CN114373322B

CN114373322B - Method for managing formation of vehicles and related products

Info

Publication number: CN114373322B
Application number: CN202111670980.2A
Authority: CN
Inventors: 傅建雄; 刘新宇
Original assignee: Beijing Wanji Technology Co Ltd
Current assignee: Beijing Wanji Technology Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2024-02-13
Anticipated expiration: 2041-12-31
Also published as: CN114373322A

Abstract

The present disclosure relates to a method for fleet management of vehicles and related products. The method comprises the steps of obtaining formation application information sent by an application vehicle and used for carrying out formation application on a target management vehicle. The formation application information comprises a vehicle identification of the application vehicle, identification information of the application vehicle, vehicle state information of the application vehicle and a vehicle team identification of the application target vehicle team. When the identity of the application vehicle is matched with the vehicle state according to the identity information of the application vehicle and the vehicle state information, judging whether the application target vehicle team is matched with the vehicle team according to the vehicle team identification of the application target vehicle team and the vehicle team identification of the vehicle team managed by the target management vehicle; if so, acquiring the running information of the application vehicle and member vehicles in the vehicle team according to the vehicle identification of the application vehicle and the vehicle team identification of the vehicle team; and managing the formation of the vehicle team according to the vehicle state information of the application vehicle and the driving information. The scheme can enable the vehicles to form a queue for running, so that the passing efficiency is improved.

Description

Method for managing formation of vehicles and related products

Technical Field

The present disclosure relates generally to the field of internet of vehicles. More particularly, the present disclosure relates to a method for fleet management of vehicles, an in-vehicle device, a non-transitory computer readable storage medium, and a system for fleet management of vehicles.

Background

With the current rapid increase in the amount of motor vehicles retained, the environmental pollution and the excessive utilization of fossil fuels are caused. In addition, the increase of vehicles may also cause traffic jams and frequent traffic accidents, thereby creating serious traffic pressures.

For the problems, improving the traffic efficiency of the expressway is an effective way of saving energy and relieving traffic pressure. However, there is currently no effective solution to this problem.

Disclosure of Invention

At least in light of the foregoing background, embodiments of the present disclosure provide a method, an in-vehicle device, a non-transitory computer-readable storage medium, and a system for fleet management of vehicles.

In a first aspect, the present disclosure provides a method for fleet management of vehicles, comprising: the method comprises the steps that formation application information which is sent by an application vehicle and used for carrying out formation application on a target management vehicle is obtained at first vehicle-mounted equipment, wherein the formation application information comprises vehicle identification of the application vehicle, identity information of the application vehicle, vehicle state information of the application vehicle and vehicle identification of an application target vehicle team; judging whether the application target fleet is matched with the self fleet or not according to the fleet identification of the application target fleet and the fleet identification of the self fleet managed by the target management vehicle when judging and knowing that the application vehicle is matched with the vehicle state according to the identity information of the application vehicle and the vehicle state information of the application vehicle; responding to the matching of the application target fleet and the self-fleet, and acquiring the running information of the application vehicles and the running information of member vehicles in the self-fleet from air interface resources according to the vehicle identifications of the application vehicles and the fleet identifications of the self-fleet; and performing formation management on the vehicle team according to the vehicle state information of the application vehicle, the running information of the application vehicle and the running information of member vehicles in the vehicle team.

In one embodiment, the first vehicle-mounted device maintains a plurality of vehicle membership lists for the target management vehicle, and the vehicle membership lists include vehicle identifications therein, the method further comprising: when judging and knowing that the vehicle state of the application vehicle is that the application vehicle is added or leaves the vehicle team according to the vehicle state information of the application vehicle, acquiring the relation between the application vehicle and the vehicle team according to the running information of the application vehicle and the running information of member vehicles in the vehicle team; and responding to the relation meeting the corresponding preset condition, and updating a corresponding vehicle member list according to the vehicle state information of the application vehicle and the vehicle identification of the application vehicle.

In one embodiment, the fleet management of host vehicles includes: determining formation sequences of current fleet members in the fleet according to the running information of the application vehicles and the running information of member vehicles in the fleet when the vehicle state of the application vehicles is judged to be the state of joining the fleet according to the vehicle state information of the application vehicles, wherein the current fleet members comprise the application vehicles and the member vehicles in the fleet; and performing formation management on the vehicle fleet according to the formation ordering.

In one embodiment, determining the queue order of the current fleet members in the host fleet comprises: determining a suggested enqueue position of the application vehicle according to the running information of the application vehicle and the running information of the member vehicle; and determining the formation order of the members of the current vehicle team according to the suggested enqueue position of the applied vehicle and the running information of each member vehicle in the vehicle team.

In one embodiment, the travel information of the member vehicles in the own vehicle fleet includes position information of the member vehicles, and the formation management of the own vehicle fleet includes: determining formation sequences of the remaining member vehicles according to the position information of the remaining member vehicles except the application vehicle in the vehicle team when the vehicle state of the application vehicle is judged to be the vehicle team which is separated from the vehicle team according to the vehicle state information of the application vehicle; and performing formation management on the vehicle fleet according to the formation ordering of the remaining member vehicles.

In one embodiment, the first vehicle-mounted device maintains a plurality of vehicle membership lists for the target management vehicle, and the vehicle membership lists include vehicle identifications therein, the method further comprising: and updating a corresponding vehicle member list according to the vehicle state information of the applied vehicle and the vehicle identification of the applied vehicle.

In a second aspect, the present disclosure also provides a method for fleet management of vehicles, comprising: the method comprises the steps that formation management information which is sent by a target management vehicle and used for carrying out formation management on the target vehicle is obtained at a second vehicle-mounted device, wherein the formation management information comprises identity information of the target management vehicle, vehicle state information of the target management vehicle and a vehicle formation identifier of a vehicle formation managed by the target management vehicle; judging whether the identities and the vehicle states of the target management vehicle and the target vehicle are respectively matched according to the identity information of the target management vehicle, the vehicle state information of the target management vehicle, the identity information of the target vehicle and the vehicle state information of the target vehicle; responding to the matching of the identities and the vehicle states of the target management vehicle and the target vehicle, and judging whether the fleet identification of the target management vehicle managed by the target management vehicle is matched with the fleet identification of the target vehicle according to the fleet identification of the target management vehicle managed by the target management vehicle and the fleet identification of the target vehicle, wherein the fleet identification of the target vehicle is the fleet identification of the target vehicle to which the target vehicle belongs currently or the fleet to which the target vehicle is applied to join; and responding to the matching of the fleet identification of the target management vehicle and the fleet identification of the target vehicle, and performing formation management according to the vehicle state information of the target management vehicle and the vehicle state information of the target vehicle.

In one embodiment, the second in-vehicle device maintains vehicle status information and/or identity information of the target vehicle, and performing formation management includes: judging whether the vehicle state of the target management vehicle is a fleet managed by the target management vehicle according to the vehicle state information of the target management vehicle; responding to the vehicle state of the target management vehicle to break up a fleet managed by the target management vehicle, and updating the identity information of the target vehicle according to the vehicle state information of the target management vehicle; and in response to the vehicle state of the target management vehicle not being a fleet managed by the target management vehicle, updating the vehicle state information and/or the identity information of the target vehicle according to the vehicle state information of the target vehicle.

