WO2023103507A1 - 车辆的控制方法、电子设备及存储介质 - Google Patents

车辆的控制方法、电子设备及存储介质 Download PDF

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Publication number
WO2023103507A1
WO2023103507A1 PCT/CN2022/119113 CN2022119113W WO2023103507A1 WO 2023103507 A1 WO2023103507 A1 WO 2023103507A1 CN 2022119113 W CN2022119113 W CN 2022119113W WO 2023103507 A1 WO2023103507 A1 WO 2023103507A1
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WIPO (PCT)
Prior art keywords
vehicle
control method
bluetooth
state
distance
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PCT/CN2022/119113
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English (en)
French (fr)
Inventor
徐旻
许梅
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中兴终端有限公司
中兴通讯股份有限公司
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Publication of WO2023103507A1 publication Critical patent/WO2023103507A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the present application relates to but is not limited to the technical field of the Internet of Vehicles, and in particular relates to a vehicle control method, electronic equipment and storage media.
  • the embodiment of the present application provides a vehicle control method, which is applied to the first vehicle, and the control method includes: receiving Bluetooth networking information; responding to the Bluetooth networking information and accessing the Bluetooth network; acquiring a first location of the first vehicle; acquiring a second location of a second vehicle in the Bluetooth network, and controlling a vehicle state of the first vehicle according to the first location and the second location.
  • the embodiment of the present application provides an electronic device, including: a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the electronic device as in the embodiment of the first aspect of the present application is implemented.
  • a control method for a vehicle according to any one of the above.
  • the embodiments of the present application provide a computer-readable storage medium storing a program, and the program is executed by a processor to implement the vehicle control method described in any one of the embodiments of the first aspect of the present application.
  • FIG. 1 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application
  • Fig. 2 is a schematic flow chart of controlling the vehicle state based on the vehicle serial number provided by an embodiment of the present application;
  • FIG. 3 is a schematic diagram of a multi-vehicle Bluetooth network provided by an embodiment of the present application.
  • Fig. 4 is a schematic flow chart of controlling the vehicle state according to the current distance and the safety distance provided by an embodiment of the present application;
  • Fig. 5 is a schematic flow chart of controlling the vehicle state according to the current distance and the safety distance provided by another embodiment of the present application;
  • FIG. 6 is a schematic flow diagram of obtaining a safe distance provided by an embodiment of the present application.
  • Fig. 7 is a schematic flow chart of controlling the state of the vehicle according to the speed of the vehicle provided by an embodiment of the present application;
  • Fig. 8 is a schematic flow chart of controlling the state of the vehicle according to the fault state provided by an embodiment of the present application.
  • Fig. 9 is a schematic flow chart of obtaining the estimated passing time of vehicles provided by an embodiment of the present application.
  • Fig. 10 is a schematic flow diagram of optimizing vehicle driving state according to estimated passing time provided by an embodiment of the present application.
  • Fig. 11 is a schematic diagram of a first vehicle provided by an embodiment of the present application.
  • Fig. 12 is a schematic diagram of an electronic device provided by an embodiment of the present application.
  • orientation descriptions such as up, down, front, back, left, right, etc. indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only For the convenience of describing the present application and simplifying the description, it does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of the present application.
  • Bluetooth SIG Bluetooth SIG
  • BLE traditional Bluetooth protocol
  • an embodiment of the present application provides a vehicle control method, electronic equipment, and a storage medium.
  • the vehicle control method can be applied to the first vehicle, and the first vehicle can improve the orderliness of road conditions by executing the vehicle control method. Improve safety and driving convenience.
  • the embodiment of the present application provides a vehicle control method, which is applied to the first vehicle.
  • the vehicle control method in the embodiment of the present application includes but not limited to step S110, step S120, step S130 and step S140 .
  • Step S110 receiving Bluetooth networking information.
  • Step S120 responding to the Bluetooth networking information and accessing the Bluetooth network.
  • Step S130 acquiring the first position of the first vehicle.
  • Step S140 acquiring the second location of the second vehicle in the Bluetooth network, and controlling the vehicle state of the first vehicle according to the first location and the second location.
  • the vehicle control method in the embodiment of the present application is applied to the first vehicle and belongs to near field communication.
  • the control method in the embodiment of the present application is executed, the first vehicle receives Bluetooth networking information, And in response to the Bluetooth networking information, access to the Bluetooth network.
  • the Bluetooth network is a local area network composed of multiple vehicles in the current road segment. Therefore, after the first vehicle is connected to the Bluetooth network, it can obtain the first vehicle number of the second vehicle in the network.
  • the first vehicle can combine its own first position and the second position of the second vehicle to obtain the driving environment of the first vehicle, and based on this, control the vehicle state of the first vehicle, including controlling the driving state of the first vehicle Or communication status, which can improve the orderliness of the road conditions and the convenience of driving, and improve driving safety.
  • the first vehicle acquires the second location of the second vehicle, and the second location can be sent by the second vehicle through the Bluetooth module on the vehicle, or it can be based on the second vehicle existing in the Bluetooth network of the first vehicle. , and obtain the distance according to the ranging equipment installed inside the first vehicle. For example, after the first vehicle is connected to the Bluetooth network, it can know the existence of multiple vehicles in the network, and according to the vehicle-mounted laser rangefinder To obtain the second location of the second vehicle, in the embodiment of the present application, the first vehicle receives the information of the second location of the second vehicle in the Bluetooth network through the Bluetooth module as an example, but this does not represent a limitation to the embodiment of the application.
  • the first vehicle receives the Bluetooth networking information and passively connects to the Bluetooth network.
  • the Bluetooth network is a local BLE MESH formed on the current road section.
  • the first vehicle can send and receive bluetooth information through the bluetooth network.
  • the first vehicle can obtain Its own first position can also be sent to the Bluetooth network via Bluetooth for other vehicles to receive.
  • control method in the embodiment of the present application controls the vehicle state of the first vehicle through the first position and the second position, including controlling the driving state or communication state of the first vehicle.
  • first position and the second position The second position can represent the specific position of the vehicle on the road, including the lane information and the front and rear information of the vehicle.
  • the front and rear conditions control the vehicle state of the first vehicle.
  • the driving state of the first vehicle can be controlled, and the first vehicle can be controlled to accelerate, decelerate or change lanes.
  • the communication state of the first vehicle can be controlled, and the first vehicle can send its own status information or notification information to other vehicles in the Bluetooth network through Bluetooth, so as to facilitate other vehicles to carry out driving control and improve the orderliness of road conditions and driving safety. Convenience, improve driving safety.
  • step S110 may also include but not limited to the following steps:
  • the Bluetooth networking information sent by the base station in the preset area is received.
  • the first vehicle executes the control method in the embodiment of the present application only when it enters a specific road section to realize passive control.
  • a specific road section in the road is defined as a preset area, and in the preset area
  • the base station is set in the base station.
  • the base station is a base station based on Bluetooth.
  • the base station can automatically transmit Bluetooth signals, including sending out Bluetooth networking information.
  • the first vehicle enters the preset area, it can receive the Bluetooth networking information sent by the base station. , so as to access the Bluetooth network in response to the Bluetooth networking information.
  • a specific road section is set as the above-mentioned preset area, and a Bluetooth-based base station is set beside a specific roadside.
  • the specific road section can be It is a road section or a road section in a key area where congestion often occurs, such as a school road section, a road section near an important unit, or a dangerous road section.
  • the control method in the embodiment of the application is executed on a specific road section, which improves the orderliness and safety of the road conditions under the specific road section. Driving convenience, improve driving safety.
  • step S140 may also include but not limited to steps S210 to S220.
  • step S210 the first serial number of the first vehicle in the Bluetooth network is obtained according to the corresponding relationship between the first location and the second location.
  • Step S220 control the vehicle status of the first vehicle based on the first serial number and the second serial number of the second vehicle, the second serial number is obtained by the second vehicle according to the corresponding relationship between the first position and the second position.
  • the first vehicle after the first vehicle is connected to the Bluetooth network, it will generate a corresponding serial number and control based on the serial number.
  • the first serial number in the Bluetooth network the second vehicle obtains the second serial number of the second vehicle in the Bluetooth network according to the corresponding relationship between the first position and the second position, and the first serial number is related to the position of the first vehicle in the Bluetooth network
  • the second vehicle may refer to other vehicles in the Bluetooth network except the first vehicle, and the first vehicle controls the vehicle state of the first vehicle based on the first serial number and the second serial number of the second vehicle, for example, according to different serial number, control the first vehicle to drive sequentially, and configure the serial number for the vehicle to facilitate the management of the vehicles in the Bluetooth network.
