) communicates to realize vehicle identification, electronic deduction, and vehicle driving status information reporting.
  • DSRC dedicated short-range communications
  • LTE-V long-term evolution vehicle networking
  • OBU onboard unit
  • T-Box Telematics box
  • a group of cars driving on the road can be divided into two operating states: one is a low-density situation, the distance between cars is large, and the speed of any car in the fleet is not affected by the speed of the preceding vehicle. Restriction, the driver can use the free speed (called the free driving state); one is the high-density situation, the distance between the vehicles is not large, the speed of any vehicle in the fleet is restricted by the speed of the preceding vehicle, and the driver can only press
  • the information provided by the preceding vehicle adopts the corresponding vehicle speed (called the non-free driving state).
  • Car following (CF) behavior is the most basic microscopic driving behavior, which describes when overtaking is not possible on a one-way street where overtaking is restricted or when there is congestion due to high car density (that is, the non-free exercise state described in Part 1) Bottom), the interaction between two adjacent vehicles in the driving fleet.
  • the car-following model uses a dynamic method to study the corresponding behavior of the following vehicle (FV) caused by the change in the motion state of the leading vehicle (LV). It has the following characteristics:
  • reaction time Assuming that the reaction time is T, then the action of the preceding car at time t, after T time, at (t+T), the following car can make the corresponding action. This is latency.
  • Transitivity It can be seen from the restriction that the operating state of the first vehicle restricts the operating state of the second vehicle, the second vehicle restricts the third vehicle..., the nth vehicle restricts the n+1th vehicle, once The first car changes its running state, and its effect will be transmitted backwards one after another. Until the last car in the team. This is transitivity. It can be seen from the delay that the transmission of the running state is delayed. This delayed backward information is not smooth and continuous, but is discontinuous and continuous like a pulse. Constraint, delay and transitivity are the main car-following characteristics of the fleet in the non-free driving state.
  • Speed judgment It is generally believed that car drivers do not need to look at the speedometer, but can judge the speed of the car based only on the movement of the surrounding scenery/body feelings and the sound of the wind heard. In fact, this judgment is not accurate, with obvious subjectivity and Tendency, especially when driving short distances at high speeds.
  • the visual perception factors that cause the driver to produce the illusion of speed mainly have two points, namely the influence of continuous contrast perception and the influence of adaptability. When a person is continuously subjected to a certain stimulus with a difference, the sense of difference produced is often greater than the actual objective physical quantity of the difference itself. This is the effect of continuous contrast.
  • LTE-V defines two modes, PC5 and Uu.
  • PC5 interface Based on the device-to-device (D2D) proximity communication service (ProSe) in the LTE standard.
  • D2D device-to-device
  • ProSe proximity communication service
  • the PC5 interface developed by the latest standard can realize 250Kph high-speed and high-density communication. In an environment without LTE network coverage, neighboring devices can communicate directly.
  • Network communication Use LTE broadcast to transfer information to another node through V2X server.
  • the Internet of Vehicles mainly includes four scenarios: vehicle-to-vehicle (V2V), vehicle-to-pedestrian (V2P), V2N, and V2I.
  • Figure 3 shows a schematic diagram of an intelligent transportation system based on the V2X architecture, which illustrates the communication connections between the OBU, personally held equipment, RSU, cellular network, and server.
  • the figure illustrates two OBUs, namely, the OBU corresponding to user equipment (UE) B and the OBU corresponding to UE A, and UE A and UE B are two UEs installed on the vehicle.
  • Both UE A and UE B have a vehicle networking application (V2X application) installed.
  • V2X application vehicle networking application
  • the personal device is UE C, and the Internet of Vehicles application is installed on the UE C.
  • the RSU includes UE D and the Internet of Vehicles application installed on UE D, where UE D is a UE installed on a station.
  • OBU, PSU, and RSU respectively communicate with the cellular network.
  • the cellular network includes multiple network elements, such as the evolved UMTS terrestrial radio access network (E-UTRAN) network element, the mobility management entity (MME), and the service gateway ( serving gateway (SGW), public data network gateway (public data network gateway, PGW), home subscriber server (home subscriber server, HSS), and also includes vehicle networking control function (V2X control function) entities.
  • the vehicle networking control function entity is used to control the UE in the OBU, PSU, and RSU.
  • the vehicle networking control function entity is also connected to the vehicle networking server.
  • the car networking server includes a car networking support function (V2X support function) entity, a conflict management and control (traffic management & control) functional entity, and a car networking application server (V2X application server).
  • the car networking control function entity receives the control instructions of each functional entity of the car networking server, and controls the UE in the OBU, PSU, and RSU.
  • FIG. 4 shows a system architecture diagram for car following provided by an embodiment of the application.
  • the figure includes 101 car networking communication device and 102 car networking server.
  • a car networking terminal referred to as a terminal, which can be a vehicle with communication function, non-motorized vehicle, RSU, portable device, wearable device, mobile phone (or "cellular" phone), portable, pocket-sized, and handheld terminal Etc., this application does not limit the type of terminal.
  • a vehicle is a typical Internet of Vehicles terminal.
  • a vehicle is taken as an example for description.
  • the embodiments of the present application using a vehicle as an example can also be applied to other types of terminals.
  • the Internet of Vehicles terminal can specifically execute the Internet of Vehicles related business processes through its internal functional units or devices (ie, Internet of Vehicles communication devices).
  • the Internet of Vehicles communication device can be any of the following examples: telematics box , T-Box), domain controller (domian controller, DC), multi-domain controller (multi-domian controller, MDC), on-board unit (OBU), car networking chip, etc.
  • a car networking server referred to as a server, which may be a car networking platform or a car networking server that manages car networking terminals.
  • the specific deployment form of the Internet of Vehicles server is not limited in this application.
  • the specific deployment form may be cloud deployment or independent computer equipment.
  • FIG. 5 is a schematic flowchart of a method for car following provided by an embodiment of the application. Illustratively, the method may include the following steps:
  • the server sends a slow driving warning information.
  • the car following vehicle receives the slow-moving warning information.
  • the actions performed by the car-following vehicle networking terminal refer to the actions performed by the car networking communication device corresponding to the car-following vehicle.
  • the server in this embodiment may be a server in a monitoring center, and the server in the monitoring center may remotely obtain the vehicle and road conditions on the current route through a camera or vehicle report; the server may also be a smart base station on the roadside, which is installed on the server Sensors and short-range communication with each vehicle interact to obtain vehicle and road conditions on the current route.
  • the traffic condition refers to the flow of traffic, etc.
  • the road condition refers to whether there are obstacles in the middle of the road, whether an accident has occurred, whether the section is under construction, whether it is currently busy, and the route is a one-way street.
  • the server can judge that the current route is traveling slowly according to the vehicle driving status of each vehicle on the current route. If the vehicle following conditions are met, a slow-driving warning message is generated, and the slow-driving warning message is sent to the affected vehicles on the route.
  • the slow driving warning information may include the slow cause value, the range of the road section, the duration, and the like. Among them, the range and duration of the road section are generally calculated by the server in combination with the high-precision map and the speed of vehicles on the road section.
  • the car following vehicle sends a car following start request message to the aforementioned server.
  • the server receives the car following start request message.
  • the vehicle After the vehicle receives the slow-moving warning information sent by the server, it determines whether to start the vehicle following according to the vehicle's own capabilities. It is determined that if the car following is to be started, a car following start request message is sent to the server. Wherein, the car following start request message includes the vehicle travel path.
  • the vehicle travel path refers to the path that the vehicle needs to follow.
  • the server sends one or more of the following information to the car-following vehicle: the speed and location of the car-following vehicle, and road condition information on the driving path of the vehicle, and the car-following vehicle obtains the aforementioned one or more information sent by the server in S103, According to one or more of the above information, determine the vehicle following information. or
  • the server determines the vehicle following information according to one or more of the speed and location of the following vehicle, and the road condition information on the vehicle's travel path; S103", the server sends all information to the following vehicle For the car following information, the car following vehicle obtains the car following information sent by the server in S103".
  • the car following vehicle obtains car following information.
  • the car-following vehicle After the car-following vehicle sends a car-following start request message to the server, it obtains the car-following information for the vehicle to follow. From the previous description, it can be seen that in car following, the speed of the preceding car restricts the speed of the following car and the safety distance between the two cars. Therefore, the car following information includes the car following speed range and the vehicle distance range. Specifically, in one implementation, as in step S103, the server sends one or more of the following information to the car-following vehicle: the speed, location, and road condition information of the vehicle being followed, and the car-following vehicle according to one or more of the above This information determines the car following information.
  • step S103' the server determines the car following information according to one or more of the speed and location of the following vehicle, and the road condition information on the driving path of the vehicle; and S103", the server sends The car following vehicle sends the car following information, and the car following vehicle obtains the car following information sent by the server in S103". It can be seen that the determination of the car-following information not only considers the speed and location of the car-following vehicle, but also takes into account the road condition information on the vehicle's travel path, so as to provide comprehensive and accurate guidance to the car-following vehicle to safely and efficiently Car follow the car.
  • the car-following vehicle adjusts its own speed and the distance from the vehicle being followed according to the above-mentioned car-following information.
  • the car-following vehicle After the car-following vehicle obtains the car-following information, it adjusts its own speed and the distance to the car being followed according to the car-following information, that is, according to the car-following speed range and the vehicle distance range, so as to proceed safely and efficiently The vehicle follows.
  • the server obtains the speed information and position information of each vehicle, generates slow driving warning information and sends it to the car networking communication device, and the car networking communication device or The server establishes a car-following model and generates vehicle-following information.
  • the adaptive cruise technology shown in Figure 1 detects vehicle and road information by the IoV communication device itself, and then feeds it back to its own car-following model.
  • the slow driving warning information can also be generated based on the road traffic information collected by the server.
  • the adaptive cruise technology shown in Figure 1 only detects the real-time inter-vehicle distance and speed of the preceding vehicle. Therefore, this embodiment can obtain more accurate warning information for slow driving.
  • this embodiment focuses on the micro-driving behavior of the following vehicle and the preceding vehicle, and lacks the perception of traffic conditions ahead of the lane/vehicle such as traffic lights/congestion , It is not conducive to the timely and accurate switching of the driving mode of the car following vehicle.