In a third aspect, the present disclosure also provides an in-vehicle apparatus, including: at least one processor; and at least one memory communicatively coupled to the processor, wherein: the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform a method as described in any of the embodiments above.

In a fourth aspect, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform a method as described in any one of the embodiments above.

In a fifth aspect, the present disclosure further provides a system for fleet management of vehicles, including the in-vehicle apparatus of any one of the embodiments described above.

Based on the above description of the solution of the present disclosure, those skilled in the art can understand that, in the present solution, the information of the application vehicle, the information of the application target vehicle team, the information of member vehicles in the vehicle team managed by the target management vehicle, and the information of the vehicle team can be used to perform team management on the vehicle team. The vehicles in the preset range can form a queue to run through the formation management, so that the following distance of the vehicle team can be effectively shortened, the driving density is increased, and the traffic passing efficiency of a road is improved. The improvement of the passing efficiency can ensure the running safety of the vehicle and improve the utilization rate of the road, thereby effectively avoiding traffic accidents and reducing the energy consumption in the running process.

Drawings

The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:

FIG. 1 shows a schematic diagram of a vehicle system;

fig. 2 shows a functional block diagram of a communication system;

FIG. 3 illustrates a flow diagram of a method for fleet management of vehicles provided by an embodiment of the present disclosure;

FIGS. 4-7 respectively illustrate a flow diagram of a method for fleet management of vehicles provided by another embodiment of the present disclosure;

fig. 8 shows a block diagram of a vehicle-mounted device provided by an embodiment of the present disclosure; .

FIG. 9 illustrates a flow diagram of a method for fleet management of vehicles provided by an embodiment of the present disclosure;

fig. 10 shows a flow diagram of a method for fleet management of vehicles provided by another embodiment of the present disclosure.

Detailed Description

The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person skilled in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.

In order to alleviate current traffic pressure, the present disclosure can be through the mode of car networking to the traffic flow is formation management to increase driving density, and then reach the purpose that effectively avoids traffic accident and improves road traffic efficiency.

It will be appreciated that in a road (e.g. a highway), there are often times when multiple vehicles are traveling in the same lane or adjacent lanes at the same time. At this time, if the multiple vehicles form a queue to run through a certain rule by the formation management method disclosed by the invention, the energy consumption in the running process can be effectively reduced, and meanwhile, the safety of the expressway running is ensured and the utilization rate of the roads is improved. The triggering of the vehicle system and formation management to which the embodiments of the present disclosure are applied will be described with reference to fig. 1 and 2.

Fig. 1 shows a schematic diagram of a vehicle system 100 that may be applied to embodiments of the present disclosure. As shown in fig. 1, the vehicle system 100 may include a pilot vehicle a that is within a preset range, a follower vehicle B, C, D that is located in the same fleet as the pilot vehicle a (shown in a dashed box in the figure) and follows the pilot vehicle a, and a free vehicle E, F that is not in the fleet.

Fig. 2 illustrates a functional block diagram of a communication system 200 to which embodiments of the present disclosure may be applied.

As shown in fig. 2, the communication system 200 may include a human-machine interaction device 201, an in-vehicle device 202 of a first vehicle, and an in-vehicle device 203 of a second vehicle, which are sequentially connected. The first vehicle may be, for example, the aforementioned pilot vehicle a, the follower vehicle B, C, D, or the free vehicle E, F, and the On-board device 202 of the first vehicle may be an On-board Unit ("OBU") of the first vehicle.

The second vehicle may be another vehicle than the first vehicle in the vehicle system 100 described above. For example, when the first vehicle is the pilot vehicle a, the second vehicle may be any one of the follower vehicle B, C, D and the free vehicle E, F. When the first vehicle is the following vehicle B, the second vehicle may be any one of the pilot vehicle a, the following vehicle C, D, and the free vehicle E, F. In addition, when the first vehicle is the free vehicle E, the second vehicle may be any one of the pilot vehicle a and the follower vehicle B, C, D. The in-vehicle device 203 of the second vehicle may be an OBU of the second vehicle.

The following describes the triggering of the formation management, taking the first vehicle as an example.

First, the human-computer interaction device 201 may transmit a human-computer interaction instruction to the in-vehicle device 202 of the first vehicle according to the vehicle identification of the first vehicle. The human-machine interaction instructions may include a variety of instructions, which may include, for example, create fleet instructions, join fleet instructions, break-up fleet instructions, and leave fleet instructions.

After receiving the man-machine interaction instruction, the vehicle-mounted device 202 of the first vehicle can analyze the man-machine interaction instruction, and judge whether the identity and/or the vehicle state of the first vehicle are matched with the man-machine interaction instruction according to the analyzed man-machine interaction instruction and the identity information and/or the vehicle state information of the first vehicle. It is understood that the identity information of the first vehicle and the vehicle state information may be set according to a man-machine interaction instruction or generated through interaction of the in-vehicle device 202 of the first vehicle and the in-vehicle device 203 of the second vehicle.

In one implementation scenario, the identity information of the first vehicle may indicate an identity of the vehicle, which may include the aforementioned pilot, follower, and free-wheeler. The vehicle state information may indicate a vehicle state, which may include a piloting state, a disaggregation fleet state, a following state, an application to join state, an in-joining state, an application to leave state, an already-away state, a free state, and the like.

Based on this, the matching of the identity of the first vehicle and/or the vehicle status with the human-machine interaction instruction may comprise: and when the man-machine interaction instruction is a team creation instruction and a team joining instruction, if the vehicle state of the first vehicle is a free state and/or the identity of the first vehicle is a free vehicle, confirming that the two are matched. Accordingly, if the vehicle state of the first vehicle is in a non-free state (such as a piloted state, a disarmed vehicle team state or a following state) and/or the identity of the first vehicle is in a non-free vehicle (such as a piloted vehicle or a following vehicle), the two are confirmed to be not matched.

Similarly, when the man-machine interaction instruction is a release fleet instruction, if the vehicle state of the first vehicle is a piloting state and/or the identity of the first vehicle is a piloting vehicle, the two are confirmed to be matched. Accordingly, if the vehicle state of the first vehicle is a non-piloting state (such as a following state, an application joining state, an in-joining state, an application leaving state, an already-leaving state or a free state) and/or the identity of the first vehicle is a non-piloting vehicle (such as a following vehicle or a free vehicle), the two are not matched.

Further, when the man-machine interaction instruction is a leave fleet instruction, if the vehicle state of the first vehicle is a following state and/or the identity of the first vehicle is a following vehicle, the two are confirmed to be matched. Accordingly, if the vehicle state of the first vehicle is a non-following state (such as a piloting state, a disaggregation fleet state, an application joining state, a joining state, an application leaving state, an already-leaving state or a free state) and/or the identity of the first vehicle is a non-following vehicle (such as a piloting vehicle or a free vehicle), the two are confirmed to be not matched.

And broadcasting formation management information to the air interface when the identity and/or the vehicle state of the first vehicle are/is not matched with the man-machine interaction instruction according to the matching. The formation management information may include a variety of information, and may include, for example, a vehicle identification of the first vehicle, identity information of the first vehicle, vehicle status information of the first vehicle, and a fleet identification of the target fleet. Here, the vehicle identification of the first vehicle may be a preset vehicle ID of the first vehicle.