  • the first serial number in the embodiment of the present application can be obtained according to the lane information of the first vehicle and the front and rear information of the vehicle, and the first serial number can be set as a two-digit number or have the first serial number.
  • a number consisting of a number and a second number, the first number and the second number can be separated by a decimal point, wherein the first number can represent the lane in which the first vehicle is located, and the second number can represent the lane in which the first vehicle is located.
  • the sequence on the lane for example, the vehicle with ID 2.3 can indicate that the first vehicle is the third vehicle in the second lane, and the number of vehicles in the Bluetooth network can change in real time, so the serial number of the vehicle can also change in real time .
  • Bluetooth networks can be formed based on each preset area.
  • Vehicles in the Bluetooth network can form several groups (Group), and vehicles can be connected to the Group in the Bluetooth network.
  • Each vehicle needs to have a Bluetooth chip that supports the BLE specification.
  • Vehicles that support the Bluetooth Mesh specification can directly join the network, and vehicles that do not support the MESH specification can also join through proxy nodes (terminal devices that support the MESH specification, or even adjacent vehicles).
  • the vehicle can directly communicate with the vehicle within the signal coverage, and the nodes outside the signal coverage can communicate through the base station on each road section as a relay node to achieve a wide range of multi-point to multi-point Information exchange.
  • the control method in the embodiment of the present application can be executed on the vehicles in the Group, and the vehicles in the Group can be controlled. It can be understood that, under each Group, several sub-groups can also be formed among the vehicles, according to the formed sub-groups Groups perform driving control. Sub-Groups can be divided according to lane conditions in the preset area, Bluetooth signal reception conditions, or different positions in the preset area. No specific restrictions are made here.
  • the vehicles in the two adjacent lanes can be controlled according to the sub-group or the whole group during the driving process, and there is no specific limitation here.
  • the division of sub-groups can be divided according to the strength of the received Bluetooth signal. In one embodiment, if a sub-group is formed according to vehicles that receive the same strong Bluetooth signal, during the driving of the vehicle, if The merged road proceeds sequentially according to the group serial number, and the serial number on the vehicle can be updated in real time, so there is no specific limitation here.
  • the division of sub-groups can be divided according to different positions in the preset area. In one embodiment, several segments can be set in the area according to different distance positions, and the vehicles in each segment can form a sub-group. Group.
  • the several groups formed on the road in the embodiment of the present application can also be divided according to the strength of the received Bluetooth signal, for example, in a certain preset area, the first base station sends a Bluetooth networking After the information is received, the vehicles that receive the information form a Group. When the first base station and the second base station appear in the area, the vehicles form a network according to the strength of the received Bluetooth networking information. Vehicles with strong Bluetooth networking information received from the first base station form Group1, and vehicles with strong Bluetooth networking information received from the second base station within a certain preset area form Group2.
  • the number of Groups can be determined according to the actual It is set according to the situation, and no specific limitation is set here.
  • the execution of the control can be independently controlled by the on-board control module of the vehicle, or can be controlled solely by the Bluetooth base station. This is based on the publish/subscribe publishing/subscribing system of the MESH protocol.
  • the vehicle control module needs to specify which base stations have control authority, and the base stations also need to specify which vehicles they can control. Here, it can also be done by relying on the Group; of course, the two can also be coordinated. .
  • step S140 may also include but not limited to step S310 to step S330.
  • Step S310 if it is indicated that the first vehicle and the second vehicle are in the same lane according to the first position and the second position, obtain the current distance between the first vehicle and the second vehicle.
  • Step S320 acquiring the safety distance of the first vehicle or the second vehicle.
  • Step S330 controlling the vehicle state of the first vehicle according to the current distance and the safety distance.
  • the first vehicle controls the vehicle state of the first vehicle according to the first position and the second position. If the first position and the second position indicate that the first vehicle and the second vehicle are in the same lane, it is necessary to judge Whether there is enough safe driving distance between the vehicles, the current distance between the first vehicle and the second vehicle can be obtained, and the current distance can be obtained according to the specific positions represented by the first position and the second position, or can be set in the first
  • the distance measurement module on the vehicle is obtained by measuring the distance, and no specific restrictions are made here, and then the safety distance of the first vehicle or the second vehicle is obtained. The safety distance is obtained from the vehicle state of the first vehicle or the second vehicle itself.
  • the first vehicle can control whether the vehicle state of the first vehicle needs to be adjusted according to the magnitude relationship between the current distance and the safety distance. In an embodiment, whether the safety distance of the first vehicle or the installation distance of the second vehicle is used, the first vehicle can drive while ensuring a sufficient safety distance, thereby improving driving safety.
  • the first vehicle acquires the safe distance of the second vehicle, and controls the communication status of the first vehicle based on the current distance and the safe distance of the second vehicle, so as to Send a corresponding notification to the second vehicle, or control the driving state of the first vehicle based on the current distance and the safety distance of the second vehicle, so as to control the acceleration of the first vehicle and increase the safety distance between vehicles.
  • the safety distance can be obtained from the Bluetooth information sent by the second vehicle; when the first vehicle is behind the second vehicle in the same lane, the first vehicle controls the first vehicle according to its own safety distance and based on the current distance and the safety distance of the first vehicle.
  • the communication state of the vehicle to send a corresponding notification to the second vehicle to remind the second vehicle, or to control the driving state of the first vehicle based on the current distance and the safety distance of the first vehicle, so as to control the acceleration or deceleration of the first vehicle , to ensure a safe distance between vehicles, or to ensure a driving distance between vehicles to avoid road congestion.
  • step S330 may also include but not limited to steps S410 to S430.
  • Step S410 if the first vehicle is ahead of the second vehicle in the same lane according to the first position and the second position, and the current distance is less than the safe distance of the second vehicle, send a distance abnormal notification to the second vehicle, so that the second vehicle Slow down.
  • Step S420 if the first vehicle is behind the second vehicle in the same lane according to the first position and the second position, and the current distance is smaller than the safety distance of the first vehicle, control the first vehicle to slow down.
  • Step S430 if the first vehicle is behind the second vehicle in the same lane according to the first position and the second position, and the current distance is greater than the safe distance of the first vehicle, control the first vehicle to accelerate or maintain the current speed.
  • the first vehicle controls the state of the vehicle according to whether it is the vehicle in front or the vehicle behind, wherein, if the first vehicle is ahead of the second vehicle in the same lane according to the first position and the second position, and the current distance is less than The safe distance of the second vehicle, sending a notification of abnormal distance to the second vehicle to prompt the second vehicle to respond, the second vehicle can respond to the abnormal distance notification and slow down, and the first vehicle can also drive without affecting the safety of the vehicle in front Under the premise that the current distance is smaller than the safety distance of the second vehicle, accelerate driving, and actively increase the driving distance between vehicles; if the first position and the second position indicate that the first vehicle is behind the second vehicle in the same lane, then The first vehicle controls the state of the vehicle according to whether the current distance is smaller than or greater than the safety distance of the first vehicle.
  • the first vehicle is controlled to slow down, thereby increasing the driving distance between vehicles.
  • the current distance is greater than The safety distance of the first vehicle can control the vehicle state of the first vehicle according to the difference between the current distance and the safety distance. If the current distance is much greater than the safety distance or the difference between them is greater than the preset threshold, the first vehicle is controlled to accelerate Driving to reduce the driving distance between vehicles and avoid road congestion. If the current distance is slightly greater than the safety distance or the difference between them is less than the preset threshold, control the first vehicle to maintain the current speed unchanged.
  • the first vehicle When the first vehicle is When the second vehicle is behind, the first vehicle can also feed back its own control information to the second vehicle in front, which is not specifically limited here.
  • step S320 may also include but not limited to step S510 to step S520.
  • Step S510 acquiring the speed, vehicle information and safety factor of one of the first vehicle or the second vehicle.
  • Step S520 obtaining the safety distance according to the speed, vehicle information and safety factor.
  • the safety distance is obtained according to the speed of the vehicle, vehicle information and safety factor.
  • the speed, vehicle information and safety factor of the first vehicle are obtained.
  • vehicle information and safety factor to obtain the safety distance of the first vehicle when the safety distance of the second vehicle is to be obtained, the speed, vehicle information and safety factor of the second vehicle are obtained, according to the speed of the second vehicle, vehicle information and safety factor
  • the vehicle information in the embodiment of the present application can represent the braking situation of the vehicle.