  • the system shown in Figure 2 is only limited to the front of the two cars and gives the car-following strategy based only on the speed and distance of the preceding car.
  • the car following information is generated based on the speed information, location information, and surrounding road traffic information of the preceding vehicle. Therefore, the car following vehicle in this embodiment can more accurately follow the car.
  • the car-following information is determined according to the speed, location, and road condition information of the vehicle being followed, and comprehensive and accurate car-following information can be provided to perform The vehicle follows.
  • FIG. 6 is a schematic flowchart of a car following method for a vehicle according to an embodiment of the application, and this embodiment is a further detailed embodiment of the embodiment shown in FIG. 5.
  • the method may include the following steps:
  • the car-following vehicle reports its own speed information and location information to the server.
  • the server receives the speed information and position information of the car following vehicle.
  • Each vehicle including car-following vehicles, can report its own speed information and location information to the server.
  • the server can be the server of the monitoring center, and the vehicle can report its own speed information and location information through the mobile network; the server can also be an intelligent base station on the roadside, and the vehicle can send its own information through short-range communication, such as D2D communication. Speed information and location information.
  • S202 The server sends a slow driving warning information.
  • the car-following vehicle receives the above-mentioned slow driving warning information.
  • the server can determine the current route based on the speed information and location information reported by the vehicle, as well as the road conditions. Slow, if the vehicle following conditions are met, the slow driving warning information is generated, and the slow driving warning information is sent to the affected vehicles on the route.
  • the slow driving warning information may include the slow cause value, the range of the road section, the duration, and the like. Among them, the range and duration of the road section are generally calculated by the server in combination with the high-precision map and the speed of vehicles on the road section.
  • the car following vehicle sends a car following start request message to the server.
  • the server receives the car following start request message.
  • the vehicle After the vehicle receives the slow-moving warning information sent by the server, it determines whether to start the vehicle following according to the vehicle's own capabilities. It is determined that if the car following is to be started, a car following start request message is sent to the server. Wherein, the car following start request message includes the vehicle travel path.
  • the vehicle travel path refers to the path that the vehicle needs to follow.
  • the server sends one or more of the following information to the following vehicle: the speed and location of the following vehicle, and road condition information on the aforementioned vehicle travel path.
  • the car following vehicle receives one or more of the aforementioned information.
  • the server After receiving the car-following start request message, the server obtains the road condition information on the vehicle travel path carried in the car-following start request message, as well as the speed and position of the followed vehicle (the preceding vehicle), and then forwards to the following car (The following vehicle) sends the speed and location of the following vehicle, and the road condition information on the path of the following/following vehicle.
  • the car-following vehicle picks up one or more of the above information.
  • the car-following vehicle determines the car-following information according to one or more of the speed, location, and road condition information of the vehicle being followed.
  • the car-following vehicle may comprehensively determine the car-following information based on one or more of the received vehicle speed, location, and road condition information on the vehicle's travel path for the vehicle to follow.
  • the car-following information includes car-following speed range and vehicle distance range.
  • the car-following vehicle adjusts its own vehicle speed and the distance from the car-following vehicle according to the vehicle following information.
  • the car-following vehicle After the car-following vehicle has determined the car-following information, it can adjust its own speed and the distance to the car being followed according to the car-following information, that is, according to the car-following speed range and the vehicle distance range, to safely and efficiently Car follow the car.
  • the server sends a car following warning to the car being followed.
  • the server After the car-following vehicle starts to follow the car, the server sends a car-following warning to the car-following vehicle to remind the car-following vehicle.
  • the car-following vehicle receives the above-mentioned car-following warning and prompts it to prevent rear-end collision.
  • the server sends the updated road condition information on the driving path of the vehicle and/or the driving state information of the followed vehicle to the following vehicle.
  • the car following vehicle receives the above updated information.
  • the server obtains the road condition information on the driving path of the above-mentioned vehicle and/or the driving state information of the above-mentioned following vehicle in real time, and sends the above-mentioned updated vehicle-following information to the following vehicle, so that the following vehicle can adjust its own performance in time.
  • the server sends the slow driving warning release information to the car following vehicle.
  • the server Based on the vehicle driving state and high-definition map information reported by the vehicle periodically, the server recognizes that the current driving is smooth, and then determines that the current driving is slow to be released, and can send slow driving warning release information to the car following vehicle.
  • the slow driving warning release information may include The value of the cause of cancellation, the range of the road section, and the estimated time of cancellation.
  • the car-following vehicle After the car-following vehicle receives the above-mentioned slow driving warning release information, it sends a car-following shutdown message to the server.
  • the server receives the above-mentioned car following close message.
  • the car-following vehicle when it receives the slow-moving release message, it determines whether to turn off the car-following based on the current vehicle condition and road conditions. If it is determined to close the car following, you can send a car following close message to the server.
  • the server sends a car following release warning message to the followed vehicle.
  • the car-following vehicle receives the above-mentioned car-following release warning message.
  • the server can send a car-following warning message to the car being followed, so that the car being followed does not need to remind itself to be followed to prevent rear-end collision.
  • the car-following information is determined according to the speed, location, and road condition information of the vehicle being followed, and comprehensive and accurate car-following information can be provided to perform Car-following; when the slow-moving warning is removed, turn off the car-following in time.
  • FIG. 7 is a schematic flowchart of a car following method for a vehicle according to an embodiment of the application, and this embodiment is a further detailed embodiment of the embodiment shown in FIG. 5.
  • the method may include the following steps:
  • the car following vehicle reports its own speed information and location information to the server.
  • the server receives the speed information and position information of the car following vehicle.
  • S302 The server sends a slow driving warning information.
  • the car-following vehicle receives the above-mentioned slow driving warning information.
  • the car following vehicle sends a car following start request message to the server.
  • the server receives the car following start request message.
  • the car following start request message includes the vehicle travel path.
  • the server sends one or more of the following information to the following vehicle: the speed and location of the following vehicle, and road condition information on the aforementioned vehicle travel path.
  • the car following vehicle receives one or more of the aforementioned information.
  • the car-following vehicle determines the car-following information according to one or more of the speed, location, and road condition information of the vehicle being followed.
  • the car-following vehicle adjusts its own speed and the distance from the car-following vehicle according to the vehicle following information.
  • the server sends a car following warning to the car being followed.
  • the car-following vehicle receives the above-mentioned car-following warning and prompts it to prevent rear-end collision.
  • the car-following vehicle does not receive the updated driving state information of the car-following vehicle within a set time period, and sends a car-following cancellation message to the server.
  • the server receives the above-mentioned car-following cancellation message.
  • the car-following vehicle does not receive the driving status information of the car-following vehicle within a certain period, it can be assumed that the front congestion is removed, and the car-following vehicle and the car-following vehicle are in a free running state, then the car following vehicle sends the following car to the server Cancel the message.
  • the server sends a car following release warning message to the followed vehicle.
  • the car-following vehicle receives the above-mentioned car-following release warning message.
  • the server can also send a car-following release warning message to the followed vehicle, so that the followed vehicle does not need to remind itself again Be followed to prevent rear-end collision.
  • the car-following information is determined according to the speed, location, and road condition information of the vehicle being followed, and comprehensive and accurate car-following information can be provided to perform Car-following; the car-following vehicle does not receive the updated driving status information of the above-mentioned car-following vehicle within the set time period, and the car following is cancelled in time.
  • FIG. 8 is a schematic flowchart of a car following method for a vehicle according to an embodiment of the application, and this embodiment is a further detailed embodiment of the embodiment shown in FIG. 5.
  • the method may include the following steps:
  • the car-following vehicle reports its own speed information and location information to the server.
  • the server receives the speed information and position information of the car following vehicle.
  • S402 The server sends a slow driving warning information.
  • the car-following vehicle receives the above-mentioned slow driving warning information.
  • S403 The car following vehicle sends a car following start request message to the server.
  • the server receives the car following start request message.
  • the car following start request message includes the vehicle travel path.
  • step S102 in the embodiment shown in FIG. 4, or step S203 in the embodiment shown in FIG. 5, or step S303 in the embodiment shown in FIG. 6.
  • S404 The server determines the vehicle following information according to one or more of the speed and location of the vehicle being followed, and the road condition information on the travel path of the vehicle.
  • the server After the server receives the car-following start request message, it obtains the road condition information on the vehicle travel path carried in the car-following start request message, as well as the speed and position of the followed vehicle (the preceding vehicle). Then, the server determines the vehicle following information based on one or more of the speed and location of the vehicle being followed and the road condition information on the vehicle travel path.
  • the above-mentioned car-following information includes car-following speed range and vehicle distance range.
  • the server has obtained comprehensive information, and the server has strong computing power. The server can analyze one or more of the above-mentioned information to determine the car following information.
  • the server sends the car following information to the car following vehicle.
  • the car following vehicle receives the above-mentioned car following information.
  • the car-following vehicle adjusts its own speed and the distance from the car-following vehicle according to the vehicle following information.
  • step S105 in the embodiment shown in FIG. 4, or step S206 in the embodiment shown in FIG. 5, or step S306 in the embodiment shown in FIG.
  • the server sends a car following warning to the car being followed.
  • the car-following vehicle receives the above-mentioned car-following warning and prompts it to prevent rear-end collision.
  • the car-following vehicle determines to change the driving path of the vehicle.
  • the car following vehicle sends a car following cancel message to the foregoing server.
  • the server receives the above-mentioned car-following cancellation message.
  • the car-following vehicle temporarily changes the vehicle travel path during the car-following process, and the changed vehicle travel path may not meet the non-free driving state condition, that is, the car-following condition is not met, the car-following vehicle sends a car-following cancel message to the server.
  • the server sends a car following release warning message to the followed vehicle.
  • the car-following vehicle receives the above-mentioned car-following release warning message.
  • the server after the server receives the car-following cancellation message of the car-following vehicle, it can send a car-following release warning message to the car-following vehicle, so that the car-following vehicle does not need to remind itself to be followed to prevent rear-end collision.
  • the car-following information is determined according to the speed, location, and road condition information of the vehicle being followed, and comprehensive and accurate car-following information can be provided to perform Car-following; when the car-following vehicle changes the driving path of the vehicle, cancel the car-following in time.