The target fleet may be different fleet based on the vehicle status and/or identity of the first vehicle. Taking the identity as an example, when the identity of the first vehicle is a pilot vehicle, the target fleet may be the own fleet that it creates; when the identity of the first vehicle is a following vehicle, the target fleet may be the fleet to which it currently belongs; further, when the identity of the first vehicle is a free vehicle, the target fleet may be the fleet for which the addition is applied. Additionally, the fleet identifier may be a fleet ID.

When the identity and/or the vehicle state of the first vehicle are/is confirmed to be matched with the man-machine interaction instruction according to the matching, corresponding operation can be executed according to the man-machine interaction instruction. The corresponding operations herein may include, for example, creating or updating a vehicle membership list, setting a fleet identification of a target fleet, setting a fleet open state, broadcasting formation management information to the air interface, and the like.

Specifically, when the man-machine interaction instruction is a create fleet instruction, the vehicle state information of the first vehicle may be updated to first state information, which may indicate that the vehicle state is a piloting state (i.e., the free state is updated to the piloting state). In addition, the identity information of the first vehicle may be updated to be first identity information, where the first identity information may indicate that the identity of the vehicle is a pilot vehicle (i.e., the free vehicle is updated to be a pilot vehicle).

Further, a fleet identifier of the created fleet of vehicles and a list of vehicle members of the created fleet of vehicles may also be set. The vehicle membership list may include a fleet membership list, a join membership list, and an leave membership list. In addition to the above operations, the fleet open state may be set to allow joining of a fleet for joining of other vehicles. Finally, the formation management information may be broadcast to the air interface.

Here, the formation management information may include a vehicle identification of the first vehicle, identification information of the first vehicle, vehicle state information of the first vehicle, and a vehicle group identification of the created own vehicle group.

When the human-computer interaction instruction is a command for joining the motorcade, the running information of the first vehicle can be obtained from the air interface resource according to the vehicle identification of the first vehicle, and the running information of the member vehicles in the target motorcade can be obtained from the air interface resource according to the motorcade identification of the target motorcade. Then, whether the first vehicle is within the effective range of the target fleet may be determined based on the travel information of the first vehicle and the travel information of each member vehicle in the target fleet.

If the first vehicle is confirmed to be in the effective range of the target vehicle team, updating the vehicle state information of the first vehicle to be second state information, wherein the second state information can indicate that the vehicle state is the joining application state, and then broadcasting formation management information to an air interface.

Here, the formation management information may include a vehicle identification of the first vehicle, identification information of the first vehicle, vehicle state information of the first vehicle, and a fleet identification of the target fleet.

Further, when the man-machine interaction instruction is a vehicle team disassembly instruction, the running information of each member vehicle can be obtained from the air interface resource according to the vehicle identification of each member vehicle in the vehicle team member list of the vehicle team managed by the first vehicle. Then, whether each member vehicle is in the own vehicle team or not can be judged according to the running information of each member vehicle. If each member vehicle is confirmed to be in the vehicle team, the vehicle state of the first vehicle is updated to be third state information, and the third state information can indicate the vehicle state to release the vehicle team state. Then, the fleet open state may be set such that joining of the fleet is not allowed, and formation management information is broadcast to the air interface.

Here, the formation management information may include a vehicle identification of the first vehicle, identity information of the first vehicle, vehicle state information of the first vehicle, and a vehicle group identification of the own vehicle group created by the first vehicle.

When the man-machine interaction instruction is a leave vehicle team instruction, the vehicle state of the first vehicle can be updated to fourth state information, the fourth state information can indicate that the vehicle state is a leave application state, and formation management information can be broadcast to an air interface. Here, the formation management information may include a vehicle identification of the first vehicle, identity information of the first vehicle, vehicle state information of the first vehicle, and a vehicle group identification of a vehicle group to which the first vehicle currently belongs.

The triggering of the vehicle system 100, the communication system 200, and the formation management in connection with the embodiments of the present disclosure is exemplarily described above in connection with fig. 1 and 2. It will be appreciated that the foregoing is not intended to limit the embodiments of the disclosure, and those skilled in the art may also modify or adapt the foregoing to the requirements of different application scenarios.

The technical scheme of the present disclosure will be described in conjunction with the embodiments. The present solution may be understood as the interaction of the in-vehicle device 202 of the first vehicle and the in-vehicle device 203 of the second vehicle in the aforementioned communication system 200.

Fig. 3 shows a flow diagram of a method 300 for fleet management of vehicles provided by an embodiment of the present disclosure.

As shown in fig. 3, the method 300 may include, at step S301, acquiring, at a first vehicle-mounted device, formation application information sent by an application vehicle for formation application to a target management vehicle. The applicant vehicle herein may include the aforementioned follower vehicle (e.g., follower vehicle B) or free vehicle (e.g., free vehicle E) in the vehicle system 100, while the target management vehicle may be a pilot vehicle (e.g., pilot vehicle a) in the vehicle system 100. Based on this, the first on-board device may be an OBU of the target management vehicle.

The formation application information in this embodiment may be broadcast to the air interface by the vehicle-mounted device of the application vehicle in the manner described in the foregoing embodiment, and may be acquired from the air interface resource by the first vehicle-mounted device. In this embodiment, the formation application information may include a vehicle identifier of the application vehicle, identity information of the application vehicle, vehicle status information of the application vehicle, and a vehicle group identifier of the application target vehicle group. The vehicle identifier of the applying vehicle may include a vehicle ID of the applying vehicle.

The identity information of the application vehicle can indicate the identity of the application vehicle, and the identity of the application vehicle can be, for example, the pilot vehicle, the following vehicle and the free vehicle. In addition, the vehicle state information of the application vehicle may indicate a vehicle state of the application vehicle. The vehicle state may be, for example, the aforementioned piloting state, following state, joining-in-application state, leaving-already state, and dequeue state.

From the description of the foregoing embodiments, it is appreciated that the application target fleet may vary according to the identity of the application vehicle. For example, when the identity of the application vehicle is a following vehicle, the application target fleet may be the fleet to which it currently belongs; when the identity of the application vehicle is a free vehicle, the application target vehicle team can apply for the vehicle team added. From the description of the foregoing embodiments, the fleet identifier may be a fleet ID.

After the formation application information is obtained, the scheme can carry out safety check on the vehicle state of the application vehicle and the matching condition of the application target vehicle team and the vehicle team managed by the target management vehicle so as to ensure the normal operation of formation management. Specifically, at step S302, when the identity of the application vehicle and the vehicle state of the application vehicle are determined and obtained according to the identity information of the application vehicle and the vehicle state information of the application vehicle, whether the application target vehicle team is matched with the vehicle team is determined according to the vehicle team identification of the application target vehicle team and the vehicle team identification of the vehicle team managed by the target management vehicle.

In one implementation scenario, performing a match check of the identity of the application vehicle and the vehicle status may include: if the identity of the application vehicle is a pilot vehicle and the vehicle state is a non-pilot or non-disaggregated fleet state (e.g., following, applying for joining, applying for leaving, or already leaving state), then the identity of the application vehicle is confirmed to be mismatched with the vehicle state. Correspondingly, if the identity of the application vehicle is a pilot vehicle and the vehicle state is a pilot or release vehicle team state, the identity of the application vehicle is confirmed to be matched with the vehicle state.

In addition, if the identity of the application vehicle is the following vehicle and the vehicle state is a non-leaving, non-application leaving or non-following state (such as a piloting, disaggregation team, application joining or joining state), the identity of the application vehicle is confirmed to be not matched with the vehicle state. Correspondingly, if the identity of the application vehicle is the following vehicle and the vehicle state is the application leaving, leaving or following state, the identity of the application vehicle is confirmed to be matched with the vehicle state.