  • the vehicle information is the braking acceleration of the vehicle, and the braking acceleration is related to road conditions, weather and the vehicle's braking speed.
  • the load is related, and the safety factor is related to the preset trigger threshold and reaction speed, which can be set according to actual needs.
  • S represents the safety distance
  • V represents the vehicle speed
  • a represents the braking acceleration
  • n represents the safety factor
  • step S140 may also include but not limited to step S610 to step S630.
  • Step S610 acquiring the first speed of the first vehicle and the second speed of the second vehicle.
  • Step S620 if the first vehicle is ahead of the second vehicle in the same lane according to the first position and the second position, maintain the first vehicle at the first speed.
  • Step S630 if the first vehicle is behind the second vehicle in the same lane according to the first position and the second position, adjust the speed of the first vehicle to correspond to the second speed.
  • the first vehicle obtains its own first speed and receives the second speed sent by the second vehicle through the Bluetooth network. If according to the first position and The second position indicates that the first vehicle is in front of the second vehicle in the same lane, and the first vehicle is maintained at the first speed, indicating that the first vehicle is the vehicle in front at this time, and the vehicle in front can maintain the current speed unchanged to achieve the current speed. It can be understood that when the first vehicle is the vehicle in front, the first speed can be the control speed obtained by the first vehicle according to the fastest safe passage time, so the first vehicle as the vehicle in front maintains This first speed is constant in order to achieve a faster transit time for the entire lane.
  • the first vehicle is behind the second vehicle in the same lane, and the speed of the first vehicle is adjusted to correspond to the second speed of the second vehicle, indicating that the first vehicle is a rear vehicle at this time,
  • the speed of the vehicle behind should correspond to that of the vehicle in front, so as to achieve a faster passing time on the current road section. It is understandable that when the first vehicle is used as the rear vehicle, the first speed needs to be adjusted to be consistent with the second speed. When the first speed is lower than the second speed, if the current speed is maintained, the distance between the two vehicles will increase, thereby causing the risk of traffic congestion.
  • the first vehicle can increase the speed to be consistent with the second speed.
  • the first A vehicle can first accelerate to shorten the distance between the first vehicle and the second vehicle, and when the distance meets the requirements of the safety distance, reduce the speed to be consistent with the second speed of the second vehicle, and when the first speed is greater than the second speed, if the speed of the first vehicle is not controlled, there is a risk of collision. Therefore, the speed of the first vehicle is controlled to be consistent with the second speed of the second vehicle. After the second speed ensures that the distance between the vehicles meets the safety distance requirement, the speed is increased to the second speed, thereby achieving a faster passing time on the current road section.
  • step S140 may also include but not limited to step S710 to step S720.
  • Step S710 if the first vehicle is ahead of the second vehicle in the same lane according to the first position and the second position, when the first vehicle is in a fault state, send the first fault information to the second vehicle for the second vehicle to adjust the vehicle state.
  • Step S720 if the first vehicle is behind the second vehicle in the same lane according to the first position and the second position, when the second vehicle is in a fault state, receive the second fault information sent by the second vehicle, and according to the second fault information Control the first vehicle to switch to an adjacent lane.
  • the vehicle will adjust according to the road conditions to avoid traffic jams, and mainly judge whether the vehicle in the same lane is faulty.
  • the first vehicle sent the first fault information to the second vehicle for the second vehicle to adjust the vehicle state, and the second vehicle behind received the first After the failure information, you can reduce the vehicle speed, stop or switch to the adjacent lane in response to the first failure information.
  • the first vehicle If the first vehicle is behind the second vehicle in the same lane according to the first position and the second position, when the second vehicle is in In the fault state, the second vehicle will send out the second fault information, the first vehicle needs to adjust the driving state, the first vehicle receives the second fault information sent by the second vehicle, and controls the first vehicle to switch to the adjacent lane according to the second fault information , so as to avoid causing congestion on the lane where the fault is transmitted.
  • first fault information and the second fault information indicate that the vehicle cannot drive normally on the current lane
  • first fault information and the second fault information may indicate that the vehicle has a fault, or may indicate that the vehicle is stopped, or, It can also be used to characterize situations such as a decrease in vehicle speed when the vehicle is turning, which is not specifically limited here.
  • both the first fault information and the second fault information can be sent out through the Bluetooth module on the vehicle and received by the Bluetooth module on another vehicle, and the vehicle receives and sends the above-mentioned first fault information through the Bluetooth network. Fault message and second fault message.
  • lane changes can be made in the early stage of the road section in the preset area, and the lane change area can be used in the later stage, and the vehicle driving can be intervened by the control module installed on the vehicle.
  • the lane change is allowed in the early stage to average the road conditions of the lanes, and the control module will control it in the later stage, which can improve the orderliness of the road conditions and the convenience of driving, and improve driving safety.
  • step S140 may also include but not limited to steps S810 to S820.
  • Step S810 if the first vehicle is behind the second vehicle in the same lane according to the first position and the second position, acquire the time information of the second vehicle passing through the current road segment.
  • Step S820 calculating and obtaining a first estimated passing time for the first vehicle to pass through the current road segment according to the time information.
  • the vehicle can predict the time it takes for the vehicle to pass the current road section, mainly based on the time the vehicle in front passes the current road section. After the vehicle, the time information of the second vehicle passing through the current road section is obtained. The time information can be sent through the Bluetooth network and received by the first vehicle. The first vehicle calculates the first estimated passing time of the first vehicle passing through the current road section according to the time information , in another embodiment, the first vehicle can calculate the expected passing time of its own vehicle by collecting the passing time of all vehicles in front, or by obtaining the passing time of several sub-Groups ahead.
  • the first estimated passing time can be obtained according to the acquired time information, combined with the current time between the first vehicle and the second vehicle and the first speed of the first vehicle, and when the first vehicle is the current When there is a vehicle ahead in the lane, the time to pass the current road section can be calculated according to the remaining distance of the current road section and the first speed of the vehicle itself, and there is no specific limitation here.
  • step S820 may further include but not limited to step S910 to step S920.
  • Step S910 acquiring the second estimated passing time of the second vehicle and the third estimated passing time of the third vehicle in the Bluetooth network.
  • Step S920 optimally controlling the driving state of the first vehicle according to the first estimated passing time, the second estimated passing time and the third estimated passing time.
  • the vehicle combines all vehicles in the bluetooth network to obtain the estimated passing time of each vehicle, thereby optimizing the driving state of the first vehicle, realizing the optimization of the passing time in the entire bluetooth network, the first vehicle obtains the second The second estimated passing time of the second vehicle and the third estimated passing time of the third vehicle in the bluetooth network, and optimize the driving state of the first vehicle according to the first estimated passing time, the second estimated passing time and the third estimated passing time,
  • the second vehicle is a vehicle in the same lane as the first vehicle, and the second estimated passing time of the second vehicle can be calculated by the steps in the above-mentioned embodiment.
  • the second estimated passing time is based on The remaining distance of the current road section and its own vehicle speed are calculated.
  • the third vehicle is several vehicles on other lanes. It can be understood that, in order to improve the speed of lane traffic in the preset area, the embodiment of the present application integrates the area
  • the estimated passing time of all vehicles in the vehicle can calculate the optimal driving path of the vehicle.
  • the first vehicle can change lanes to other lanes to minimize the total passing time, that is, the first estimated passing time, the second estimated passing time
  • the sum of the time and the third expected passage time is the smallest, and the optimization calculation can be obtained through the neural network model obtained through training, and no specific limitation is set here.
  • the first estimated passing time of the first vehicle after the first estimated passing time of the first vehicle is obtained, it can be displayed to the user, and the length of the road section or the length of the remaining road section, as well as the number of vehicles in front acquired through the Bluetooth network, etc. can also be displayed. , without any specific limitation here.
  • the embodiment of the present application also provides a first vehicle
  • the first vehicle includes a Bluetooth module 101, a prediction module 102, a ranging module 103, a control module 104 and a display module 105
  • the Bluetooth module 101 is Set to receive and send Bluetooth information, including receiving Bluetooth networking information, and connecting the first vehicle to the Bluetooth network in response to the Bluetooth networking information
  • the Bluetooth module 101 is set to connect with the peer Bluetooth device, exchange information, and send Streaming data is transmitted to multiple bluetooth devices, etc.
  • the prediction module 102 is set to obtain multiple vehicle information in the same lane, including obtaining the passing time or predicted passing time of other vehicles, predicting the time it takes for the vehicle to pass through the road section, and measuring distance.