  • an embodiment of the present application also provides an IoV communication device 100, which can be applied to the above-mentioned FIG. 5-8.
  • the vehicle networking communication device 100 includes a receiving unit 11, a sending unit 12, an acquiring unit 13, and an adjusting unit 14. It may also include a first determining unit 15 and a second determining unit 16; exemplary:
  • the receiving unit 11 is configured to receive slow driving warning information from the server;
  • the sending unit 12 is configured to send a car following start request message to the server, where the car following start request message includes a vehicle travel path;
  • the acquiring unit 13 is configured to acquire car-following information, where the car-following information includes a car-following speed range and a vehicle distance range, and the car-following information is determined based on one or more of the following information: The speed and position of the vehicle, and road condition information on the path of the vehicle;
  • the adjustment unit 14 is configured to adjust its own vehicle speed and the distance from the followed vehicle according to the vehicle following information.
  • the sending unit 12 is further configured to report its own vehicle speed information and location information to the server.
  • the receiving unit 11 is further configured to receive one or more of the following information from the server: the speed and location of the vehicle being followed, and road condition information on the driving path of the vehicle;
  • the first determining unit 15 is configured to determine the vehicle following information according to one or more of the speed and position of the following vehicle, and road condition information on the vehicle travel path.
  • the receiving unit 11 is further configured to receive the car following information from the server.
  • the receiving unit 11 is further configured to receive updated road condition information on the vehicle driving path and/or driving state information of the followed vehicle from the server.
  • the sending unit 12 is further configured to send a car-following cancellation message to the server without receiving updated driving state information of the followed vehicle within a set time period.
  • the receiving unit 11 is further configured to receive slow driving warning release information from the server;
  • the sending unit 12 is also used to send a car following close message to the server.
  • the second determining unit 16 is also used to determine to change the travel path of the vehicle
  • the sending unit 12 is also used to send a car following cancel message to the server.
  • the car following information is determined according to the speed, position, and road condition information of the vehicle being followed, which can provide comprehensive and accurate car following information to perform The vehicle follows.
  • an embodiment of the present application further provides a server 200, which can be applied to the vehicle-following method described in FIGS. 5 to 8 in.
  • the server 200 includes a sending unit 21, a receiving unit 22, and a determining unit 23; exemplary:
  • the sending unit 21 is used to send slow driving warning information
  • the receiving unit 22 is configured to receive a car-following start request message from a car-following vehicle, where the car following start request message includes the vehicle travel path;
  • the sending unit 21 is further configured to send one or more of the following information to the car following vehicle: the speed and location of the following vehicle, and road condition information on the driving path of the vehicle; or
  • the determining unit 23 is configured to determine the vehicle following information according to one or more of the speed and position of the vehicle being followed, and the road condition information on the driving path of the vehicle;
  • the sending unit 21 is further configured to send the car following information to the car following vehicle, wherein the car following information includes a car following speed range and a vehicle distance range.
  • the receiving unit 22 is also used to receive vehicle speed information and location information from one or more vehicles.
  • the sending unit 21 is also used to send car-following warning information to the car-following vehicle, and the car-following warning information is used to remind the car-following vehicle to start car following.
  • the receiving unit 22 is further configured to receive car-following prompt information from the car-following vehicle, and the car-following prompt information is used to prompt that the car-following vehicle does not have the condition to be followed. ;
  • the sending unit 21 is further configured to send the car following prompt information to the car following vehicle;
  • the receiving unit 22 is also used to receive a car following close message from the car following vehicle.
  • the receiving unit 22 is further configured to receive updated driving state information from the followed vehicle;
  • the sending unit 21 is further configured to send updated road condition information on the driving path of the vehicle and/or driving state information of the following vehicle to the following vehicle.
  • the sending unit 21 is further configured to send slow driving warning release information to the car following vehicle;
  • the receiving unit 22 is also used to receive a car following close message from the car following vehicle.
  • the receiving unit 22 is further configured to receive a car following cancellation message from the car following vehicle when the car following vehicle changes the vehicle travel path.
  • the car following information is determined based on the speed, location, and road condition information of the vehicle being followed, which can provide comprehensive and accurate car following information for vehicle following .
  • FIG. 11 is a schematic structural diagram of another vehicle networking communication device/server provided by an embodiment of the application.
  • the Internet of Vehicles server can be implemented by the device shown in FIG. 11.
  • the device 300 includes at least one processor 301, a communication bus 302, a memory 303, and at least one communication interface 304.
  • the device 300 may be a general-purpose computer or server or a dedicated computer or server.
  • the processor 301 may be a general-purpose central processing unit (central processing unit, CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more programs for controlling the program execution of the present invention integrated circuit.
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • the communication bus 302 may include a path for transferring information between the aforementioned components.
  • the communication interface 304 can be any transceiver or IP port or bus interface, etc., used to communicate with internal or external equipment or devices or communication networks, such as Ethernet, radio access network (RAN), and wireless local area network ( wireless local area networks, WLAN) etc.
  • the communication interface 304 includes one or more of the following interfaces, such as a transceiver for communicating with the external network of the vehicle, and a bus interface for communicating with other internal units of the vehicle (such as a controller area network (Controller Area Network, CAN) bus interface) and so on.
  • a transceiver for communicating with the external network of the vehicle
  • a bus interface for communicating with other internal units of the vehicle (such as a controller area network (Controller Area Network, CAN) bus interface) and so on.
  • CAN Controller Area Network
  • the memory 303 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM), or other types that can store information and instructions
  • the dynamic storage device can also be electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disk storage, optical disc storage (Including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program codes in the form of instructions or data structures and can be used by a computer Any other media accessed, but not limited to this.
  • the memory can exist independently and is connected to the processor through a bus.
  • the memory can also be integrated with the processor.
  • the memory 303 is used to store application program codes for executing the solution of the present invention, and the processor 301 controls the execution.
  • the processor 301 is configured to execute the application program code stored in the memory 303, so as to realize the functions of the vehicle networking communication device or the vehicle networking server in the method of the present application.
  • the processor 301 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 11.
  • the apparatus 300 may include multiple processors, such as the processor 301 and the processor 308 in FIG. 11. Each of these processors can be a single-CPU (single-CPU) processor or a multi-core (multi-CPU) processor.
  • the processor here may refer to one or more devices, circuits, and/or processing cores for processing data (for example, computer program instructions).
  • the apparatus 300 may further include an output device 305 and an input device 306.
  • the output device 305 communicates with the processor 301 and can display information in a variety of ways.
  • the output device 305 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector (projector) Wait.
  • the input device 306 communicates with the processor 301 and can accept user input in a variety of ways.
  • the input device 306 may be a mouse, a keyboard, a touch screen device, or a sensor device.
  • the memory is a storage unit in the chip, such as a register, a cache, etc.
  • the storage unit may also be a storage unit located outside the chip.
  • the disclosed system, device, and method may be implemented in other ways.
  • the division of the unit is only a logical function division. In actual implementation, there can be other divisions.
  • multiple units or components can be combined or integrated into another system, or some features can be ignored or not. carried out.
  • the displayed or discussed mutual coupling, or direct coupling, or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the above embodiments it may be implemented in whole or in part by software, hardware, firmware or any combination thereof.
  • software it can be implemented in the form of a computer program product in whole or in part.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices.
  • the computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium.
  • the computer instructions can be sent from one website, computer, server, or data center to another via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) A website, computer, server or data center for transmission.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center integrated with one or more available media.
  • the usable medium can be read-only memory (ROM), random access memory (RAM), or magnetic medium, such as floppy disk, hard disk, magnetic tape, magnetic disk, or optical medium, for example, Digital versatile disc (DVD) or semiconductor media, for example, solid state disk (SSD), etc.