Further, if the identity of the application vehicle is a free vehicle and the vehicle state is a non-joining or non-joining application state (e.g., a piloting, disaggregation, following, leaving application or leaving application state), the identity of the application vehicle is confirmed to be mismatched with the vehicle state. Correspondingly, if the identity of the application vehicle is a free vehicle and the vehicle state is the application or in-process state, the identity of the application vehicle is confirmed to be matched with the vehicle state.

When the identity of the application vehicle is not matched with the vehicle state, the formation application information can be broadcasted to the air interface so as to be used in other formation management processes.

In the security check for applying for the matching condition of the target fleet and the fleet managed by the target management vehicle, the fleet identifier of the fleet may be a fleet identifier of the fleet created by the target management vehicle, and the fleet identifier may be a fleet ID. Through the inspection, the consistency of the application target fleet and the application target fleet can be ensured, so that the normal operation of formation management can be ensured.

In response to the application target fleet matching the host fleet, the method 300 may proceed to step S303, where the travel information of the application vehicle and the travel information of the member vehicles in the host fleet are obtained from the air interface resource according to the vehicle identification of the application vehicle and the fleet identification of the host fleet.

In one implementation, the present solution may acquire the driving information of each vehicle in the foregoing vehicle system (for example, each member vehicle in the application vehicle and the own vehicle fleet in this embodiment) at a preset time interval (for example, 1 s), and broadcast the driving information to the air interface, so as to call from the air interface resource during formation management. In this aspect, the travel information may include one or more of position information, speed, travel direction, and length of the vehicle. In addition, the positional information may be positional information in a rectangular coordinate system. Specifically, the position information of the vehicle in the spherical coordinate system may be acquired first, and then converted into the position in the rectangular coordinate system.

After obtaining the travel information of the application vehicle and the member vehicles in the vehicle team, the method 300 may proceed to step S304, where the vehicle team is formed and managed according to the vehicle state information of the application vehicle, the travel information of the application vehicle, and the travel information of the member vehicles in the vehicle team. The formation management of the vehicle fleet may include ordering member vehicle re-formations of the vehicle fleet, etc., so that the vehicles of the vehicle fleet may travel in order.

Therefore, the embodiment of the disclosure can utilize the information of the application vehicle, the information of the application target vehicle team, the information of member vehicles in the vehicle team managed by the target management vehicle and the information of the vehicle team to carry out team management on the vehicle team. By means of this formation management, it is possible to form a train (e.g., own train) of vehicles within a predetermined range, for example, vehicles traveling on the same lane as the target management vehicle or traveling on adjacent lanes thereof. Therefore, the following distance of the motorcade can be effectively shortened, the driving density is increased, and the traffic passing efficiency of the road is improved. In addition, the improvement of the traffic efficiency can ensure the running safety of the vehicle and improve the utilization rate of the road, thereby effectively avoiding traffic accidents and reducing the energy consumption in the running process.

To facilitate formation management, the first vehicle device may maintain a plurality of vehicle membership lists of the target management vehicle, such as the vehicle membership list, the joining membership list, and the leaving membership list of the own vehicle fleet described in the foregoing embodiments, and the vehicle membership list may include a vehicle identification therein.

Based on this, the method 400 of the embodiment of the disclosure may further include step S401 as shown in fig. 4, where when it is determined that the vehicle state of the application vehicle is the application for joining or leaving the vehicle team according to the vehicle state information of the application vehicle, the relationship between the application vehicle and the vehicle team is obtained according to the driving information of the application vehicle and the driving information of the member vehicles in the vehicle team.

Specifically, when the vehicle state of the application vehicle is that the application vehicle is added to the vehicle team, the relationship between the application vehicle and the vehicle team can be whether the application vehicle is located in the preset range of the vehicle team. The preset range here may be a range in which the position of the tail car in the own vehicle fleet is used as the center of a circle and the formation distance of the tail car is used as the preset length. It will be appreciated that the tail car is the member car of the fleet that is furthest from the pilot car (the target management car in this embodiment).

In one implementation, the formation distance of the tail car can be obtained by calculation according to the following formula (one)

Wherein dist _PlatoonTail Distance dist for formation of tail car _PlatoonGap Length for formation of distance gap _defaultVeh Length of vehicle for applying for vehicle _tailVeh Is the vehicle length of the tail car.

The formation distance gap may vary depending on the speed of the applicant vehicle, in particular:

when the speed of the application vehicle is less than or equal to the basic vehicle speed, the formation distance gap can be calculated through a formula (II)

dist _PlatoonGap ＝dist _basicSafety (II)

Wherein dist _basicSafety The basic safety distance is a preset value, for example, may be 10m.

When the speed of the application vehicle is greater than the basic vehicle speed, the formation distance gap can be calculated through a formula (III)

Wherein speed is used _thisveh The speed of the application vehicle; speed of food _basicSafety The basic vehicle speed is a preset value, for example, 20km/h;the configuration parameters can be obtained by looking up a table.

After the formation distance of the tail car is calculated, the distance between the application car and the tail car can be calculated according to the position information of the application car and the position information of the tail car, and the size relation between the distance and the formation distance of the tail car is calculated. When the distance between the application vehicle and the tail vehicle is smaller than or equal to the formation distance of the tail vehicle, the relation between the application vehicle and the vehicle team is confirmed to meet the preset condition. Correspondingly, when the distance between the application vehicle and the tail vehicle is larger than the formation distance of the tail vehicle, the relationship between the application vehicle and the vehicle team is confirmed to not meet the preset condition.

The above describes the determination method of the relationship between the application vehicle and the own vehicle team when the vehicle state of the application vehicle is the application for joining the own vehicle team. The following further describes a method for determining the relationship between the application vehicle and the vehicle team when the vehicle state of the application vehicle is the application vehicle leaves the vehicle team. Specifically, the determination can be performed by taking the offset distances of the pilot vehicles (i.e., the target management vehicles) in different directions, the traveling directions, and the like in the application vehicle and the own vehicle team as the judgment references.

When the determination is made using the offset distance as a determination criterion, the determination may be made based on the lateral offset distance and/or the longitudinal offset distance of the application vehicle and the target management vehicle. The longitudinal offset distance between the application vehicle and the target management vehicle may be an offset distance between the two vehicles in a lane line direction of the road, and the lateral offset distance may be an offset distance in a lane line direction perpendicular to the road.

Specifically, the longitudinal offset distance and the lateral offset distance of the two vehicles may be acquired according to the position information of the application vehicle and the target management vehicle. And when the longitudinal offset distance meets the longitudinal offset threshold and/or the transverse offset distance meets the transverse offset threshold, determining that the application vehicle meets the requirement of the offset distance. Accordingly, when the longitudinal offset distance does not meet the longitudinal offset threshold and/or the lateral offset distance does not meet the lateral offset threshold, it is determined that the applicant vehicle does not meet the requirement of the offset distance.

In addition, when determining the traveling direction as the determination reference, the angle between the traveling directions of the two vehicles may be calculated from the traveling directions of the application vehicle and the target management vehicle. When the included angle of the running directions of the two vehicles meets the included angle threshold value, the requirement that the application vehicle meets the running direction is determined. Correspondingly, when the included angle of the running directions of the two vehicles does not meet the included angle threshold value, determining that the application vehicle does not meet the requirement of the running directions.