  • the module 103 is configured to assist in calculating whether the distance between itself and the vehicles in front and behind meets the requirements, and the control module 104 is configured to perform vehicle driving control on a specific road section, and no human manipulation is performed on this road section.
  • the display module 105 is configured to display information about the road section, including the length of the road section, the number of vehicles ahead, and the expected passage time.
  • the first vehicle can execute the vehicle control method in the above-mentioned embodiment. When executing the control method in the above-mentioned embodiment, The first vehicle receives the Bluetooth networking information, and responds to the Bluetooth networking information to access the Bluetooth network.
  • the Bluetooth network is a local area network composed of multiple vehicles in the current road segment.
  • the first vehicle after the first vehicle is connected to the Bluetooth network, it can Obtain the second position of the second vehicle in the network, so that the first vehicle can combine its own first position and the second position of the second vehicle to obtain the driving environment of the first vehicle, and control the vehicle state of the first vehicle based on this , including controlling the driving state or communication state of the first vehicle, which can improve the orderliness of road conditions and the convenience of driving, and improve driving safety.
  • the first vehicle can also be equipped with other modules as required, and no specific restrictions are set here.
  • the vehicle 2.3 will receive a signal strength indicator (Received Signal Strength Indicator, RSSI) value to find the vehicle with the closest distance to the adjacent lane, that is, vehicle 1.3 and vehicle 3.3. All vehicles in front of these vehicles can form a subgroup, where the first number in the ID represents the lane, and the latter number represents the subgroup.
  • the generation of sub-groups is mainly for the situation of merging or vehicle failure. For example, when a merging occurs, the vehicles of a group move forward in sequence according to the ID, or when one of the vehicles fails, the vehicles behind the faulty lane sequentially Switching lanes is not specifically limited here.
  • FIG. 12 shows an electronic device 200 provided by an embodiment of the present application.
  • the electronic device 200 includes: a processor 201 , a memory 202 , and a computer program stored on the memory 202 and operable on the processor 201 .
  • the computer program is used to execute the above-mentioned vehicle control method when running.
  • the processor 201 and the memory 202 may be connected through a bus or other means.
  • the memory 202 can be used to store non-transitory software programs and non-transitory computer-executable programs, such as the vehicle control method described in the embodiment of the present application.
  • the processor 201 executes the non-transitory software programs and instructions stored in the memory 202 to implement the above-mentioned vehicle control method.
  • the memory 202 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required by a function; the data storage area may store the above-mentioned vehicle control method.
  • the memory 202 may include a high-speed random access memory 202, and may also include a non-transitory memory 202, such as at least one storage device, a flash memory device or other non-transitory solid-state storage devices.
  • the memory 202 may optionally include memory 202 remotely located relative to the processor 201, and these remote memory 202 may be connected to the electronic device 200 through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the non-transitory software programs and instructions required to realize the above-mentioned vehicle control method are stored in the memory 202, and when executed by one or more processors 201, the above-mentioned vehicle control method is executed, for example, the Method step S110 to step S140, method step S210 to step S220 in Fig. 2, method step S310 to step S330 in Fig. 4, method step S410 to step S430 in Fig. 5, method step S510 to step S520 in Fig. 6 , the method steps S610 to S620 in FIG. 7 , the method steps S710 to S720 in FIG. 8 , the method steps S810 to S820 in FIG. 9 , and the method steps S910 to S920 in FIG. 10 .