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Abstract

一种车辆跟驰方法及装置。方法包括：车联网通信装置接收来自服务器的行驶缓慢预警信息；向服务器发送跟驰启动请求消息，其中，跟驰启动请求消息包括车辆行驶路径；获取车辆跟驰信息，其中，车辆跟驰信息包括跟驰车速范围和车辆距离范围，车辆跟驰信息是根据以下一个或多个信息确定的：被跟驰车辆的车速、位置、车辆行驶路径上的路况信息；以及根据车辆跟驰信息，调整自身的车速和与被跟驰车辆的距离。根据被跟驰车辆的车速、位置、车辆行驶路径上的路况信息确定车辆跟驰信息，可以提供全面、准确的车辆跟驰信息，以进行车辆跟驰。

Description

一种车辆跟驰方法及装置
本申请要求于2019年06月14日提交中国专利局、申请号为201910514850.6、申请名称为“一种车辆跟驰方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及车联网智能驾驶技术领域，尤其涉及一种车辆跟驰方法及装置。
背景技术
在限制超车的单行道上或者车密度大、出现拥堵的情况下无法超车时，跟随前车运行的后车驾驶员总不愿意落后很多，希望紧随前车车速，跟驶前进，同时要保证两车的安全，从而可以采用跟驰模型启动车辆跟驰。跟驰模型是运用动力学的方法来研究前导车运动状态变化所引起跟驰车的相应行为。跟驰车辆要满足两个条件：一是后车的车速不能长时间的大于前车车速，只能在前车车速附近摆动，否则会发生碰撞，这是车速条件；二是前后车之间必须保持一个安全距离，即在前车刹车后，两车间有足够的距离，从而有足够的时间供后车驾驶员作出反应，采取制动措施。
如图1所示的自适应巡航(adaptive cruise control，ACC)的结构示意图，ACC是一种通过车载测量设备获得与前车的实时车间距离及速度等信息，并应用加速度优化算法控制车辆与前车保持稳定车间距行驶的车辆纵向控制技术。但ACC技术存在以下缺点：车辆车载设备在检测前车位移与速度等行驶状态时，车载设备内部处理过程中存在一定的延时，若延时过大，易诱发交通流不稳定；由于车载设备检测得到的位移与速度信息做差分处理得到相应的加速度信息，则将放大车载设备的检测误差，不利于ACC车辆的稳定性，而加速度信息指导对车辆下一时刻行驶状态的有效预测，是确保能够与前车行驶状态相一致的重要信息。
如图2所示的协同自适应巡航控制(cooperative adaptive cruise control，CACC)的结构示意图，为了有效缩短感知前车行驶状态的延时，有效获取精确度较高的前车加速度信息，在ACC技术之上，提出了CACC技术。CACC车辆不再通过车载设备检测前车行驶状态，而是应用车车无线通信技术，由前车将速度与加速度等行驶状态发送至CACC车辆。与ACC车辆的车载检测设备相比较，CACC应用车车通信技术获取前车行驶状态，一方面可有效缩短前车信息获取延时，另一方面能够获取精确度较高的前车加速度信息，使得CACC车辆可保持比ACC车辆更小的车间时距。但是，CACC技术存在以下缺点：DSRC安全性不够；CACC系统缺乏多厂家互通协同；CACC聚焦在跟驰车与前车的微观驾驶行为，缺乏对车道/车路的前方交通状况如红绿灯/是否拥堵的感知，不利于跟驰车辆及时准确切换行驶模式；CACC系统对车的上位系统要求高，需要各种感知匹配和计算能力等实时计算合适车速车间距，成本过高；CACC 系统仅局限在两车之前并仅基于前车速度车距来给与跟驰车辆策略，对于被跟驰车前车突发情况、相邻车道车辆突发情况、前方路障/红绿灯都无法做到统一掌控，容易遇紧急事件出现连环事故。
基于此，如何提供全面、准确的车辆跟驰信息，以进行车辆跟驰，是目前亟待解决的问题。
发明内容
本申请提供一种车辆跟驰方法及装置，以提供全面、准确的车辆跟驰信息。
第一方面，提供了一种车辆跟驰方法，所述方法包括：接收来自服务器的行驶缓慢预警信息；向所述服务器发送跟驰启动请求消息，其中，所述跟驰启动请求消息包括车辆行驶路径；获取车辆跟驰信息，其中，所述车辆跟驰信息包括跟驰车速范围和车辆距离范围，所述车辆跟驰信息是根据以下一个或多个信息确定的：被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息；以及根据所述车辆跟驰信息，调整自身的车速和与所述被跟驰车辆的距离。在该方面中，根据被跟驰车辆的车速、位置、车辆行驶路径上的路况信息确定车辆跟驰信息，可以提供全面、准确的车辆跟驰信息，以进行车辆跟驰。
在一个实现中，所述方法还包括：向所述服务器上报自身的车速信息和位置信息。在该实现中，所有车辆(包括跟驰车辆)向服务器上报自身的车速信息和位置信息，以便服务器确定车辆是否行驶缓慢，得到行驶缓慢预警信息。
在又一个实现中，所述获取车辆跟驰信息，包括：接收来自所述服务器的以下一个或多个信息：被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息；以及根据所述被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息中的一个或多个信息确定所述车辆跟驰信息。在该实现中，跟驰车辆可以是接收服务器发送的被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息中的一个或多个信息，根据上述一个或多个信息，自身确定车辆跟驰信息。
在又一个实现中，所述获取车辆跟驰信息，包括：接收来自所述服务器的所述车辆跟驰信息。在该实现中，可以由服务器确定车辆跟驰信息，跟驰车辆接收服务器发送的车辆跟驰信息。
在又一个实现中，所述方法还包括：接收来自所述服务器的更新的所述车辆行驶路径上的路况信息、和/或所述被跟驰车辆的行驶状态信息。在该实现中，服务器实时采集车辆行驶路径上的路况信息，和/或被跟驰车辆的行驶状态信息，跟驰车辆接收服务器发送的上述服务器实时采集的信息，以便更新车辆跟驰信息。
在又一个实现中，所述方法还包括：在设定时间段内未接收到更新的所述被跟驰车辆的行驶状态信息，向所述服务器发送跟驰取消消息。在该实现中，被跟驰车辆的行驶状态信息会实时变化，服务器需要及时更新被跟驰车辆的行驶状态信息，如果跟驰车辆在设定时间内未接收到更新的被跟驰车辆的行驶状态信息，则可认为不需要进行车辆跟驰，向服务器发送跟驰取消消息。
在又一个实现中，所述方法还包括：接收来自所述服务器的行驶缓慢预警解除信息；以及向所述服务器发送跟驰关闭消息。在该实现中，跟驰车辆接收到服务器发送 的行驶缓慢预警解除信息后，可以确定不再需要进行车辆跟驰，向服务器发送跟驰关闭消息。
在又一个实现中，所述方法还包括：确定改变车辆行驶路径；以及向所述服务器发送跟驰取消消息。在该实现中，如果跟驰车辆确定改变车辆行驶路径，则不再对前方车辆进行跟驰，向服务器发送跟驰取消消息。
第二方面，提供了一种车辆跟驰方法，所述方法包括：发送行驶缓慢预警信息；接收来自车联网通信装置的跟驰启动请求消息，其中，所述跟驰启动请求消息包括车辆行驶路径；以及向所述车联网通信装置发送以下一个或多个信息：被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息，或根据所述被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息中的一个或多个信息确定车辆跟驰信息，并向所述车联网通信装置发送所述车辆跟驰信息，其中，所述车辆跟驰信息包括跟驰车速范围和车辆距离范围。
在一个实现中，所述方法还包括：接收来自一个或多个车辆的车速信息和位置信息。
在又一个实现中，所述方法还包括：向被跟驰车辆发送跟驰预警信息，所述跟驰预警信息用于提醒跟驰车辆启动跟驰。
在又一个实现中，所述方法还包括：接收来自所述被跟驰车辆的跟驰提示信息，所述跟驰提示信息用于提示所述被跟驰车辆不具备被跟驰条件；向所述车联网通信装置发送所述跟驰提示信息；以及所述服务器接收来自所述车联网通信装置的跟驰关闭消息。
在又一个实现中，所述方法还包括：接收来自所述被跟驰车辆的更新的行驶状态信息；以及向所述被跟驰车辆发送更新的所述车辆行驶路径上的路况信息、和/或所述被跟驰车辆的行驶状态信息。
在又一个实现中，所述方法还包括：向所述车联网通信装置发送行驶缓慢预警解除信息；以及接收来自所述车联网通信装置的跟驰关闭消息。
在又一个实现中，所述方法还包括：当所述车联网通信装置改变车辆行驶路径时，接收来自所述车联网通信装置的跟驰取消消息。
第三方面，提供了一种车联网通信装置，该车联网通信装置用于实现上述方法中跟驰车辆的行为功能。所述功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块。
第四方面，提供了一种服务器，该服务器用于实现上述方法中服务器的行为功能。所述功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块。
第五方面，提供了一种车联网通信装置，包括处理器、收发器和存储器，其中，所述存储器用于存储计算机程序，所述计算机程序包括程序指令，所述处理器执行所述程序指令，以使所述车联网通信装置执行如下操作：用所述收发器接收来自服务器的行驶缓慢预警信息；用所述收发器向所述服务器发送跟驰启动请求消息，其中，所述跟驰启动请求消息包括车辆行驶路径获取车辆跟驰信息，其中，所述车辆跟驰信息包括跟驰车速范围和车辆距离范围，所述车辆跟驰信息是根据以下一个或多个信息确 定的：被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息；以及根据所述车辆跟驰信息，调整自身的车速和与所述被跟驰车辆的距离。
在一个实现中，所述处理器还用于执行如下操作：用所述收发器向所述服务器上报自身的车速信息和位置信息。
在又一个实现中，所述处理器执行所述获取车辆跟驰信息的操作，包括：用所述收发器接收来自所述服务器的以下一个或多个信息：被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息；以及根据所述被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息中的一个或多个信息确定所述车辆跟驰信息。
在又一个实现中，所述处理器执行所述获取车辆跟驰信息的操作，包括：用所述收发器接收来自所述服务器的所述车辆跟驰信息。
在又一个实现中，所述处理器还用于执行如下操作：用所述收发器接收来自所述服务器的更新的所述车辆行驶路径上的路况信息、和/或所述被跟驰车辆的行驶状态信息。
在又一个实现中，所述处理器还用于执行如下操作：在设定时间段内未接收到更新的所述被跟驰车辆的行驶状态信息，用所述收发器向所述服务器发送跟驰取消消息。