In addition to the above two judgment references, the determination may be performed with the speed as the judgment reference. At the moment, the speed difference of the two vehicles can be calculated according to the speeds of the application vehicle and the target management vehicle, and when the speed difference meets the speed threshold, the application vehicle is determined to meet the speed requirement. Correspondingly, when the speed difference does not meet the speed threshold, determining that the application vehicle does not meet the speed requirement.

The above describes the judgment references of the relationship between the three application vehicles and the own vehicle team. One or more of the above can be selected for operation according to different requirements when judging. For example, when the accuracy requirement on the judgment result is low, one of them may be selected, for example, the offset distance may be selected as the judgment reference. That is, when the application vehicle satisfies the requirement of the lateral offset distance and/or the longitudinal offset distance, the relationship between the application vehicle and the vehicle team is confirmed to satisfy the preset condition, otherwise, the relationship is confirmed to not satisfy the preset condition.

In addition, the running direction can be selected as a judging standard, namely when the application vehicle meets the requirement of the running direction, the relation between the application vehicle and the vehicle team is confirmed to meet the preset condition, otherwise, the relation is confirmed to not meet the preset condition.

Further, the speed can be selected as a judging standard, namely when the application vehicle meets the speed requirement, the relation between the application vehicle and the vehicle team is confirmed to meet the preset condition, otherwise, the relation is confirmed to not meet the preset condition.

When the accuracy requirement on the judgment result is high, two of the two can be selected as judgment references. For example, the offset distance and the driving direction may be selected to be used as the judgment reference, that is, when the application vehicle meets the requirements of the offset distance and the driving direction, the relationship between the application vehicle and the vehicle team is confirmed to meet the preset condition, otherwise, the relationship is confirmed to not meet the preset condition.

The offset distance and the speed can be selected to be used as judging references together, namely when the application vehicle meets the requirements of the offset distance and the speed, the relation between the application vehicle and the vehicle team meets the preset condition, otherwise, the relation is confirmed to not meet the preset condition.

In addition, the running direction and the speed can be selected to be used as judging references, namely, when the application vehicle meets the running direction and the speed requirement, the relation between the application vehicle and the vehicle team is confirmed to meet the preset condition, and otherwise, the relation does not meet the preset condition.

When the accuracy requirement on the judgment result is higher, the three types of the requirements can be selected to be used as judgment references together, namely, when the application vehicle meets the requirements of the offset distance, the driving direction and the speed, the relation between the application vehicle and the vehicle team is confirmed to meet the preset condition, otherwise, the relation is confirmed to not meet the preset condition.

After the above-mentioned relationship is judged, the flow returns to the method 400. At step S402, in response to the relationship meeting the corresponding preset condition, the corresponding vehicle membership list is updated according to the vehicle state information of the application vehicle and the vehicle identification of the application vehicle.

Specifically, when the vehicle state of the application vehicle is that the application vehicle joins the vehicle team, and the relationship satisfies the preset condition, the vehicle identifier of the application vehicle may be added to the vehicle team member list of the vehicle team. Similarly, when the vehicle state of the application vehicle is that the application vehicle leaves the vehicle team and the relationship satisfies the preset condition, the vehicle identifier of the application vehicle is added to the leaving member list. The maintenance of the member list can facilitate the target management vehicle to manage the vehicles which are applied to join and leave.

The above describes, in connection with the embodiment, the method of updating the vehicle membership list when applying for the vehicle state of the vehicle for the joining and leaving. The formation management method of the present disclosure will be described below by respectively applying for the vehicle state of the vehicle to be two vehicle states of being joined to and having left the own vehicle formation. Fig. 5 shows a specific implementation method of step S304 when the vehicle state of the application vehicle is the application addition.

As shown in fig. 5, the above-described formation management of the own vehicle fleet may include steps S501 and S502. At step S501, when it is determined that the vehicle state of the application vehicle is joining the vehicle team according to the vehicle state information of the application vehicle, the formation rank of the current vehicle team member in the vehicle team is determined according to the traveling information of the application vehicle and the traveling information of the member vehicles in the vehicle team. It is understood that the current fleet members herein may include application vehicles and member vehicles in the present fleet.

Next, the method may proceed to step S502, where the fleet management is performed on the own vehicle according to the fleet ordering. The formation management here may assign a number to each member car. According to the scheme, the current motorcade can form an ordered queue for running by determining the formation ordering of the current motorcade members in the motorcade, so that the passing efficiency can be improved. In one embodiment, the formation rank of the current fleet member in the fleet may be determined by applying for travel information of the vehicle and travel information of the member vehicles in the fleet. Based on this, determining the queue order of the current fleet members in the own fleet may include steps S601 and S602 shown in fig. 6.

At step S601, a proposed enqueue position of the application vehicle is determined according to the travel information of the application vehicle and the travel information of the member vehicle. In one implementation scenario, the proposed enqueue position of the application vehicle may calculate a formation distance of the tail vehicle in the vehicle queue according to the driving information of the application vehicle and the driving information of the member vehicle, and then calculate the proposed enqueue position of the application vehicle according to the formation distance of the tail vehicle. The calculation method of the formation distance of the tail car can be referred to the description of the foregoing embodiments, and will not be described in detail here.

After calculating the formation distance of the tail car, the proposed enqueue position of the application car can be calculated by the following formula (four)

x' = [ r|t ] ×x (four)

Where x' is the proposed enqueue location for the application vehicle.

In one implementation, the proposed enqueue location may be determined by latitude and longitude coordinates. That is, x may include longitude coordinate a.x and latitude coordinate a.y. Based on this, x can be calculated by the following formula (five).

Wherein delta theta is the reverse direction of the traveling direction of the tail car in the own vehicle fleet.

After determining the proposed enqueue position of the application vehicle, the method may proceed to step S602, where the formation rank of the current fleet member is determined according to the proposed enqueue position of the application vehicle and the driving information of each member vehicle in the own fleet. In one implementation scenario, distances between other member vehicles and the pilot vehicle (i.e., the target management vehicle in this embodiment) in the vehicle team can be calculated first, and then the respective distances are sorted in size, so as to obtain the formation order of the members of the current vehicle team.

Specifically, the distance between the other member vehicle and the target management vehicle can be calculated by the following formula (six)

Wherein d is the distance between the member vehicle and the target management vehicle, ρ ₁ Is the latitude coordinate of the member vehicle, ρ ₂ For managing latitude coordinates of the vehicle, lambda ₁ Longitude coordinates, lambda, of a member vehicle ₂ The longitude coordinates of the vehicle are managed for the target.

After the distances between each member car and the pilot car are calculated, the corresponding member cars can be formed and ordered according to the sequence from small to large.

The above describes the formation management method when the vehicle state of the subject vehicle is joining the own vehicle formation. Next, a description will be given of a formation management method when the vehicle state of the subject vehicle is that the subject vehicle has left the vehicle formation. In this case, the travel information of the member vehicles in the own vehicle fleet may include the position information of the member vehicles. Based on this, the above-described formation management of the own vehicle fleet may include steps S701 and S702 as shown in fig. 7. At step S701, when it is determined that the vehicle state of the application vehicle is the vehicle queue having been separated according to the vehicle state information of the application vehicle, the formation rank of the remaining member vehicles is determined according to the position information of the remaining member vehicles excluding the application vehicle in the vehicle queue.