  • the embodiment of the present application also provides a computer-readable storage medium storing computer-executable instructions, and the computer-executable instructions are used to execute the above-mentioned vehicle control method.
  • the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more control processors, for example, executing steps S110 to S140 of the method in FIG. Method step S210 to step S220 in, method step S310 to step S330 in Fig. 4, method step S410 to step S430 in Fig. 5, method step S510 to step S520 in Fig. 6, method step S610 to step S520 in Fig. 7 Step S620, the method steps S710 to S720 in FIG. 8 , the method steps S810 to S820 in FIG. 9 , and the method steps S910 to S920 in FIG. 10 .
  • the vehicle control method in the embodiment of the present invention is applied to the first vehicle.
  • the first vehicle receives the Bluetooth networking information, and accesses the Bluetooth network in response to the Bluetooth networking information Among them, the Bluetooth network is a local area network composed of multiple vehicles in the current road segment. Therefore, after the first vehicle is connected to the Bluetooth network, it can obtain the second position of the second vehicle in the network, so that the first vehicle can combine its own The first position of the first vehicle and the second position of the second vehicle obtain the driving environment of the first vehicle, and based on this control the vehicle state of the first vehicle, including controlling the driving state or communication state of the first vehicle, which can improve the orderliness of road conditions And driving convenience, improve driving safety.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • Computer storage media including, but not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cartridges, magnetic tape, storage device storage or other magnetic storage devices, or Any other medium that can be used to store desired information and that can be accessed by a computer.
  • communication media typically embody computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media .

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Abstract

一种车辆的控制方法，应用于第一车辆，包括接收蓝牙组网信息（S110）；响应于蓝牙组网信息并接入蓝牙网络中（S120）；获取第一车辆的第一位置（S130）；获取蓝牙网络内第二车辆的第二位置，并根据第一位置和第二位置控制第一车辆的车辆状态(S140)。蓝牙网络是在当前路段中多个车辆组成的局域网络，因此第一车辆在接入到蓝牙网络后，可以获取得到网络中第二车辆的第二位置，由此第一车辆可以结合自身的第一位置和第二车辆的第二位置得到第一车辆的行车环境，并基于此控制第一车辆的车辆状态，包括控制第一车辆的行驶状态或通信状态。还公开了一种电子设备及存储介质。

Description

车辆的控制方法、电子设备及存储介质
相关申请的交叉引用
本申请基于申请号为202111475277.6、申请日为2021年12月6日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及但不限于车联网技术领域，特别是涉及一种车辆的控制方法、电子设备及存储介质。
背景技术
随着汽车自动化驾驶技术的发展，越来越多的车辆开始实现自动驾驶，在实际生活中，在某些特定路段或者是在特定的时间段会出现车流量过多、换道频繁、车祸等而导致路况更加严峻的情况，导致汽车的实际行驶时间往往会是较好路况状态下的数倍，严重影响道路环境和行车安全。
发明内容
以下是对本文详细描述的主题的概述。本概述并非是为了限制权利要求的保护范围。
第一方面，本申请实施例提供了一种车辆的控制方法，应用于第一车辆，所述控制方法包括：接收蓝牙组网信息；响应于所述蓝牙组网信息并接入蓝牙网络中；获取所述第一车辆的第一位置；获取所述蓝牙网络内第二车辆的第二位置，并根据所述第一位置和所述第二位置控制所述第一车辆的车辆状态。
第二方面，本申请实施例提供了一种电子设备，包括：存储器、处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现如本申请第一方面实施例中任意一项所述的车辆的控制方法。
第三方面，本申请实施例提供了一种计算机可读存储介质，存储有程序，所述程序被处理器执行实现如本申请第一方面实施例中任意一项所述的车辆的控制方法。
本申请的其他特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本申请而了解。本申请的目的和其他优点可通过在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。
附图说明
附图用来提供对本申请技术方案的进一步理解，并且构成说明书的一部分，与本申请的实施例一起用于解释本申请的技术方案，并不构成对本申请技术方案的限制。
图1是本申请一个实施例提供的车辆的控制方法的流程示意图；
图2是本申请一个实施例提供的基于车辆序号控制车辆状态的流程示意图；
图3是本申请一个实施例提供的多车辆的蓝牙网络示意图；
图4是本申请一个实施例提供的根据当前间距和安全间距控制车辆状态的流程示意图；
图5是本申请另一个实施例提供的根据当前间距和安全间距控制车辆状态的流程示意图；
图6是本申请一个实施例提供的得到安全间距的流程示意图；
图7是本申请一个实施例提供的根据车辆速度控制车辆状态的流程示意图；
图8是本申请一个实施例提供的根据故障状态控制车辆状态的流程示意图；
图9是本申请一个实施例提供的得到车辆预计通过时间的流程示意图；
图10是本申请一个实施例提供的根据预计通过时间优化车辆行驶状态的流程示意图；
图11是本申请一个实施例提供的第一车辆的示意图；
图12是本申请一个实施例提供的电子设备的示意图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
在本申请的描述中，需要理解的是，涉及到方位描述，例如上、下、前、后、左、右等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请实施例的限制。
应了解，在本申请实施例的描述中，若干的含义为一个以上，多个(或多项)的含义是两个以上，大于、小于、超过等理解为不包括本数，以上、以下、以内等理解为包括本数。如果有描述到“第一”、“第二”等只是用于区分技术特征为目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。
本申请实施例的描述中，除非另有明确的限定，设置、安装、连接等词语应做广义理解，所属技术领域技术人员可以结合技术方案的具体内容合理确定上述词语在本申请实施例中的具体含义。
蓝牙技术联盟(Bluetooth SIG)组织在2017年发布了蓝牙Mesh标准，蓝牙Mesh不同于传统蓝牙协议(BLE)的一对一、一对多的通信方式，它实现了多对多的通信，这使得蓝牙mesh网络中的各个节点之间可以相互通信，蓝牙Mesh协议建立在BLE的物理层和链路层之上，它可以和BLE 4.0及以上版本的蓝牙设备通信。
基于此，本申请实施例提供了一种车辆的控制方法、电子设备及存储介质，车辆的控制方法可应用在第一车辆中，第一车辆通过执行车辆的控制方法，能够提高路况的有序性和驾驶的便捷性，提高行车安全。
下面进行详细说明。
本申请实施例提供了一种车辆的控制方法，应用于第一车辆，参照图1所示，本申请实施例中的车辆的控制方法包括但不限于步骤S110、步骤S120、步骤S130和步骤S140。
步骤S110，接收蓝牙组网信息。
步骤S120，响应于蓝牙组网信息并接入蓝牙网络中。
步骤S130，获取第一车辆的第一位置。
步骤S140，获取蓝牙网络内第二车辆的第二位置，并根据第一位置和第二位置控制第一车辆的车辆状态。