在又一个实现中，所述处理器还用于执行如下操作：用所述收发器接收来自所述服务器的行驶缓慢预警解除信息；以及用所述收发器向所述服务器发送跟驰关闭消息。
在又一个实现中，所述处理器还用于执行如下操作：确定改变车辆行驶路径；以及用所述收发器向所述服务器发送跟驰取消消息。
第六方面，提供了一种服务器，包括处理器、收发器和存储器，其中，所述存储器用于存储计算机程序，所述计算机程序包括程序指令，所述处理器执行所述程序指令，以使所述服务器执行如下操作：用所述收发器发送行驶缓慢预警信息；用所述收发器接收来自跟驰车辆的跟驰启动请求消息，其中，所述跟驰启动请求消息包括车辆行驶路径；以及用所述收发器向所述跟驰车辆发送以下一个或多个信息：被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息，或根据所述被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息中的一个或多个信息确定车辆跟驰信息，并用所述收发器向所述跟驰车辆发送所述车辆跟驰信息，其中，所述车辆跟驰信息包括跟驰车速范围和车辆距离范围。
在一个实现中，所述处理器还用于执行如下操作：用所述收发器接收来自一个或多个车辆的车速信息和位置信息。
在又一个实现中，所述处理器还用于执行如下操作：用所述收发器向被跟驰车辆发送跟驰预警信息，所述跟驰预警信息用于提醒所述跟驰车辆启动跟驰。
在又一个实现中，所述处理器还用于执行如下操作：用所述收发器接收来自所述被跟驰车辆的跟驰提示信息，所述跟驰提示信息用于提示所述被跟驰车辆不具备被跟驰条件；用所述收发器向所述跟驰车辆发送所述跟驰提示信息；以及用所述收发器接收来自所述跟驰车辆的跟驰关闭消息。
在又一个实现中，所述处理器还用于执行如下操作：用所述收发器接收来自所述被跟驰车辆的更新的行驶状态信息；以及用所述收发器向所述被跟驰车辆发送更新的所述车辆行驶路径上的路况信息、和/或所述被跟驰车辆的行驶状态信息。
在又一个实现中，所述处理器还用于执行如下操作：用所述收发器向所述跟驰车辆发送行驶缓慢预警解除信息；以及用所述收发器接收来自所述跟驰车辆的跟驰关闭消息。
在又一个实现中，所述处理器还用于执行如下操作：当所述跟驰车辆改变车辆行驶路径时，用所述收发器接收来自所述跟驰车辆的跟驰取消消息。
第七方面，提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行上述各方面所述的方法。
第八方面，提供了一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述各方面所述的方法。
附图说明
图1为自适应巡航的结构示意图；
图2为协同自适应巡航控制的结构示意图；
图3为一种基于V2X架构的智能交通系统示意图；
图4为本申请实施例提供的一种用于车辆跟驰的系统架构图；
图5为本申请实施例提供的一种车辆跟驰方法的流程示意图；
图6为本申请实施例提供的又一种车辆跟驰方法的流程示意图；
图7为本申请实施例提供的又一种车辆跟驰方法的流程示意图；
图8为本申请实施例提供的又一种车辆跟驰方法的流程示意图；
图9为本申请实施例提供的一种车联网通信装置的结构示意图；
图10为本申请实施例提供的一种服务器的结构示意图；
图11为本申请实施例提供的又一种车联网通信装置/服务器的结构示意图。
具体实施方式
下面结合本申请实施例中的附图对本申请实施例进行描述。
下面是本申请可能涉及的几个名词的概念：
车联网：由车辆位置、速度和路线等信息构成的巨大交互网络。通过搭载先进的车载传感器、控制器和执行器等装置，车辆完成自身环境和状态信息的采集；通过无线通信与网络技术，实现车与X(人、车、路、后台等)智能信息交换共享；具备复杂的环境感知、智能决策、协同控制和执行等功能，实现“零伤亡、零拥堵”，最终达到安全、高效和节能的目的。
路侧设备(road side unit，RSU)：安装在路侧，采用专用短程通信(dedicated short range communications，DSRC)技术或基于长期演进的车联网通信技术(long term evolution vehicle，LTE-V)，与车载单元(on board unit，OBU)或信息盒子(telematics box，T-Box)进行通讯，实现车辆身份识别，电子扣分，车辆行驶状态信息上报等。可以理解的是，除了RSU，还可以是其它端侧部署的通信单元，具有与RSU类似的功能，本申请对此不作限定。
车辆跟驰：
1、按交通流密度的大小，在道路上行驶的一队汽车可分成两种运行状态：一种是 低密度的情况，车间距大，车队中任一辆车的速度都不受前车的制约，驾驶员可采用自由车速(称为自由行驶状态)；一种是高密度的情况，车间距不大，车队中任一辆车的车速都受前车车速的制约，驾驶员只能按前车所提供的信息采用相应的车速(称为非自由行驶状态)。
2、车辆跟驰(car following，CF)行为是最基本的微观驾驶行为，描述在限制超车的单行道上或者车密度大出现拥堵的情况下无法超车时(即第1部分描述的非自由行使状态下)，行驶车队中相邻两车之间的相互作用。跟驰模型是运用动力学的方法来研究前导车(leading vehicle，LV)运动状态变化所引起跟驰车(following vehicle，FV)的相应行为，存在以下特点：
1)制约性：在一队汽车中，跟随前车运行的后车驾驶员总不愿意落后很多，而且紧随前车车速，跟驶前进但从安全角度出发，跟驰车辆要满足两个条件：一是后车的车速不能长时间的大于前车车速，只能在前车车速附近摆动，否则会发生碰撞，这是车速条件；二是前后车之间必须保持一个安全距离，即在前车刹车后，两车间有足够的距离，从而有足够的时间供后车驾驶员作出反应，采取制动措施，这是闯距条件，显然车速高时，制动距离大，安全距离也加大。紧随条件加上车速条件和间距条件就构成了一队汽车跟驰行驶的制约性，即前车车速制约着后车车速和两车之间的距离。
2)延迟性：从跟驰车队的制约性可知，前车改变运行状态后，后车也要改变但前后车运行状态的改变不是同步，而是有延迟。这是由于后车驾驶员对前车运行状态的改变要有一个反应过程，这个过程包括4个阶段：
a)感觉阶段——前车运行状态的改变被察觉；
b)认识阶段——对这一改变加以识别；
c)判断阶段——对本车将要采用的措施作出判断；
d)执行阶段——根据判断通过手脚对车辆进行相关的操纵动作。
这4个阶段所需的时间称为反应时间.假设反应时间为T，那么前车在t时刻的动作，要经T时间后，在(t+T)时刻，后车才能作出相应的动作.这就是延迟性。
3)传递性：由制约性可知，第1辆车的运行状态制约着第2辆的运行状态，第2辆又制约着第3辆……，第n辆制约着第n+1辆，一旦第1辆改变运行状态，它的效应将会一辆接一辆地向后传递。直至车队的最后一辆.这就是传递性。由延迟性可知，运行状态的传递是具有延迟性的，这种具有延迟性的向后传递的信息不是平滑连续，而是像脉冲一样间断连续的。制约性、延迟性和传递性是非自由行驶状态下车队的主要跟驰特性。
简单总结：在车辆跟驰中前车的速度制约着后车的速度和两车之间的安全距离。
3、驾驶人对交通环境与前方车辆行驶状态的反应能力与判断能力的局限性，以及不同驾驶人的驾驶差异性，是造成交通流不稳定，产生时走时停交通流现象，进而诱发交通拥堵与交通安全等问题的根本原因。
1)速度判断。一般认为，汽车驾驶员不必看车速表，只根据周围景物的移动/身体的感受和听到的风声就能判断汽车的行驶速度，实际上这种判断并不准确，带有明显的主观性和倾向性，特别是在高速短距离行驶时更是如此。引起驾驶员产生速度错觉的视知觉因素主要有两点，即连续对比感觉的影响和适应性的影响。当人连续受到 有差异的某种刺激后，所产生的差异感往往比差异本身实际的客观物理量差别大，这就是连续对比感觉的影响。
2)距离判断。人堆距离的判断往往有很大差异。根据有关试验，在夜间100名驾驶员轮流坐在禁止的汽车里，凭主观感觉判断停放在前方的一辆载货汽车的距离。载货汽车的真实距离为23米，试验结果只有3名被试者判断正确，有45名被试者判断的距离比实际的距离短4％-80％，52名被试者的判断超过实际距离4％-120％，可见凭主观判断距离的偏差很大。在光线充足的白天，驾驶员在行车中对距离的判断同样有很大差异，因为驾驶员对前面汽车的速度和距离难以做出正确的判断，而且对方车速越高，判断的误差越大，很多超车时发生的正面碰撞事故就是由于驾驶员对距离判断错误造成的，所以，距离的判断的差别也是源于驾驶员行为特征的不同。
车联网通信技术
当前主要有LTE-V和DSRC。其中，LTE-V定义了PC5和Uu两种模式。
直接通信(PC5接口)：以LTE标准中的设备间(device-to-device，D2D)邻近通信服务(ProSe)为基础。采用最新标准制定的PC5接口，可以实现250Kph的高速度和高密度通信。在无LTE网络覆盖的环境下，邻近设备可以进行直接通信。
网络通信(Uu接口)：利用LTE广播，通过V2X服务器中转，把信息传送到另一个节点。
目前车联网主要包括4种场景：车辆与车辆(vehicle-to-vehicle，V2V)、车辆与人(vehicle-to-pedestrian，V2P)、V2N、V2I。如图3所示的一种基于V2X架构的智能交通系统示意图，图中示意了OBU、个人所持设备、RSU与蜂窝网(cellular network)、服务器之间的通信连接。其中，图中示意了两个OBU，即用户设备(user equipment，UE)B对应的OBU和UE A对应的OBU，UE A和UE B为车上安装的两个UE。UE A和UE B上都安装有车联网应用程序(V2X application)。个人所持设备即UE C，该UE C上安装有车联网应用程序。RSU中包括UE D及UE D上安装的车联网应用程序，其中，UE D为站台(stationary)上安装的UE。OBU、PSU、RSU又分别与蜂窝网通信。蜂窝网包括多个网元，例如演进的通用移动通信系统陆地无线接入网(evolved UMTS terrestrial radio access network，E-UTRAN)网元、移动性管理实体(mobility management entity，MME)、服务网关(serving gateway，SGW)、公用数据网网关(public data network gateway，PGW)、归属签约用户服务器(home subscriber server，HSS)，还包括车联网控制功能(V2X control function)实体。该车联网控制功能实体用于对OBU、PSU、RSU中的UE进行控制。该车联网控制功能实体还连接车联网服务器。该车联网服务器包括车联网支持功能(V2X support function)实体、冲突管理和控制(traffic management & control)功能实体、以及车联网应用服务器(V2X application server)。车联网控制功能实体接收车联网服务器各功能实体的控制指令，对OBU、PSU、RSU中的UE进行控制。