Specifically, similarly to the foregoing embodiment, the distance between the position information of the remaining member vehicles and the target management vehicle may be calculated first, and then the remaining member vehicles may be sequentially ranked according to the size of each distance.

Next, the method may proceed to step S702, where the fleet management is performed on the own fleet according to the queue ranks of the remaining member vehicles. The formation management here may also assign a number to each member car. The scheme can lead the current motorcade to form an ordered queue for running by re-forming and sequencing the rest member motorcades, thereby improving the passing efficiency.

As can be seen from the description of the foregoing embodiments, the first vehicle-mounted device may maintain a plurality of vehicle membership lists of the subject management vehicle, such as a fleet membership list, a joining membership list, and an leaving membership list of the own fleet, and the vehicle membership list may include vehicle identifications therein. Based on this, when the vehicle state of the application vehicle is joining and has been leaving, the method may further include updating the corresponding vehicle membership list according to the vehicle state information of the application vehicle and the vehicle identification of the application vehicle.

Specifically, when the vehicle state of the application vehicle is that the application vehicle is joining the vehicle team, the vehicle identifier of the application vehicle in the joining member list may be removed, and the vehicle identifier of the application vehicle may be added to the vehicle team member list of the vehicle team. When the vehicle state of the application vehicle is that the application vehicle has left the vehicle team, the vehicle identification of the application vehicle in the leaving member list can be removed. The maintenance of the corresponding membership list may facilitate the management of vehicles that are joining and have left by the target management vehicle.

Fig. 8 shows a block diagram of a vehicle-mounted device provided by an embodiment of the present disclosure.

As shown in fig. 8, the in-vehicle apparatus 800 includes at least one processor 801 (processor), a memory 802 (memory), and a bus 803; the processor 801 and the memory 802 communicate with each other via a bus 803. In operation, the processor 801 is operative to invoke the program instructions in the memory 802 to perform the methods provided in the various embodiments described above. For example, in one aspect, a processor may perform the operations of: the method comprises the steps of obtaining formation application information which is sent by an application vehicle and used for carrying out formation application on a target management vehicle, wherein the formation application information comprises vehicle identification of the application vehicle, identity information of the application vehicle, vehicle state information of the application vehicle and vehicle identification of an application target vehicle formation.

And then, judging whether the application target fleet is matched with the vehicle fleet or not according to the fleet identification of the application target fleet and the fleet identification of the vehicle fleet managed by the target management vehicle when judging and knowing that the identity of the application vehicle is matched with the vehicle state according to the identity information of the application vehicle and the vehicle state information of the application vehicle.

And responding to the matching of the application target fleet and the self-vehicle fleet, and acquiring the running information of the application vehicle and the running information of member vehicles in the self-vehicle fleet from the air interface resource according to the vehicle identification of the application vehicle and the fleet identification of the self-vehicle fleet. Further, the vehicle team is subjected to team management according to the vehicle state information of the application vehicle, the running information of the application vehicle and the running information of member vehicles in the vehicle team.

The formation management method of the pilot vehicle and the in-vehicle apparatus 800 are described above in connection with the respective embodiments. It will be appreciated that the above-described method is merely exemplary and not limiting, and that variations and modifications thereof may be made by those skilled in the art, depending on the application scenario. For example, it is also possible to set the vehicle state to other states, and set the identity of the vehicle to other identities, or the like. A method of fleet management for non-lead vehicles (e.g., follower or free-wheelers) will be described in connection with various embodiments.

Fig. 9 shows a flow diagram of a method 900 for fleet management of vehicles provided by another embodiment of the present disclosure. As shown in fig. 9, the method 900 may include step S901 of acquiring, at the second in-vehicle device, formation management information sent by the target management vehicle for formation management of the target vehicle. The target management vehicle herein may be a pilot vehicle (e.g., pilot vehicle a) in the aforementioned vehicle system 100, and the target vehicle may be a follower vehicle (e.g., follower vehicle B) or a free vehicle (e.g., free vehicle E) in the vehicle system 100. Based on this, the second in-vehicle device may be an OBU of the target vehicle.

The formation management information in this embodiment may be broadcast to the air interface by the in-vehicle device of the target management vehicle in the manner described in the foregoing embodiment, and acquired from the air interface resource by the second in-vehicle device. In this embodiment, the formation management information may include identity information of the target management vehicle, vehicle state information of the target management vehicle, and a fleet identifier of a fleet managed by the target management vehicle.

The identity information of the target management vehicle may indicate an identity of the target management vehicle. The identity of the target management vehicle may be, for example, the aforementioned pilot vehicle, follower vehicle, or free vehicle. The vehicle state information of the target management vehicle may indicate a vehicle state of the target management vehicle. The vehicle state of the target management vehicle may be, for example, the aforementioned piloting state, disaggregation fleet state, following state, application joining state, application leaving state, and leaving state. From the description of the foregoing embodiments, it is known that the fleet identifier of the fleet managed by the target management vehicle may be a fleet identifier for which a fleet is created, and the fleet identifier may be a fleet ID, for example.

After the formation management information is acquired, the scheme can carry out safety check on the matching condition of the target management vehicle and the target vehicle so as to ensure the normal operation of formation management. Specifically, at step S902, it is determined whether the identities and the vehicle states of the target management vehicle and the target vehicle are respectively matched according to the identity information of the target management vehicle, the vehicle state information of the target management vehicle, the identity information of the target vehicle, and the vehicle state information of the target vehicle.

In one implementation scenario, the target management vehicle and the target vehicle's compatibility check may include: if the identity of the target vehicle is a free vehicle, the vehicle state of the target vehicle is an application joining state, the identity of the target management vehicle is a pilot vehicle, and the vehicle state of the target management vehicle is a pilot state, the identity of the target management vehicle and the identity of the target vehicle are confirmed to be matched with the vehicle state. If the identity of the target vehicle is a free vehicle, the vehicle state of the target vehicle is a joining state, the identity of the target management vehicle is a piloting vehicle, and the vehicle state of the target management vehicle is a piloting state, the identity of the target management vehicle and the identity of the target vehicle are confirmed to be matched with the vehicle state.

In addition, if the identity of the target vehicle is the following vehicle, the vehicle state of the target vehicle is the departure application state, the identity of the target management vehicle is the piloting vehicle, and the vehicle state of the target management vehicle is the piloting state, the identity of the target management vehicle and the identity of the target vehicle are confirmed to be matched with the vehicle state. If the identity of the target vehicle is the following vehicle, the vehicle state of the target vehicle is the leaving state, the identity of the target management vehicle is the piloting vehicle, and the vehicle state of the target management vehicle is the piloting state, the identity of the target management vehicle and the identity of the target vehicle are confirmed to be matched with the vehicle state.

Further, if the identity of the target vehicle is a following vehicle, the vehicle state of the target vehicle is a following, joining or joining application state, the identity of the target management vehicle is a pilot vehicle, and the vehicle state of the target management vehicle is a release fleet state, the identity of the target management vehicle and the identity of the target vehicle are confirmed to be matched with the vehicle state.

In addition to the above, other conditions confirm that the identity of the target management vehicle and the target vehicle do not match the vehicle status. Upon confirming that the identity and vehicle status of the target management vehicle and the target vehicle do not match, formation management information may be broadcast to the air interface for use in other formation management processes.