在一实施例中，本申请实施例中的车辆的控制方法，应用于第一车辆中，属于近场通讯，在执行本申请实施例中的控制方法时，第一车辆接收蓝牙组网信息，并响应于蓝牙组网信息接入蓝牙网络中，蓝牙网络是在当前路段中多个车辆组成的局域网络，因此第一车辆在接入 到蓝牙网络后，可以获取得到网络中第二车辆的第二位置，由此第一车辆可以结合自身的第一位置和第二车辆的第二位置得到第一车辆的行车环境，并基于此控制第一车辆的车辆状态，包括控制第一车辆的行驶状态或通信状态，能够提高路况的有序性和驾驶的便捷性，提高行车安全。
可以理解的是，第一车辆获取得到第二车辆的第二位置，第二位置可以是第二车辆通过车载的蓝牙模块发送出去的，也可以是第一车辆基于蓝牙网络中存在的第二车辆，并根据第一车辆内部设置的测距设备进行测距获取得到，例如，在第一车辆接入蓝牙网络后，就可以得知网络中的多个车辆的存在，并根据车载激光测距仪获取第二车辆的第二位置，本申请实施例中以第一车辆通过蓝牙模块接收蓝牙网络中第二车辆的第二位置的信息为例子，但并不表示为对本申请实施例的限制。
可以理解的是，第一车辆接收蓝牙组网信息，被动接入到蓝牙网络中，蓝牙网络为在当前路段形成的局域的BLE MESH，在该网络中，可以有多个车辆组成的蓝牙节点，第一车辆作为其中的一个蓝牙节点，可以通过蓝牙网络发送和接收蓝牙信息，网络内可以有第一车辆、第二车辆和第三车辆等，在此不做具体限制，第一车辆获取得到的自身的第一位置，也可以通过蓝牙发送到蓝牙网络中，以供其它车辆接收。
可以理解的是，本申请实施例中的控制方法通过第一位置和第二位置控制第一车辆的车辆状态，包括控制第一车辆的行驶状态或通信状态，需要说明的是，第一位置和第二位置可以表征车辆在道路上的具体位置，包括所处的车道信息和车辆前后信息等，车辆所处的路段可以有多个车道，通过第一位置和第二位置可以根据不同的车道、前后情况对第一车辆的车辆状态进行控制，当需要进行制动或者变道时，可以控制第一车辆的行驶状态，控制第一车辆加速、减速或变道，当第一车辆不需要制动时，可以控制第一车辆的通信状态，第一车辆可以通过蓝牙发出自身的状态信息或通知信息给蓝牙网络内的其它车辆，从而方便其它车辆进行行车控制，提高路况的有序性和驾驶的便捷性，提高行车安全。
在一实施例中，上述步骤S110中还可以包括但不限于以下步骤：
当第一车辆驶入预设区域，接收预设区域内基站发送的蓝牙组网信息。
在一实施例中，第一车辆在驶入特定路段才执行本申请实施例中的控制方法，实现被动控制，本申请实施例在道路中的特定路段定义为预设区域，并在预设区域中设置基站，基站为基于蓝牙的基站，该基站可以自动发射出蓝牙信号，包括发出蓝牙组网信息，当第一车辆驶入预设区域内时，即可接收到基站发送的蓝牙组网信息，从而响应于蓝牙组网信息接入蓝牙网络中。
可以理解的是，预设区域的位置可根据实际需要设置，在一实施例中，将特定路段设置为上述所说的预设区域，并在特定路边旁设置基于蓝牙的基站，特定路段可以是经常发生拥堵的路段或重点区域的路段，如学校路段、重要单位附近路段或危险路段等，在特定路段上执行本申请实施例中的控制方法，提高了特定路段下路况的有序性和驾驶的便捷性，提高行车安全。
参照图2所示，在一实施例中，上述步骤S140中还可以包括但不限于步骤S210至步骤S220。
步骤S210，根据第一位置和第二位置的对应关系得到第一车辆在蓝牙网络中的第一序号。
步骤S220，基于第一序号和第二车辆的第二序号控制第一车辆的车辆状态，第二序号为 第二车辆根据第一位置和第二位置的对应关系得到。
在一实施例中，第一车辆在接入到蓝牙网络中后，会生成对应的序号，并基于该序号进行控制，第一车辆根据第一位置和第二位置的对应关系得到第一车辆在蓝牙网络中的第一序号，第二车辆则根据第一位置和第二位置的对应关系得到第二车辆在蓝牙网络中的第二序号，第一序号与第一车辆在蓝牙网络中的位置有关，可以理解的是，第二车辆可以指除了第一车辆外在蓝牙网络中的其它车辆，第一车辆基于第一序号和第二车辆的第二序号控制第一车辆的车辆状态，例如根据不同的序号，控制第一车辆依次行驶，为车辆配置序号也方便对蓝牙网络中的车辆进行管理。
参照图3所示，可以理解的是，本申请实施例中的第一序号可以根据第一车辆所处的车道信息和车辆前后信息得到，第一序号可以设置为两位数的号码或者拥有第一数字和第二数字组成的号码，第一数字和第二数字之间可以设置小数点隔开，其中，第一数字可以表征第一车辆所处的车道，第二数字可以表征第一车辆所处的车道上的顺序，如ID为2.3的车辆可以表明第一车辆为第二车道中的第三部车，蓝牙网络内的车辆数量可以是实时变化的，因此车辆的序号也可以是实时变化的。
参照图3所示，需要说明的是，本申请实施例中的道路上的不同位置可以设置若干个预设区域，并基于各个预设区域形成若干个蓝牙网络。蓝牙网络内的车辆可以组成若干个组(Group)，车辆可以接入蓝牙网络中的Group中。各车辆需要具备支持BLE规范的蓝牙芯片。对于支持Bluetooth Mesh规范的车辆来说可以直接加入网络，不支持MESH规范的车辆也可以通过代理节点(支持MESH规范的终端设备，甚至相邻车辆)加入。因为蓝牙MESH的特性，车辆可以与信号覆盖范围内的车辆直接通信，对于信号覆盖范围外的节点可以通过每个路段上的基站作为中继节点进行通信，实现广范围的多点到多点的信息交互。可以对Group内的车辆执行本申请实施例中的控制方法，对Group内的车辆进行控制，可以理解的是，在每个Group之下，车辆之间还可以形成若干个子Group，根据形成的子Group进行驾驶控制，子Group可以根据预设区域内车道情况、蓝牙信号接收情况或预设区域内的不同位置进行划分，在此不做具体限制，例如，每个子Group可以表征在一个车道或相邻两个车道内的车辆，在行驶的过程中，车辆可以根据子Group进行控制，也可以根据整个Group进行控制，在此不做具体限制。又例如，子Group的划分可以按照接收蓝牙信号的强弱来进行划分，在一实施例中，如根据接收到同一较强蓝牙信号的车辆形成一个子Group，在车辆的行驶过程中，如果出现并道则按照Group序号依次前进，车辆上的序号可以实时更新，在此不做具体限制。又例如，子Group的划分可以按照预设区域内的不同位置来进行划分，在一实施例中，区域内根据不同距离位置可以设置若干个分段，每个分段内的车辆可以形成一个子Group。
可以理解的是，本申请实施例中的在道路上形成的若干个Group，也可以按照接收蓝牙信号的强弱来进行划分，例如在某个预设区域内，由第一基站发出蓝牙组网信息后，接收到该信息的车辆组成一个Group，当区域内出现有第一基站和第二基站时，车辆根据接收到的蓝牙组网信息的强弱进行组网，在某个预设区域内接收到的第一基站的蓝牙组网信息较强的车辆组成Group1，而在某个预设区域内接收到的第二基站的蓝牙组网信息较强的车辆组成Group2，Group的数量可以根据实际情况进行设置，在此不做具体限制。
可以理解的是，不同的Group之间可以互联而形成同一个大的Group，如当Group1内的车辆在行驶过程中，头车或若干Group1内的车辆进入下一个Group2组网的范围时，Group1 和Group2内的车辆可以组成同一个Group，由此可以对该Group内的车辆进行控制。
在一些实施例中，控制的执行，可以单独由车辆的车载控制模块自行控制，也可以单独由蓝牙基站进行控制。这基于MESH协议的publish/subscribe发布/订阅系统，车载控制模块需要明确哪些基站具备控制权限，基站也需要明确自己所能控制的车辆，这里也可以依靠Group来进行；当然也可以两者配合进行。
参照图4所示，在一实施例中，上述步骤S140中还可以包括但不限于步骤S310至步骤S330。
步骤S310，若根据第一位置和第二位置表征第一车辆和第二车辆在同一车道，获取第一车辆与第二车辆之间的当前间距。
步骤S320，获取第一车辆或第二车辆的安全间距。
步骤S330，根据当前间距和安全间距控制第一车辆的车辆状态。
在一实施例中，第一车辆根据第一位置和第二位置来控制第一车辆的车辆状态，若根据第一位置和第二位置表征第一车辆和第二车辆在同一车道，则需要判断车辆之间是否拥有足够的安全行驶距离，可以获取第一车辆与第二车辆之间的当前间距，当前间距可以根据第一位置和第二位置表征的具体位置得到，也可以由设置在第一车辆上的测距模块测距得到，在此不做具体限制，再获取得到第一车辆或第二车辆的安全间距，安全间距由第一车辆或第二车辆自身的车辆状态得到，根据当前间距和安全间距来控制第一车辆的车辆状态，第一车辆可以根据当前间距和安全间距的大小关系来控制是否需要调整第一车辆的车辆状态。在实施例中，通过第一车辆的安全间距还是第二车辆的安装间距，使得第一车辆可以在确保足够安全间距的情况下行驶，从而提高行车安全。
可以理解的是，当第一车辆位于同一车道的第二车辆前，第一车辆获取得到第二车辆的安全间距，并基于当前间距和第二车辆的安全间距控制第一车辆的通信状态，以发出对应的通知到第二车辆中，又或者，基于当前间距和第二车辆的安全间距控制第一车辆的行驶状态，以控制第一车辆加速行驶，提高车辆之间的安全距离，第二车辆的安全间距可由第二车辆发送出来的蓝牙信息得到；当第一车辆位于同一车道的第二车辆后，第一车辆根据自身的安全间距，并基于当前间距和第一车辆的安全间距控制第一车辆的通信状态，以发出对应的通知到第二车辆中提醒第二车辆，又或者，基于当前间距和第一车辆的安全间距控制第一车辆的行驶状态，以控制第一车辆加速或减速行驶，确保车辆之间的安全距离，或确保车辆之间的行车距离，避免道路拥堵。
参照图5所示，在一实施例中，上述步骤S330中还可以包括但不限于步骤S410至步骤S430。
步骤S410，若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之前，且当前间距小于第二车辆的安全间距，向第二车辆发送间距异常通知，以使第二车辆减速行驶。
步骤S420，若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之后，且当前间距小于第一车辆的安全间距，控制第一车辆减速行驶。
步骤S430，若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之后，且当前间距大于第一车辆的安全间距，控制第一车辆加速行驶或维持当前车速不变。