图4所示为本申请实施例提供的一种用于车辆跟驰的系统架构图。图中包括101车联网通信装置和102车联网服务器。
101为车联网终端，简称终端，可以是具备通信功能的车辆，非机动车，RSU，便携设备，可穿戴设备，移动电话(或称为“蜂窝”电话)，便携式、袖珍式、手持 式终端等，本申请对终端的类型不进行限定。车辆是一种典型的车联网终端，以下实施例中，以车辆为例进行描述，本申请中以车辆为例的实施例还可以应用于其它类型的终端。本领域技术人员应该理解的是，车联网终端具体可以通过其内部的功能单元或装置(即车联网通信装置)执行车联网相关业务流程。例如当车联网终端为车辆时，车辆中一个或多个如下装置执行本申请实施例中车联网终端相关的方法流程，即车联网通信装置可以是如下示例的任一个装置：车载盒子(telematics box，T-Box)，域控制器(domian controller，DC)，多域控制器(multi-domian controller，MDC)，车载单元(on board unit，OBU)，车联网芯片等。
102为车联网服务器，简称服务器，可以是对车联网终端进行管理的车联网平台或车联网服务器。车联网服务器的具体部署形态本申请不做限定，具体可以是云端部署，还可以是独立的计算机设备等。
图5为本申请实施例提供的一种车辆跟驰方法的流程示意图，示例性的，该方法可包括以下步骤：
S101、服务器发送行驶缓慢预警信息。
相应地，跟驰车辆接收该行驶缓慢预警信息。
为了描述方便，本申请中，由跟驰车辆车联网终端(简称“跟驰车辆”)执行的动作是指由跟驰车辆对应的车联网通信装置所执行的动作。
本实施例中的服务器可以是监控中心的服务器，该监控中心的服务器可以通过摄像头或车辆上报远程获取当前路线上的车况和路况；该服务器也可以是路侧的智能基站，通过服务器上安装的传感器以及与各个车辆的近距离通信交互获取当前路线上的车况和路况。其中，车况指车流量等；路况指路中间是否设置了障碍，是否发生了事故，该路段是否正在施工，当前是否处于忙时车多时间，该路线是否是单行道等。
在限制超车的单行道上或者车密度大出现拥堵的情况下无法超车时，即该路线上的车辆处于非自由行驶状态，则服务器根据当前路线各个车辆的车辆行驶状态，可以判断当前路线行驶缓慢，满足车辆跟驰条件，则生成行驶缓慢预警信息，并向该路线上受影响车辆发送行驶缓慢预警信息。具体地，该行驶缓慢预警信息可包括缓慢原因值、路段范围、持续时长等。其中，路段范围和持续时长一般是由服务器结合高精地图和路段上车辆行驶速度等计算获得的。
S102、跟驰车辆向上述服务器发送跟驰启动请求消息。
相应地，服务器接收该跟驰启动请求消息。
车辆接收到服务器发送的行驶缓慢预警信息后，结合车辆自身能力，判断是否启动车辆跟驰。判断若要启动车辆跟驰，则向服务器发送跟驰启动请求消息。其中，该跟驰启动请求消息包括车辆行驶路径。该车辆行驶路径是指车辆需要跟驰的路径。
S103、服务器向跟驰车辆发送以下一个或多个信息：被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息，跟驰车辆获取S103中服务器发送的上述一个或多个信息，根据上述一个或多个信息，确定车辆跟驰信息。或者
S103’、服务器根据所述被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息中的一个或多个信息确定车辆跟驰信息；S103”、服务器向所述跟驰车辆发送所述车辆跟驰信息，跟驰车辆获取S103”中服务器发送的车辆跟驰信息。
S104、跟驰车辆获取车辆跟驰信息。
跟驰车辆在向服务器发送跟驰启动请求消息后，获取车辆跟驰信息，用于车辆跟驰。由前面的描述可知，在车辆跟驰中，前车的速度制约着后车的速度以及两车之间的安全距离。因此，该车辆跟驰信息包括跟驰车速范围和车辆距离范围。具体地，在一个实现中，如步骤S103，服务器向跟驰车辆发送以下一个或多个信息：被跟驰车辆的车速、位置、车辆行驶路径上的路况信息，跟驰车辆根据上述一个或多个信息，确定车辆跟驰信息。在又一个实现中，如步骤S103’，服务器根据被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息中的一个或多个信息确定车辆跟驰信息；以及S103”，服务器向所述跟驰车辆发送所述车辆跟驰信息，跟驰车辆获取S103”中服务器发送的车辆跟驰信息。可见，该车辆跟驰信息的确定不仅考虑了被跟驰车辆的车速和位置，还考虑了车辆行驶路径上的路况信息，从而可以给跟驰车辆提供全面、准确的指导，以安全、高效地进行车辆跟驰。
S105、跟驰车辆根据上述车辆跟驰信息，调整自身的车速和与被跟驰车辆的距离。
跟驰车辆在获取到车辆跟驰信息后，根据该车辆跟驰信息，即根据跟驰车速范围和车辆距离范围，调整自身的车速，以及与被跟驰车辆的距离，以安全、高效地进行车辆跟驰。
本实施例相对于图1所示的自适应巡航技术，本实施例是由服务器获取各个车辆的车速信息和位置信息，生成行驶缓慢预警信息并发送给车联网通信装置，由车联网通信装置或服务器建立跟驰模型，生成车辆跟驰信息。而图1所示的自适应巡航技术是由车联网通信装置自身检测车辆及道路信息，然后反馈给自身的跟驰模型。另外，本实施例中，行驶缓慢预警信息还可以基于服务器采集的道路交通信息生成。而图1所示的自适应巡航技术仅检测前车的实时车间距离及速度等信息。因而本实施例可以获得更准确的行驶缓慢预警信息。
本实施例相对于图2所示的协同自适应巡航控制技术，该技术聚焦在跟驰车辆与前车的微观驾驶行为，缺乏对对车道/车路的前方交通状况如红绿灯/是否拥堵的感知，不利于跟驰车辆及时准确切换行驶模式。图2所示的系统仅局限在两车之前并仅基于前车速度车距来给与跟驰车辆策略，对于被跟驰车前车突发情况、相邻车道车辆突发情况、前方路障/红绿灯都无法做到统一掌控，容易遇紧急事件出现连环事故。而本实施例是基于前车的车速信息、位置信息、周围道路交通信息生成的车辆跟驰信息，因而本实施例的跟驰车辆可以更准确地进行车辆跟驰。
根据本申请实施例提供的一种车辆跟驰方法，根据被跟驰车辆的车速、位置、车辆行驶路径上的路况信息确定车辆跟驰信息，可以提供全面、准确的车辆跟驰信息，以进行车辆跟驰。
图6为本申请实施例提供的一种车辆跟驰方法的流程示意图，该实施例为对图5所示实施例进一步细化的实施例。示例性的，该方法可包括以下步骤：
S201、跟驰车辆向服务器上报自身的车速信息和位置信息。
相应地，服务器接收上述跟驰车辆的车速信息和位置信息。
各个车辆，包括跟驰车辆，都可以向服务器上报自身的车速信息和位置信息。该 服务器可以是监控中心的服务器，则车辆可以通过移动网络上报自身的车速信息和位置信息；该服务器也可以是路侧的智能基站，则车辆可以通过近距离通信，例如D2D通信，发送自身的车速信息和位置信息。
S202、服务器发送行驶缓慢预警信息。
相应地，跟驰车辆接收上述行驶缓慢预警信息。
在限制超车的单行道上或者车密度大出现拥堵的情况下无法超车时，即该路线上的车辆处于非自由行驶状态，服务器根据车辆上报的车速信息和位置信息、以及路况，可以判断当前路线行驶缓慢，满足车辆跟驰条件，则生成行驶缓慢预警信息，并向该路线上受影响车辆发送行驶缓慢预警信息。具体地，该行驶缓慢预警信息可包括缓慢原因值、路段范围、持续时长等。其中，路段范围和持续时长一般是由服务器结合高精地图和路段上车辆行驶速度等计算获得的。
S203、跟驰车辆向服务器发送跟驰启动请求消息。
相应地，服务器接收该跟驰启动请求消息。
车辆接收到服务器发送的行驶缓慢预警信息后，结合车辆自身能力，判断是否启动车辆跟驰。判断若要启动车辆跟驰，则向服务器发送跟驰启动请求消息。其中，该跟驰启动请求消息包括车辆行驶路径。该车辆行驶路径是指车辆需要跟驰的路径。
S204、服务器向跟驰车辆发送以下一个或多个信息：被跟驰车辆的车速、位置、上述车辆行驶路径上的路况信息。
相应地，跟驰车辆接收上述一个或多个信息。
具体地，服务器在接收到跟驰启动请求消息后，获取该跟驰启动请求消息中携带的车辆行驶路径上的路况信息，以及被跟驰车辆(前车)的车速和位置，向跟驰车辆(后车)发送被跟驰车辆的车速、位置，以及跟驰车辆/被跟驰车辆行驶路径上的路况信息。跟驰车辆接送上述一个或多个信息。
S205、跟驰车辆根据被跟驰车辆的车速、位置、车辆行驶路径上的路况信息中的一个或多个信息确定车辆跟驰信息。
具体地，跟驰车辆可以根据接收到的被跟驰车辆的车速、位置、车辆行驶路径上的路况信息中的一个或多个信息，综合确定车辆跟驰信息，用于车辆跟驰。其中，该车辆跟驰信息包括跟驰车速范围和车辆距离范围。
S206、跟驰车辆根据上述车辆跟驰信息，调整自身的车速和与上述被跟驰车辆的距离。
跟驰车辆在确定了车辆跟驰信息后，可以根据该车辆跟驰信息，即根据跟驰车速范围和车辆距离范围，调整自身的车速，以及与被跟驰车辆的距离，以安全、高效地进行车辆跟驰。
S207、服务器向被跟驰车辆发送跟驰预警。
在跟驰车辆启动跟驰后，服务器向被跟驰车辆发送跟驰预警，提醒被跟驰车辆。相应地，被跟驰车辆接收上述跟驰预警，及时做好提醒，预防追尾。
S208、服务器向跟驰车辆发送更新的上述车辆行驶路径上的路况信息、和/或上述被跟驰车辆的行驶状态信息。
相应地，跟驰车辆接收上述更新的信息。
具体地，服务器实时获取上述车辆行驶路径上的路况信息、和/或上述被跟驰车辆的行驶状态信息，并向跟驰车辆发送上述更新的车辆跟驰信息，以便跟驰车辆及时调整自身的车速以及与被跟驰车辆的距离。
S209、服务器向跟驰车辆发送行驶缓慢预警解除信息。
服务器基于车辆周期性上报的车辆行驶状态和高精地图信息，识别出当前行驶通畅，则确定当前行驶缓慢解除，则可以向跟驰车辆发送行驶缓慢预警解除信息，该行驶缓慢预警解除信息可以包括解除原因值、路段范围和预计解除时间等。
S210、跟驰车辆接收到上述行驶缓慢预警解除信息后，向服务器发送跟驰关闭消息。
相应地，服务器接收上述跟驰关闭消息。
具体地，跟驰车辆收到行驶缓慢解除消息时，结合当前车况、路况，判断是否关闭跟驰。若确定关闭跟驰，则可以向服务器发送跟驰关闭消息。
S211、服务器向被跟驰车辆发送解除跟驰预警消息。
相应地，被跟驰车辆接收上述解除跟驰预警消息。
在跟驰车辆关闭跟驰，且服务器收到跟驰关闭消息后，服务器可以向被跟驰车辆发送解除跟驰预警消息，这样被跟驰车辆无需再提醒自身被跟驰，预防追尾。
根据本申请实施例提供的一种车辆跟驰方法，根据被跟驰车辆的车速、位置、车辆行驶路径上的路况信息确定车辆跟驰信息，可以提供全面、准确的车辆跟驰信息，以进行车辆跟驰；在行驶缓慢预警解除时，及时关闭跟驰。