In response to the identity and vehicle status of the target management vehicle and the target vehicle both matching, a security check of the matching of the fleet managed by the target management vehicle and the target fleet of target vehicles may be further performed. Specifically, at step S903, it is determined whether the fleet identifier of the target management vehicle managed fleet and the fleet identifier of the target vehicle are matched according to the fleet identifier of the target management vehicle managed fleet and the fleet identifier of the target vehicle.

In this embodiment, the fleet identifier of the target vehicle may be a fleet identifier of a target fleet of target vehicles. Thus, the fleet identification of target vehicles may vary depending on the identity of the target vehicle. For example, when the identity of the target vehicle is a following vehicle, the fleet identifier of the target vehicle may be a fleet identifier of a fleet to which the target vehicle currently belongs; when the identity of the target vehicle is a free vehicle, the fleet identifier of the target vehicle can be the fleet identifier of the target vehicle for which the addition of the fleet is requested. The fleet identifier may also be a fleet ID.

The consistency of the fleet managed by the target management vehicle and the target fleet of the target vehicle can be ensured through the safety check of the matching condition of the fleet managed by the target management vehicle and the target fleet of the target vehicle, so that the normal operation of formation management can be ensured.

In response to the fleet identification of the target management vehicle managed by the fleet identification of the target vehicle matching, the method 900 may proceed to step S904 to perform fleet management based on the vehicle status information of the target management vehicle and the vehicle status information of the target vehicle. The formation management in the present embodiment may include updating the vehicle state information and/or the identity information and the like of the target vehicle, etc., so that the formation management may be facilitated.

It can be seen that the embodiment of the disclosure can utilize the information of the target management vehicle, the information of the fleet managed by the target management vehicle, the information of the target vehicle and the information of the target fleet for formation management. The formation management can be used for shortening the following distance of the motorcade and the like, so that the driving density can be increased, and the traffic passing efficiency of the road is improved. In addition, the improvement of the traffic efficiency can ensure the running safety of the vehicle and improve the utilization rate of the road, thereby effectively avoiding traffic accidents and reducing the energy consumption in the running process.

To facilitate fleet management, the second on-board device may maintain vehicle status information and/or identity information of the target vehicle. Based on this, the above-described formation management may include steps S1001, S1002, and S1003 as shown in fig. 10. At step S1001, it is determined whether the vehicle state of the target management vehicle is a fleet managed by the disassembly target management vehicle, based on the vehicle state information of the target management vehicle.

In response to the vehicle state of the target management vehicle being a fleet managed by the decoherence target management vehicle, the method may proceed to step S1002 to update the identity information of the target vehicle according to the vehicle state information of the target management vehicle. For example, the identity information of the target vehicle may be updated to be second identity information for indicating the free vehicle.

In response to the vehicle state of the target management vehicle not being a fleet managed by the dismissing target management vehicle, the method may proceed to step S1003 to update the vehicle state information and/or the identity information of the target vehicle according to the vehicle state information of the target vehicle.

For example, when the vehicle state information of the target vehicle indicates that the vehicle state of the target vehicle is the application for joining, the vehicle state information of the target vehicle is updated to fifth state information for indicating that the state is joining. When the vehicle state information of the target vehicle indicates that the vehicle state of the target vehicle is joining, the vehicle state information of the target vehicle is updated to sixth state information for indicating a following state, and the identity information of the target vehicle is updated to third identity information for indicating a following vehicle.

In addition, when the vehicle state information of the target vehicle indicates that the vehicle state of the target vehicle is the application for departure, the vehicle state information of the target vehicle is updated to seventh state information for indicating that the vehicle has been in the departure state. Further, when the vehicle state information of the target vehicle indicates that the vehicle state of the target vehicle is that the vehicle has left, the identity information of the target vehicle is updated to second identity information for indicating the free vehicle.

It can be seen that the target vehicle can update its own identity information and/or vehicle state information according to its vehicle state information, so that formation management can be facilitated.

The method of fleet management of pilot vehicles is described above in connection with various embodiments. In order to facilitate better formation management, the on-board devices (on-board devices of pilot vehicles or non-pilot vehicles) may also maintain information of surrounding platoons located within a preset range of the target management vehicle. The preset range may be any value between 50 and 80m, for example, and the information of the surrounding fleet may include fleet identifications of the surrounding fleet.

In one implementation scenario, the formation application information or formation management information (hereinafter, referred to as formation management information) may include fleet information for managing a fleet managed by the vehicle. The fleet information may differ according to the vehicle status of the vehicle transmitting the fleet management information. When the vehicle is a pilot vehicle, it may include at least a fleet identification, a maintained list of vehicle members, vehicle status information, identity information, and a latest storage time of formation management information of the fleet, etc. When the vehicle is a non-piloted vehicle, it may include at least a fleet identification, vehicle status information, identity information, and a current information storage time (where the information is fleet management information), etc.

Based on this, after the formation management information is acquired, the first vehicle-mounted device may determine whether the identity of the vehicle is a management vehicle (i.e., the pilot vehicle described in the foregoing) that manages the formation based on the identity information of the vehicle in the formation management information.

In response to the identity of the application vehicle being the management vehicle, whether the vehicle management vehicle fleet is matched with the surrounding vehicle fleet or not can be judged according to the fleet identification of the vehicle management vehicle fleet and the fleet identification in the information of the surrounding vehicle fleet. When the fleet managed by the application vehicle does not match the surrounding fleet, the fleet information of the fleet managed by the application vehicle may be stored in the information of the surrounding fleet.

When the fleet managed by the application vehicle matches the surrounding fleet, the time difference may be calculated from the time at which the formation management information is received and the current information storage time of the fleet managed by the vehicle in the information of the surrounding fleet. And deleting the fleet information of the fleet managed by the application vehicle from the information of surrounding fleet when the time difference does not meet the preset condition.

The disclosed embodiments also disclose an in-vehicle device comprising at least one processor (processor), memory (memory) and bus; the processor and the memory complete communication with each other through the bus. In operation, the processor is operative to invoke program instructions in the memory to perform the methods provided in the embodiments described above.

For example, in one aspect, a processor may perform the operations of: and acquiring formation management information sent by the target management vehicle and used for performing formation management on the target vehicle, wherein the formation management information comprises the identity information of the target management vehicle, the vehicle state information of the target management vehicle and the vehicle identification of the vehicle formation managed by the target management vehicle. And then, judging whether the identities and the vehicle states of the target management vehicle and the target vehicle are respectively matched according to the identity information of the target management vehicle, the vehicle state information of the target management vehicle, the identity information of the target vehicle and the vehicle state information of the target vehicle.

And judging whether the fleet identification of the target management vehicle is matched with the fleet identification of the target vehicle according to the fleet identification of the target management vehicle and the fleet identification of the target vehicle, wherein the fleet identification of the target vehicle is the fleet identification of the target vehicle to which the target vehicle belongs currently or the fleet to which the target vehicle is applied to join.

And responding to matching of the fleet identification of the target management vehicle and the fleet identification of the target vehicle, and performing formation management according to the vehicle state information of the target management vehicle and the vehicle state information of the target vehicle.