在一实施例中，第一车辆根据自身是前车还是后车来控制车辆状态，其中，若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之前，且当前间距小于第二车辆的安全 间距，向第二车辆发送间距异常通知，以提示第二车辆做出反应，第二车辆可响应于间距异常通知并减速行驶，第一车辆还可以在不影响前车行车安全的前提下，根据当前间距小于第二车辆的安全间距而加速行驶，主动提高车辆之间的行车距离；若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之后，则第一车辆根据当前间距小于还是大于第一车辆的安全间距来控制车辆的状态，当前间距小于第一车辆的安全间距，控制第一车辆减速行驶，从而提高车辆之间的行车距离，当前间距大于第一车辆的安全间距，可根据当前间距与安全间距的差值来控制第一车辆的车辆状态，若当前间距远大于安全间距或之间的差值大于预设阈值时，控制第一车辆加速行驶，以减少车辆之间的行车距离，避免道路拥堵，若当前间距略大于安全间距或之间的差值小于于预设阈值时，控制第一车辆维持当前车速不变，在第一车辆为第二车辆的后车时，第一车辆还可以反馈自身的控制信息到前车的第二车辆中，在此不做具体限制。
参照图6所示，在一实施例中，上述步骤S320中还可以包括但不限于步骤S510至步骤S520。
步骤S510，获取第一车辆或第二车辆中的一个的速度、车辆信息和安全系数。
步骤S520，根据速度、车辆信息和安全系数得到安全间距。
在一实施例中，安全间距根据车辆的速度、车辆信息和安全系数得到，当要获取第一车辆的安全间距时，获取第一车辆的速度、车辆信息和安全系数，根据第一车辆的速度、车辆信息和安全系数得到第一车辆的安全间距，当要获取第二车辆的安全间距时，获取第二车辆的速度、车辆信息和安全系数，根据第二车辆的速度、车辆信息和安全系数得到第二车辆的安全间距，本申请实施例中的车辆信息可以表征车辆的制动情况，在一实施例中，车辆信息为车辆的制动加速度，而制动加速度与路况、天气以及车辆的载重有关，安全系数与预先设定的触发阈值和反应速度有关，可根据实际需要设置。
需要说明的是，本申请实施例提供了一个安全间距的计算公式，所得到的安全间距计算公式为：
Figure PCTCN2022119113-appb-000001
其中，用S表示安全间距，V表示车速，a表示制动加速度，n表示安全系数，可以理解的是，本申请实施例中以上述公式计算得到安全间距，可以根据需要获取得到第一车辆或第二车辆的安全间距，进而控制第一车辆的车辆状态，在满足本申请实施例要求的前提下，安全间距还可以根据其他公式计算得到，在此不做具体限制。
参照图7所示，在一实施例中，上述步骤S140中还可以包括但不限于步骤S610至步骤S630。
步骤S610，获取第一车辆的第一速度以及第二车辆的第二速度。
步骤S620，若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之前，维持第一车辆在第一速度。
步骤S630，若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之后，调整第一车辆的速度至与第二速度相对应。
在一实施例中，需要控制同一车道的车辆保持一致的行驶速度，第一车辆获取得到自身 的第一速度，并通过蓝牙网络接收第二车辆发送过来的第二速度，若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之前，维持第一车辆在第一速度不变，说明此时第一车辆为前车，前车可以保持当前速度不变，以实现在当前路段较快的通行时间，可以理解的是，当第一车辆作为前车时，第一速度可以是第一车辆根据最快的安全通行时间得到的控制速度，因此作为前车的第一车辆维持在该第一速度不变，以实现整个车道较快的通行时间。
而根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之后，调整第一车辆的速度至与第二车辆的第二速度相对应，说明此时第一车辆为后车，后车的速度要与前车相对应，以实现在当前路段较快的通行时间，可以理解的是，当第一车辆作为后车时，第一速度需要调整至与第二速度一致，当第一速度小于第二速度时，若维持当前速度会造成两车之间的间距变大，从而有造成交通拥堵的风险，第一车辆可以提高车速至与第二速度一致，可以理解的是，第一车辆可以先加速以拉近第一车辆和第二车辆之间的距离，当距离满足安全间距的要求后，降低速度至与第二车辆的第二速度一致，而当第一速度大于第二速度时，若不控制第一车辆的车速则有撞车风险，因此控制第一车辆降低车速至与第二车辆的第二速度一致，可以理解的是，第一车辆也可以先降速至低于第二速度以保证车辆之间的距离满足安全间距要求后，再提速至第二速度，由此可以实现在当前路段较快的通行时间。
参照图8所示，在一实施例中，上述步骤S140中还可以包括但不限于步骤S710至步骤S720。
步骤S710，若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之前，当第一车辆处于故障状态，向第二车辆发送第一故障信息，以供第二车辆调整车辆状态。
步骤S720，若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之后，当第二车辆处于故障状态，接收第二车辆发送的第二故障信息，并根据第二故障信息控制第一车辆切换至相邻车道。
在一实施例中，车辆会根据道路状况进行调整，避免出现交通拥堵，主要对同车道车辆是否出现故障进行判断，若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之前，当第一车辆处于故障状态，第一车辆需要调整通信状态，第一车辆向第二车辆发送第一故障信息，以供第二车辆调整车辆状态，后车的第二车辆接收到第一故障信息后，可以响应于第一故障信息降低车速、停车或切换至相邻车道等，若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之后，当第二车辆处于故障状态，第二车辆会发出第二故障信息，第一车辆需要调整行驶状态，第一车辆接收第二车辆发送的第二故障信息，并根据第二故障信息控制第一车辆切换至相邻车道，从而避免在发送故障的车道上造成拥堵。
需要说明的是，第一故障信息和第二故障信息表征车辆无法在当前车道上正常行驶，第一故障信息和第二故障信息可以表征车辆发生故障，又或者，可以表征车辆停止，又或者，还可以表征车辆正在转弯而发生的车速降低等情况，在此不做具体限制。
可以理解的是，第一故障信息和第二故障信息均可以通过车辆上的蓝牙模块发送出去，并由另一部车辆上的蓝牙模块接收，车辆通过蓝牙网络接收和发送上述所说的第一故障信息和第二故障信息。
需要说明的是，在一实施例中，在预设区域内的路段前期可以进行变道，后期为不可变道区域，车辆行驶可由车辆上设置的控制模块介入。在实施例中，前期允许变道是为了平均车道路况，等到后期再由控制模块进行控制，能够提高路况的有序性和驾驶的便捷性，提高 行车安全。
参照图9所示，在一实施例中，上述步骤S140中还可以包括但不限于步骤S810至步骤S820。
步骤S810，若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之后，获取第二车辆通过当前路段的时间信息。
步骤S820，根据时间信息计算得到第一车辆通过当前路段的第一预计通过时间。
在一实施例中，车辆可以预测本车辆通过当前路段需要花费的时间，主要根据前车通过当前路段的时间来判断，若根据第一位置和第二位置表征第一车辆在同一车道的第二车辆之后，获取第二车辆通过当前路段的时间信息，该时间信息可以通过蓝牙网络发送，并由第一车辆接收，第一车辆根据时间信息计算得到第一车辆通过当前路段的第一预计通过时间，在另一实施例中，第一车辆可以通过收集前方所有车辆通过时间的方式，也可以只获取前方数个子Group通过时间从而计算得到自身车辆的预计通过时间。
可以理解的是，第一预计通过时间可以根据所获取的时间信息，再结合第一车辆与第二车辆之间的当前间以及第一车辆的第一速度后得到，而当第一车辆作为当前车道上的前车时，可以根据当前路段剩余的距离，以及自身的第一速度，计算得到通过当前路段的时间，在此不做具体限制。
参照图10所示，在一实施例中，上述步骤S820之后还可以包括但不限于步骤S910至步骤S920。
步骤S910，获取第二车辆的第二预计通过时间以及蓝牙网络内第三车辆的第三预计通过时间。
步骤S920，根据第一预计通过时间、第二预计通过时间和第三预计通过时间优化控制第一车辆的行驶状态。
在一实施例中，车辆结合蓝牙网络中的所有车辆，获取各个车辆的预计通过时间，从而来优化第一车辆的行驶状态，实现的是整个蓝牙网络内通行时间最优化，第一车辆获取第二车辆的第二预计通过时间以及蓝牙网络内第三车辆的第三预计通过时间，并根据第一预计通过时间、第二预计通过时间和第三预计通过时间优化控制第一车辆的行驶状态，第二车辆为与第一车辆同一车道的车辆，第二车辆的第二预计通过时间可由上述实施例中的步骤计算得到，当第二车辆为车道的前车时，第二预计通过时间为根据当前路段剩余的距离，以及自身的车速计算得到的，第三车辆为其它车道上的若干个车辆，可以理解的是，为了提高了预设区域内车道通行的速度，本申请实施例整合了区域内所有车辆的预计通过时间，可以计算出车辆最优的行驶路径，例如，第一车辆可以变道至其他车道中，以使总的通行时间最小，即第一预计通过时间、第二预计通过时间和第三预计通过时间之和最小，优化计算可通过训练得到的神经网络模型得到，在此不做具体限制。
可以理解的是，本申请实施例中在得到第一车辆的第一预计通过时间后，可以显示给用户查看，还可以显示路段长度或剩余路段长度、以及通过蓝牙网络获取得到的前方车辆数量等，在此不做具体限制。
参照图11所示，本申请实施例还提供了一种第一车辆，第一车辆包括设置了蓝牙模块101、预测模块102、测距模块103、控制模块104和显示模块105，蓝牙模块101被设置为接收和发送蓝牙信息，包括接收蓝牙组网信息，并响应于蓝牙组网信息将第一车辆接入蓝牙 网络中，蓝牙模块101被设置为与对端蓝牙设备连接、信息交互、将音频流数据传输给多个蓝牙设备等，预测模块102被设置为获取同一车道的多个车辆信息，包括获取其它车辆的通行时间或预测通行时间，预测本车辆通过该路段需要花费的时间，测距模块103被设置为辅助计算自身与前后车辆的距离是否符合要求，控制模块104被设置为在特定路段执行车辆行驶控制，在此路段上不进行人为操控。显示模块105被设置为显示路段相关信息，包括路段长度，前方车辆数量，预计通过时间等，第一车辆可以执行上述实施例中的车辆的控制方法，在执行上述实施例中的控制方法时，第一车辆接收蓝牙组网信息，并响应于蓝牙组网信息接入蓝牙网络中，蓝牙网络是在当前路段中多个车辆组成的局域网络，因此第一车辆在接入到蓝牙网络后，可以获取得到网络中第二车辆的第二位置，由此第一车辆可以结合自身的第一位置和第二车辆的第二位置得到第一车辆的行车环境，并基于此控制第一车辆的车辆状态，包括控制第一车辆的行驶状态或通信状态，能够提高路况的有序性和驾驶的便捷性，提高行车安全，第一车辆还可以根据需要设置其他模块，在此不做具体限制。