图7为本申请实施例提供的一种车辆跟驰方法的流程示意图，该实施例为对图5所示实施例进一步细化的实施例。示例性的，该方法可包括以下步骤：
S301、跟驰车辆向服务器上报自身的车速信息和位置信息。
相应地，服务器接收上述跟驰车辆的车速信息和位置信息。
该步骤的具体实现可参考图5所示实施例的步骤S201。
S302、服务器发送行驶缓慢预警信息。
相应地，跟驰车辆接收上述行驶缓慢预警信息。
该步骤的具体实现可参考图4所示实施例的步骤S101或图5所示实施例的步骤S202。
S303、跟驰车辆向服务器发送跟驰启动请求消息。
相应地，服务器接收该跟驰启动请求消息。
其中，该跟驰启动请求消息包括车辆行驶路径。
该步骤的具体实现可参考图4所示实施例的步骤S102或图5所示实施例的步骤S203。
S304、服务器向跟驰车辆发送以下一个或多个信息：被跟驰车辆的车速、位置、上述车辆行驶路径上的路况信息。
相应地，跟驰车辆接收上述一个或多个信息。
该步骤的具体实现可参考图5所示实施例的步骤S204。
S305、跟驰车辆根据被跟驰车辆的车速、位置、车辆行驶路径上的路况信息中的 一个或多个信息确定车辆跟驰信息。
该步骤的具体实现可参考图5所示实施例的步骤S205。
S306、跟驰车辆根据上述车辆跟驰信息，调整自身的车速和与上述被跟驰车辆的距离。
该步骤的具体实现可参考图4所示实施例的步骤S105或图5所示实施例的步骤S206。
S307、服务器向被跟驰车辆发送跟驰预警。
相应地，被跟驰车辆接收上述跟驰预警，及时做好提醒，预防追尾。
该步骤的具体实现可参考图5所示实施例的步骤S207。
S308、跟驰车辆在设定时间段内未接收到更新的上述被跟驰车辆的行驶状态信息，向上述服务器发送跟驰取消消息。
相应地，服务器接收上述跟驰取消消息。
具体地，跟驰车辆在一定周期内未收到被跟驰车辆的行驶状态信息，可以默认前方拥堵解除，跟驰车辆和被跟驰车辆处于自由行驶状态，则跟驰车辆向服务器发送跟驰取消消息。
S309、服务器向被跟驰车辆发送解除跟驰预警消息。
相应地，被跟驰车辆接收上述解除跟驰预警消息。
具体地，跟驰车辆向服务器发送跟驰取消消息后，以及服务器接收到上述跟驰取消消息时，服务器还可以向被跟驰车辆发送解除跟驰预警消息，这样被跟驰车辆无需再提醒自身被跟驰，预防追尾。
另外，在S307后，若被跟驰车辆收到跟驰预警时，判断自身不具备被跟驰条件，如被跟驰车辆出现故障等，则被跟驰车辆也可以向服务器发送不具备被跟驰提醒，从而服务器可以通知跟驰车辆取消跟驰。
根据本申请实施例提供的一种车辆跟驰方法，根据被跟驰车辆的车速、位置、车辆行驶路径上的路况信息确定车辆跟驰信息，可以提供全面、准确的车辆跟驰信息，以进行车辆跟驰；跟驰车辆在设定时间段内未接收到更新的上述被跟驰车辆的行驶状态信息，及时取消跟驰。
图8为本申请实施例提供的一种车辆跟驰方法的流程示意图，该实施例为对图5所示实施例进一步细化的实施例。示例性的，该方法可包括以下步骤：
S401、跟驰车辆向服务器上报自身的车速信息和位置信息。
相应地，服务器接收上述跟驰车辆的车速信息和位置信息。
该步骤的具体实现可参考图5所示实施例的步骤S201或图6所示实施例的步骤S301。
S402、服务器发送行驶缓慢预警信息。
相应地，跟驰车辆接收上述行驶缓慢预警信息。
该步骤的具体实现可参考图4所示实施例的步骤S101，或图5所示实施例的步骤S202，或图6所示实施例的步骤S302。
S403、跟驰车辆向服务器发送跟驰启动请求消息。
相应地，服务器接收该跟驰启动请求消息。
其中，该跟驰启动请求消息包括车辆行驶路径。
该步骤的具体实现可参考图4所示实施例的步骤S102，或图5所示实施例的步骤S203，或图6所示实施例的步骤S303。
S404、服务器根据上述被跟驰车辆的车速、位置、上述车辆行驶路径上的路况信息中的一个或多个信息确定车辆跟驰信息。
服务器在接收到跟驰启动请求消息后，获取该跟驰启动请求消息中携带的车辆行驶路径上的路况信息，以及被跟驰车辆(前车)的车速和位置。然后，服务器根据上述被跟驰车辆的车速、位置以及车辆行驶路径上的路况信息中的一个或多个信息，确定车辆跟驰信息。其中，上述车辆跟驰信息包括跟驰车速范围和车辆距离范围。服务器获取了全面的信息，且服务器具有较强的计算能力，可以由服务器分析上述一个或多个信息，确定车辆跟驰信息。
S405、服务器向上述跟驰车辆发送上述车辆跟驰信息。
相应地，跟驰车辆接收上述车辆跟驰信息。
S406、跟驰车辆根据上述车辆跟驰信息，调整自身的车速和与上述被跟驰车辆的距离。
该步骤的具体实现可参考图4所示实施例的步骤S105，或图5所示实施例的步骤S206，或图6所示实施例的步骤S306。
S407、服务器向被跟驰车辆发送跟驰预警。
相应地，被跟驰车辆接收上述跟驰预警，及时做好提醒，预防追尾。
该步骤的具体实现可参考图5所示实施例的步骤S207或图6所示实施例的步骤S307。
S408、跟驰车辆确定改变车辆行驶路径。
S409、跟驰车辆向上述服务器发送跟驰取消消息。
相应地，服务器接收上述跟驰取消消息。
假设跟驰车辆在跟驰过程中临时改变车辆行驶路径，而改变后的车辆行驶路径可能不满足非自由行驶状态条件，即不满足跟驰条件，则跟驰车辆向服务器发送跟驰取消消息。
S410、服务器向被跟驰车辆发送解除跟驰预警消息。
相应地，被跟驰车辆接收上述解除跟驰预警消息。
具体地，在服务器接收到跟驰车辆的跟驰取消消息后，可向被跟驰车辆发送解除跟驰预警消息，这样被跟驰车辆无需再提醒自身被跟驰，预防追尾。
根据本申请实施例提供的一种车辆跟驰方法，根据被跟驰车辆的车速、位置、车辆行驶路径上的路况信息确定车辆跟驰信息，可以提供全面、准确的车辆跟驰信息，以进行车辆跟驰；在跟驰车辆改变车辆行驶路径时，及时取消跟驰。
上述详细阐述了本申请实施例的方法，下面提供了本申请实施例的装置。
基于上述实施例中的车辆跟驰方法的同一构思，如图9所示，本申请实施例还提供了一种车联网通信装置100，该车联网通信装置可应用于上述图5～图8所述的车辆 跟驰方法中。该车联网通信装置100包括接收单元11、发送单元12、获取单元13、调整单元14；还可以包括第一确定单元15、第二确定单元16；示例性的：
接收单元11，用于接收来自服务器的行驶缓慢预警信息；
发送单元12，用于向所述服务器发送跟驰启动请求消息，其中，所述跟驰启动请求消息包括车辆行驶路径；
获取单元13，用于获取车辆跟驰信息，其中，所述车辆跟驰信息包括跟驰车速范围和车辆距离范围，所述车辆跟驰信息是根据以下一个或多个信息确定的：被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息；
调整单元14，用于根据所述车辆跟驰信息，调整自身的车速和与所述被跟驰车辆的距离。
在一个实现中，所述发送单元12，还用于向所述服务器上报自身的车速信息和位置信息。
在又一个实现中，所述接收单元11，还用于接收来自所述服务器的以下一个或多个信息：被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息；
第一确定单元15，用于根据所述被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息中的一个或多个信息确定所述车辆跟驰信息。
在又一个实现中，所述接收单元11，还用于接收来自所述服务器的所述车辆跟驰信息。
在又一个实现中，所述接收单元11，还用于接收来自所述服务器的更新的所述车辆行驶路径上的路况信息、和/或所述被跟驰车辆的行驶状态信息。
在又一个实现中，所述发送单元12，还用于在设定时间段内未接收到更新的所述被跟驰车辆的行驶状态信息，向所述服务器发送跟驰取消消息。
在又一个实现中，所述接收单元11，还用于接收来自所述服务器的行驶缓慢预警解除信息；
所述发送单元12，还用于向所述服务器发送跟驰关闭消息。
在又一个实现中，第二确定单元16，还用于确定改变车辆行驶路径；
所述发送单元12，还用于向所述服务器发送跟驰取消消息。
有关上述接收单元11、发送单元12、获取单元13、调整单元14、第一确定单元15、第二确定单元16更详细的描述可以参考上述图5～图8所述的车辆跟驰方法中跟驰车辆的相关描述得到，这里不加赘述。
根据本申请实施例提供的一种车联网通信装置，根据被跟驰车辆的车速、位置、车辆行驶路径上的路况信息确定车辆跟驰信息，可以提供全面、准确的车辆跟驰信息，以进行车辆跟驰。
基于上述实施例中的车辆跟驰方法的同一构思，如图10所示，本申请实施例还提供了一种服务器200，该服务器可应用于上述图5～图8所述的车辆跟驰方法中。该服务器200包括发送单元21、接收单元22和确定单元23；示例性的：
发送单元21，用于发送行驶缓慢预警信息；
接收单元22，用于接收来自跟驰车辆的跟驰启动请求消息，其中，所述跟驰启动 请求消息包括车辆行驶路径；
所述发送单元21，还用于向所述跟驰车辆发送以下一个或多个信息：被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息；或者
确定单元23，用于根据所述被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息中的一个或多个信息确定车辆跟驰信息；
所述发送单元21，还用于向所述跟驰车辆发送所述车辆跟驰信息，其中，所述车辆跟驰信息包括跟驰车速范围和车辆距离范围。
在一个实现中，所述接收单元22，还用于接收来自一个或多个车辆的车速信息和位置信息。
在又一个实现中，所述发送单元21，还用于向被跟驰车辆发送跟驰预警信息，所述跟驰预警信息用于提醒所述跟驰车辆启动跟驰。
在又一个实现中，所述接收单元22，还用于接收来自所述被跟驰车辆的跟驰提示信息，所述跟驰提示信息用于提示所述被跟驰车辆不具备被跟驰条件；
所述发送单元21，还用于向所述跟驰车辆发送所述跟驰提示信息；
所述接收单元22，还用于接收来自所述跟驰车辆的跟驰关闭消息。
在又一个实现中，所述接收单元22，还用于接收来自所述被跟驰车辆的更新的行驶状态信息；
所述发送单元21，还用于向所述被跟驰车辆发送更新的所述车辆行驶路径上的路况信息、和/或所述被跟驰车辆的行驶状态信息。
在又一个实现中，所述发送单元21，还用于向所述跟驰车辆发送行驶缓慢预警解除信息；
所述接收单元22，还用于接收来自所述跟驰车辆的跟驰关闭消息。
在又一个实现中，所述接收单元22，还用于当所述跟驰车辆改变车辆行驶路径时，接收来自所述跟驰车辆的跟驰取消消息。
有关上述发送单元21、接收单元22和确定单元23更详细的描述可以参考上述图5～图8所述的车辆跟驰方法中服务器的相关描述得到，这里不加赘述。