The present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the methods provided by the above embodiments, e.g., comprising: the method comprises the steps of obtaining formation application information which is sent by an application vehicle and used for carrying out formation application on a target management vehicle, wherein the formation application information comprises vehicle identification of the application vehicle, identity information of the application vehicle, vehicle state information of the application vehicle and vehicle identification of an application target vehicle formation. And then, judging whether the application target fleet is matched with the vehicle fleet or not according to the fleet identification of the application target fleet and the fleet identification of the vehicle fleet managed by the target management vehicle when judging and knowing that the identity of the application vehicle is matched with the vehicle state according to the identity information of the application vehicle and the vehicle state information of the application vehicle.

The disclosure also provides a system for fleet management of vehicles, comprising the two vehicle-mounted devices.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, where the foregoing program may be stored in a computer readable storage medium, and when executed, the program performs steps including the above method embodiments; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.

The above-described embodiments of electronic devices and the like are merely illustrative, wherein the elements described as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

It should be understood that the terms "first," "second," "third," and "fourth," etc. in the claims, specification, and drawings of this disclosure are used for distinguishing between different objects and not for describing a particular sequential order. The terms "comprises" and "comprising" when used in the specification and claims of this disclosure are taken to specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the present disclosure is for the purpose of describing particular embodiments only, and is not intended to be limiting of the disclosure. As used in this disclosure and in the claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further understood that the term "and/or" as used in the present disclosure and claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in this specification and the claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

The above embodiments are merely for illustrating the technical solutions of the embodiments of the present disclosure, and are not limited thereto; although embodiments of the present disclosure have been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A method for fleet management of vehicles, comprising:

the method comprises the steps that formation application information which is sent by vehicle-mounted equipment of an application vehicle and used for carrying out formation application on the target management vehicle is obtained at first vehicle-mounted equipment of the target management vehicle, wherein the formation application information comprises vehicle identification of the application vehicle, identity information of the application vehicle, vehicle state information of the application vehicle and vehicle identification of an application target vehicle team;

Judging whether the application target fleet is matched with the self fleet or not according to the fleet identification of the application target fleet and the fleet identification of the self fleet managed by the target management vehicle when judging and knowing that the application vehicle is matched with the vehicle state according to the identity information of the application vehicle and the vehicle state information of the application vehicle;

the identity information is used for indicating the identity of a vehicle, and the identity of the vehicle comprises: pilot, follower and free vehicles;

the vehicle state information is used for indicating a vehicle state, and the vehicle state comprises: a piloting state, a disaggregation fleet state, a following state, an application joining state, an in-joining state, an application leaving state, an already-leaving state, and a free state;

responding to the matching of the application target fleet and the self-fleet, and acquiring the running information of the application vehicles and the running information of member vehicles in the self-fleet from air interface resources according to the vehicle identifications of the application vehicles and the fleet identifications of the self-fleet; and

and carrying out formation management on the vehicle team according to the vehicle state information of the application vehicle, the running information of the application vehicle and the running information of member vehicles in the vehicle team.

2. The method of claim 1, wherein the first vehicle-mounted device maintains a plurality of vehicle membership lists for the target management vehicle, and the vehicle membership lists include vehicle identifications therein, the method further comprising:

when judging and knowing that the vehicle state of the application vehicle is that the application vehicle is added or leaves the vehicle team according to the vehicle state information of the application vehicle, acquiring the relation between the application vehicle and the vehicle team according to the running information of the application vehicle and the running information of member vehicles in the vehicle team; and

and responding to the relation meeting the corresponding preset condition, and updating a corresponding vehicle member list according to the vehicle state information of the application vehicle and the vehicle identification of the application vehicle.

3. The method of claim 1, wherein the fleet management of the host vehicle comprises:

determining formation sequences of current fleet members in the fleet according to the running information of the application vehicles and the running information of member vehicles in the fleet when the vehicle state of the application vehicles is judged to be the state of joining the fleet according to the vehicle state information of the application vehicles, wherein the current fleet members comprise the application vehicles and the member vehicles in the fleet; and

And performing formation management on the vehicle fleet according to the formation ordering.

4. The method of claim 3, wherein determining a queue order for a current fleet member in the host fleet comprises:

determining a suggested enqueue position of the application vehicle according to the running information of the application vehicle and the running information of the member vehicle; and

and determining the formation order of the current vehicle team member according to the suggested enqueue position of the applied vehicle and the running information of each member vehicle in the vehicle team.

5. The method of claim 1, wherein the travel information of the member vehicles in the own fleet comprises location information of the member vehicles, and the fleet management of the own fleet comprises:

determining formation sequences of the remaining member vehicles according to the position information of the remaining member vehicles except the application vehicle in the vehicle team when the vehicle state of the application vehicle is judged to be the vehicle team which is separated from the vehicle team according to the vehicle state information of the application vehicle; and

and performing formation management on the vehicle fleet according to the formation ordering of the remaining member vehicles.

6. The method of any of claims 3-5, wherein the first vehicle device maintains a plurality of vehicle membership lists for the target management vehicle, and vehicle identifications are included in the vehicle membership lists, the method further comprising:

And updating a corresponding vehicle member list according to the vehicle state information of the applied vehicle and the vehicle identification of the applied vehicle.

7. An in-vehicle apparatus comprising:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein:

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1-6.

8. A method for fleet management of vehicles, comprising:

the method comprises the steps that formation management information which is sent by first vehicle-mounted equipment of a target management vehicle and used for carrying out formation management on the target vehicle is obtained at second vehicle-mounted equipment of the target vehicle, wherein the formation management information comprises identity information of the target management vehicle, vehicle state information of the target management vehicle and a vehicle group identifier of a vehicle group managed by the target management vehicle;

judging whether the identities and the vehicle states of the target management vehicle and the target vehicle are respectively matched according to the identity information of the target management vehicle, the vehicle state information of the target management vehicle, the identity information of the target vehicle and the vehicle state information of the target vehicle;

responding to the matching of the identities and the vehicle states of the target management vehicle and the target vehicle, and judging whether the fleet identification of the target management vehicle managed by the target management vehicle is matched with the fleet identification of the target vehicle according to the fleet identification of the target management vehicle managed by the target management vehicle and the fleet identification of the target vehicle, wherein the fleet identification of the target vehicle is the fleet identification of the target vehicle to which the target vehicle belongs currently or the fleet to which the target vehicle is applied to join; and

and responding to matching of the fleet identification of the target management vehicle managed by the fleet and the fleet identification of the target vehicle, and performing formation management according to the vehicle state information of the target management vehicle and the vehicle state information of the target vehicle.

9. The method of claim 8, wherein the second on-board device maintains vehicle status information and/or identity information of the target vehicle, and performing formation management comprises:

Judging whether the vehicle state of the target management vehicle is a fleet managed by the target management vehicle according to the vehicle state information of the target management vehicle;

responding to the vehicle state of the target management vehicle to break up a fleet managed by the target management vehicle, and updating the identity information of the target vehicle according to the vehicle state information of the target management vehicle;

and in response to the vehicle state of the target management vehicle not being a fleet managed by the target management vehicle, updating the vehicle state information and/or the identity information of the target vehicle according to the vehicle state information of the target vehicle.

10. An in-vehicle apparatus comprising:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein:

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of claim 8 or 9.

11. A non-transitory computer readable storage medium storing computer instructions that cause the computer to perform the method of any one of claims 1-6 and 8-9.

12. A system for fleet management of vehicles, comprising an in-vehicle apparatus according to claim 7 and an in-vehicle apparatus according to claim 10.