可以理解的是，以图3为例，选择车道2没有加入子Group的三个车辆，蓝牙模块101在进行组网的过程中，车辆2.3会通过蓝牙接收信号的强度指示(Received Signal Strength Indicator，RSSI)值查找相邻车道距离最近的车辆，即车辆1.3和车辆3.3，在这些车辆前的所有车辆可以形成一个子Group，其中ID中前一个数字代表车道，后一个数字代表以子Group为单位在车道上的位置，子Group的生成主要是针对并道或车辆故障的情况，如发生并道时，一个Group的车辆按照ID依次前进，或其中一个车辆发生故障时，故障车道之后的车辆依次切换车道，在此不做具体限制。
图12示出了本申请实施例提供的电子设备200。电子设备200包括：处理器201、存储器202及存储在存储器202上并可在处理器201上运行的计算机程序，计算机程序运行时用于执行上述的车辆的控制方法。
处理器201和存储器202可以通过总线或者其他方式连接。
存储器202作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序以及非暂态性计算机可执行程序，如本申请实施例描述的车辆的控制方法。处理器201通过运行存储在存储器202中的非暂态软件程序以及指令，从而实现上述的车辆的控制方法。
存储器202可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储执行上述的车辆的控制方法。此外，存储器202可以包括高速随机存取存储器202，还可以包括非暂态存储器202，例如至少一个储存设备存储器件、闪存器件或其他非暂态固态存储器件。在一些实施方式中，存储器202可选包括相对于处理器201远程设置的存储器202，这些远程存储器202可以通过网络连接至该电子设备200。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
实现上述的车辆的控制方法所需的非暂态软件程序以及指令存储在存储器202中，当被一个或者多个处理器201执行时，执行上述的车辆的控制方法，例如，执行图1中的方法步骤S110至步骤S140、图2中的方法步骤S210至步骤S220、图4中的方法步骤S310至步骤S330、图5中的方法步骤S410至步骤S430、图6中的方法步骤S510至步骤S520、图7中的方法步骤S610至步骤S620、图8中的方法步骤S710至步骤S720、图9中的方法步骤S810至步骤S820、图10中的方法步骤S910至步骤S920。
本申请实施例还提供了计算机可读存储介质，存储有计算机可执行指令，计算机可执行指令用于执行上述的车辆的控制方法。
在一实施例中，该计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个控制处理器执行，例如，执行图1中的方法步骤S110至步骤S140、图2中的方法步骤S210至步骤S220、图4中的方法步骤S310至步骤S330、图5中的方法步骤S410至步骤S430、图6中的方法步骤S510至步骤S520、图7中的方法步骤S610至步骤S620、图8中的方法步骤S710至步骤S720、图9中的方法步骤S810至步骤S820、图10中的方法步骤S910至步骤S920。
本发明实施例中的车辆的控制方法，应用于第一车辆中，在执行本发明实施例中的控制方法时，第一车辆接收蓝牙组网信息，并响应于蓝牙组网信息接入蓝牙网络中，蓝牙网络是在当前路段中多个车辆组成的局域网络，因此第一车辆在接入到蓝牙网络后，可以获取得到网络中第二车辆的第二位置，由此第一车辆可以结合自身的第一位置和第二车辆的第二位置得到第一车辆的行车环境，并基于此控制第一车辆的车辆状态，包括控制第一车辆的行驶状态或通信状态，能够提高路况的有序性和驾驶的便捷性，提高行车安全。
以上所描述的装置实施例仅仅是示意性的，其中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，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
本领域普通技术人员可以理解，上文中所公开方法中的全部或某些步骤、系统可以被实施为软件、固件、硬件及其适当的组合。某些物理组件或所有物理组件可以被实施为由处理器，如中央处理器、数字信号处理器或微处理器执行的软件，或者被实施为硬件，或者被实施为集成电路，如专用集成电路。这样的软件可以分布在计算机可读介质上，计算机可读介质可以包括计算机存储介质(或非暂时性介质)和通信介质(或暂时性介质)。如本领域普通技术人员公知的，计算机存储介质包括在用于存储信息(诸如计算机可读指令、数据结构、程序模块或其他数据)的任何方法或技术中实施的易失性和非易失性、可移除和不可移除介质。计算机存储介质包括但不限于RAM、ROM、EEPROM、闪存或其他存储器技术、CD-ROM、数字多功能盘(DVD)或其他光盘存储、磁盒、磁带、储存设备存储或其他磁存储装置、或者可以用于存储期望的信息并且可以被计算机访问的任何其他的介质。此外，本领域普通技术人员公知的是，通信介质通常包括计算机可读指令、数据结构、程序模块或者诸如载波或其他传输机制之类的调制数据信号中的其他数据，并且可包括任何信息递送介质。
还应了解，本申请实施例提供的各种实施方式可以任意进行组合，以实现不同的技术效果。
以上是对本申请的较佳实施进行了具体说明，但本申请并不局限于上述实施方式，熟悉本领域的技术人员在不违背本申请精神的共享条件下还可作出种种等同的变形或替换，这些等同的变形或替换均包括在本申请权利要求所限定的范围内。

Claims (12)

  1. 一种车辆的控制方法，应用于第一车辆，所述控制方法包括：
    接收蓝牙组网信息；
    响应于所述蓝牙组网信息并接入蓝牙网络中；
    获取所述第一车辆的第一位置；
    获取所述蓝牙网络内第二车辆的第二位置，并根据所述第一位置和所述第二位置控制所述第一车辆的车辆状态。
  2. 根据权利要求1所述的车辆的控制方法，其中，所述接收蓝牙组网信息，包括：
    当所述第一车辆驶入预设区域，接收所述预设区域内基站发送的所述蓝牙组网信息。
  3. 根据权利要求1所述的车辆的控制方法，其中，所述根据所述第一位置和所述第二位置控制所述第一车辆的车辆状态，包括：
    根据所述第一位置和所述第二位置的对应关系得到所述第一车辆在所述蓝牙网络中的第一序号；
    基于所述第一序号和所述第二车辆的第二序号控制所述第一车辆的车辆状态，所述第二序号为所述第二车辆根据所述第一位置和所述第二位置的对应关系得到。
  4. 根据权利要求1或3所述的车辆的控制方法，其中，所述根据所述第一位置和所述第二位置控制所述第一车辆的车辆状态，包括：
    若根据所述第一位置和所述第二位置表征所述第一车辆和所述第二车辆在同一车道，获取所述第一车辆与所述第二车辆之间的当前间距；
    获取所述第一车辆或所述第二车辆的安全间距；
    根据所述当前间距和所述安全间距控制所述第一车辆的车辆状态。
  5. 根据权利要求4所述的车辆的控制方法，其中，所述根据所述当前间距和所述安全间距控制所述第一车辆的车辆状态，包括：
    若根据所述第一位置和所述第二位置表征所述第一车辆在同一车道的所述第二车辆之前，且所述当前间距小于所述第二车辆的所述安全间距，向所述第二车辆发送间距异常通知，以使所述第二车辆减速行驶；
    若根据所述第一位置和所述第二位置表征所述第一车辆在同一车道的所述第二车辆之后，且所述当前间距小于所述第一车辆的所述安全间距，控制所述第一车辆减速行驶；
    若根据所述第一位置和所述第二位置表征所述第一车辆在同一车道的所述第二车辆之后，且所述当前间距大于所述第一车辆的所述安全间距，控制所述第一车辆加速行驶或维持当前车速不变。
  6. 根据权利要求4所述的车辆的控制方法，其中，所述获取所述第一车辆或所述第二车辆的安全间距，包括：
    获取所述第一车辆或所述第二车辆中的一个的速度、车辆信息和安全系数；
    根据所述速度、所述车辆信息和所述安全系数得到所述安全间距。
  7. 根据权利要求1或3所述的车辆的控制方法，其中，所述根据所述第一位置和所述第二位置控制所述第一车辆的车辆状态，包括：
    获取所述第一车辆的第一速度以及所述第二车辆的第二速度；
    若根据所述第一位置和所述第二位置表征所述第一车辆在同一车道的所述第二车辆之前，维持所述第一车辆在所述第一速度；
    若根据所述第一位置和所述第二位置表征所述第一车辆在同一车道的所述第二车辆之后，调整所述第一车辆的速度至与所述第二速度相对应。
  8. 根据权利要求1或3所述的车辆的控制方法，其中，所述根据所述第一位置和所述第二位置控制所述第一车辆的车辆状态，包括：
    若根据所述第一位置和所述第二位置表征所述第一车辆在同一车道的所述第二车辆之前，当所述第一车辆处于故障状态，向所述第二车辆发送第一故障信息，以供所述第二车辆调整车辆状态；
    若根据所述第一位置和所述第二位置表征所述第一车辆在同一车道的所述第二车辆之后，当所述第二车辆处于故障状态，接收所述第二车辆发送的第二故障信息，并根据所述第二故障信息控制所述第一车辆切换至相邻车道。
  9. 根据权利要求1或3所述的车辆的控制方法，其中，所述根据所述第一位置和所述第二位置控制所述第一车辆的车辆状态之后，所述控制方法还包括：
    若根据所述第一位置和所述第二位置表征所述第一车辆在同一车道的所述第二车辆之后，获取所述第二车辆通过当前路段的时间信息；
    根据所述时间信息计算得到所述第一车辆通过所述当前路段的第一预计通过时间。
  10. 根据权利要求9所述的车辆的控制方法，其中，所述根据所述时间信息计算得到所述第一车辆通过所述当前路段的第一预计通过时间之后，所述控制方法还包括：
    获取所述第二车辆的第二预计通过时间以及所述蓝牙网络内第三车辆的第三预计通过时间；
    根据所述第一预计通过时间、所述第二预计通过时间和所述第三预计通过时间优化控制所述第一车辆的行驶状态。
  11. 一种电子设备，包括：存储器、处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时如实现权利要求1至10中任意一项所述的车辆的控制方法。
  12. 一种计算机可读存储介质，存储有程序，所述程序被处理器执行实现如权利要求1至10中任意一项所述的车辆的控制方法。
PCT/CN2022/119113 2021-12-06 2022-09-15 车辆的控制方法、电子设备及存储介质 WO2023103507A1 (zh)

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