根据本申请实施例提供的一种服务器，根据被跟驰车辆的车速、位置、车辆行驶路径上的路况信息确定车辆跟驰信息，可以提供全面、准确的车辆跟驰信息，以进行车辆跟驰。
图11为本申请实施例提供的又一种车联网通信装置/服务器的结构示意图。例如，如上实施例中的实现车联网通信装置方法流程的装置，车联网服务器均可以由如图11所示的装置来实现。
装置300包括至少一个处理器301，通信总线302，存储器303以及至少一个通信接口304。装置300可以是一个通用计算机或服务器或者是一个专用计算机或服务器。
处理器301可以是一个通用中央处理器(central processing unit，CPU)，微处理器，特定应用集成电路(application-specific integrated circuit，ASIC)，或一个或多个用于控制本发明方案程序执行的集成电路。
通信总线302可包括一通路，在上述组件之间传送信息。
通信接口304，可以是任何收发器或IP端口或总线接口等，用于与内部或外部设备或装置或通信网络通信，如以太网，无线接入网(radio access network，RAN)，无线局域网(wireless local area networks，WLAN)等。如装置为集成在车辆内部的功能单元时，通信接口304包括如下接口中的一种或多种，如车辆外部网络进行通信的收发器，车辆其它内部单元通信的总线接口(如控制器局域网络(Controller Area Network,CAN)总线接口)等。
存储器303可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)、只读光盘(compact disc read-only memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过总线与处理器相连接。存储器也可以和处理器集成在一起。
其中，存储器303用于存储执行本发明方案的应用程序代码，并由处理器301来控制执行。处理器301用于执行存储器303中存储的应用程序代码，从而实现本申请方法中车联网通信装置或车联网服务器的功能。
在具体实现中，作为一种实施例，处理器301可以包括一个或多个CPU，例如图11中的CPU0和CPU1。
在具体实现中，作为一种实施例，装置300可以包括多个处理器，例如图11中的处理器301和处理器308。这些处理器中的每一个可以是一个单核(single-CPU)处理器，也可以是一个多核(multi-CPU)处理器。这里的处理器可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。
在具体实现中，作为一种实施例，装置300还可以包括输出设备305和输入设备306。输出设备305和处理器301通信，可以以多种方式来显示信息。例如，输出设备305可以是液晶显示器(liquid crystal display，LCD),发光二级管(light emitting diode，LED)显示设备，阴极射线管(cathode ray tube，CRT)显示设备，或投影仪(projector)等。输入设备306和处理器301通信，可以以多种方式接受用户的输入。例如，输入设备306可以是鼠标、键盘、触摸屏设备或传感设备等。
当图11所示的装置为芯片时，通信接口304的功能/实现过程还可以通过管脚或电路等来实现，所述存储器为所述芯片内的存储单元，如寄存器、缓存等，所述存储单元还可以是位于所述芯片外部的存储单元。
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，该单元的划分，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。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。
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。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。该计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行该计算机程序指令时，全部或部分地产生按照本申请实施例的流程或功能。该计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。该计算机指令可以存储在计算机可读存储介质中，或者通过该计算机可读存储介质进行传输。该计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。该计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。该可用介质可以是只读存储器(read-only memory，ROM)，或随机存储存储器(random access memory，RAM)，或磁性介质，例如，软盘、硬盘、磁带、磁碟、或光介质，例如，数字通用光盘(digital versatile disc，DVD)、或者半导体介质，例如，固态硬盘(solid state disk，SSD)等。

Claims (21)

  1. 一种车辆跟驰方法，其特征在于，所述方法包括：
    接收来自服务器的行驶缓慢预警信息；
    向所述服务器发送跟驰启动请求消息，其中，所述跟驰启动请求消息包括车辆行驶路径；
    获取车辆跟驰信息，其中，所述车辆跟驰信息包括跟驰车速范围和车辆距离范围，所述车辆跟驰信息是根据以下一个或多个信息确定的：被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息；
    根据所述车辆跟驰信息，调整自身的车速和与所述被跟驰车辆的距离。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    向所述服务器上报跟驰车辆自身的车速信息和位置信息。
  3. 根据权利要求1或2所述的方法，其特征在于，所述获取车辆跟驰信息，包括：
    接收来自所述服务器的以下一个或多个信息：被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息；
    根据所述被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息中的一个或多个信息确定所述车辆跟驰信息。
  4. 根据权利要求1或2所述的方法，其特征在于，所述获取车辆跟驰信息，包括：
    接收来自所述服务器的所述车辆跟驰信息。
  5. 根据权利要求1～4任一项所述的方法，其特征在于，所述方法还包括：
    接收来自所述服务器的更新的所述车辆行驶路径上的路况信息、和/或所述被跟驰车辆的行驶状态信息。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    在设定时间段内未接收到更新的所述被跟驰车辆的行驶状态信息，向所述服务器发送跟驰取消消息。
  7. 根据权利要求1～6任一项所述的方法，其特征在于，所述方法还包括：
    接收来自所述服务器的行驶缓慢预警解除信息；
    向所述服务器发送跟驰关闭消息。
  8. 根据权利要求1～7任一项所述的方法，其特征在于，所述方法还包括：
    确定改变车辆行驶路径；
    向所述服务器发送跟驰取消消息。
  9. 一种车辆跟驰方法，其特征在于，所述方法包括：
    发送行驶缓慢预警信息；
    接收来自车联网通信装置的跟驰启动请求消息，其中，所述跟驰启动请求消息包括车辆行驶路径；
    向所述车联网通信装置发送以下一个或多个信息：被跟驰车辆的车速、位置、所 述车辆行驶路径上的路况信息，或所述服务器根据所述被跟驰车辆的车速、位置、所述车辆行驶路径上的路况信息中的一个或多个信息确定车辆跟驰信息，并向所述车联网通信装置发送所述车辆跟驰信息，其中，所述车辆跟驰信息包括跟驰车速范围和车辆距离范围。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    接收来自一个或多个车辆的车速信息和位置信息。
  11. 根据权利要求9或10所述的方法，其特征在于，所述方法还包括：
    向被跟驰车辆发送跟驰预警信息，所述跟驰预警信息用于提醒跟驰车辆启动跟驰。
  12. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    接收来自所述被跟驰车辆的跟驰提示信息，所述跟驰提示信息用于提示所述被跟驰车辆不具备被跟驰条件；
    向所述车联网通信装置发送所述跟驰提示信息；
    接收来自所述车联网通信装置的跟驰关闭消息。
  13. 根据权利要求9～12任一项所述的方法，其特征在于，所述方法还包括：
    接收来自所述被跟驰车辆的更新的行驶状态信息；
    向所述被跟驰车辆发送更新的所述车辆行驶路径上的路况信息、和/或所述被跟驰车辆的行驶状态信息。
  14. 根据权利要求9～13任一项所述的方法，其特征在于，所述方法还包括：
    向所述车联网通信装置发送行驶缓慢预警解除信息；
    接收来自所述车联网通信装置的跟驰关闭消息。
  15. 根据权利要求9～14任一项所述的方法，其特征在于，所述方法还包括：
    当所述车联网通信装置改变车辆行驶路径时，接收来自所述车联网通信装置的跟驰取消消息。
  16. 一种车联网通信装置，其特征在于，所述装置用于执行权利要求1～8中任一项所述的方法。
  17. 一种服务器，其特征在于，所述服务器用于执行权利要求9～15中任一项所述的方法。
  18. 一种车联网通信装置，其特征在于，包括处理器、收发器和存储器，其中，所述存储器用于存储计算机程序，所述计算机程序包括程序指令，所述处理器执行所述程序指令，以使所述车联网通信装置执行如权利要求1～8中任一项所述的方法。
  19. 一种服务器，其特征在于，包括处理器、收发器和存储器，其中，所述存储器用于存储计算机程序，所述计算机程序包括程序指令，所述处理器执行所述程序指令，以使所述服务器执行如权利要求9～15中任一项所述的方法。
  20. 一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行如权利要求1～8中任一项所述的方法。
  21. 一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行如权利要求9～15中任一项所述的方法。
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