CN118015819B - Vehicle team collaborative driving method and system based on driving task - Google Patents
Vehicle team collaborative driving method and system based on driving task Download PDFInfo
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Abstract
The invention relates to the technical field of motorcade collaborative driving, in particular to a motorcade collaborative driving method and a motorcade collaborative driving system based on driving tasks, wherein the method comprises the following steps: constructing a first driving information set and an original motorcade, and formulating a driving task; according to the team willingness of the mobile vehicles, a second driving information set and a to-be-planned vehicle team are built based on the first driving information set and the driving information of the mobile vehicles, a vehicle movement strategy of the vehicle team is formulated, and the vehicle movement strategy of the vehicle team and the second driving information set are transmitted to the to-be-planned vehicle team; and judging the executable degree of the movement strategy of the fleet vehicles based on the second driving information set and the driving environment information acquired by the fleet vehicles to be planned in real time, and further adjusting the driving state of the fleet vehicles to be planned by using the movement strategy of the fleet vehicles to realize the cooperative driving of the fleet. The invention has stronger capability of coping with external traffic interference, and can ensure that the motorcade has better cooperative driving capability when the motorcade inserts or drives away vehicles in the middle of the driving process.
Description
Technical Field
The invention relates to the technical field of motorcade collaborative driving, in particular to a motorcade collaborative driving method and a motorcade collaborative driving system based on driving tasks.
Background
With the continuous development of information communication technology, automatic control theory and artificial intelligence in recent years, intelligent transportation systems (INTELLIGENT TRANSPORT SYSTEM, abbreviated as ITS) are gradually built around the world. The vehicle team collaborative driving is used for uniformly managing vehicles with a common driving purpose, so that the functions of relieving traffic jam, simplifying traffic management, reducing air resistance and reducing carbon dioxide emission are achieved, and the vehicle team collaborative driving is a hot spot for intelligent vehicle road collaborative system research. Through development and research for many years, the theoretical system and the overall architecture of the cooperative driving of the motorcade are gradually perfected, and a good display effect is obtained in real vehicle tests of expressways and special lanes, but the current cooperative driving technology of the motorcade has certain challenges and has some defects.
The existing fleet control scheme usually considers that the fleet is in a very stable traffic environment, so that the control of the fleet is also limited to the existing fleet, the capability of the existing fleet cooperative driving method for coping with external traffic interference is not strong enough, and especially the cooperative driving effect is not good when vehicles are inserted or driven in midway, and improvement is urgently needed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a driving task-based motorcade collaborative driving method and system.
To achieve the above object, in a first aspect, the present invention provides a method for cooperative driving of a fleet based on driving tasks, the method comprising the steps of: the vehicles to be formed are used for uploading the driving information acquired by the information acquisition module in real time to the driving management platform by utilizing the communication module to construct a first driving information set, so that an original vehicle team is constructed; the driving management platform formulates a driving task according to the first driving information set, and transmits the driving task and the first driving information set to an original fleet vehicle so that the original fleet vehicle runs according to the driving task; according to the team forming wish of the mobile vehicles, the driving management platform utilizes the first driving information set and the driving information of the mobile vehicles to construct a second driving information set, and further a vehicle team to be planned is constructed; based on the driving task and the second driving information set, the driving management platform formulates a vehicle movement strategy of a vehicle team, and transmits the vehicle movement strategy of the vehicle team and the second driving information set to a vehicle team to be planned; based on the second driving information set and driving environment information acquired by the to-be-planned vehicle fleet vehicles in real time, the to-be-planned vehicle fleet vehicles judge the executable degree of the vehicle fleet vehicle movement strategy by using a task judgment module; and according to the executable degree, the driving management platform and the task execution module are mutually matched to adjust the driving state of the vehicle team to be planned by using the vehicle motion strategy of the vehicle team, and finally the vehicle of the vehicle team to be planned is driven cooperatively according to the driving task. The method provided by the invention has stronger capability of coping with external traffic interference, and can enable the motorcade to have better cooperative driving capability when the motorcade inserts or drives away vehicles in the middle of the driving process.
Optionally, the driving information includes a vehicle position, a vehicle speed, a barrier-free space distance in front of the head vehicle and a barrier-free space distance behind the tail vehicle, the willingness to group includes willingness to group and unhooking, and the driving management platform stores road condition data, wherein the road condition data is a driving rule of a road section where the vehicle to be grouped is located.
Optionally, the driving management platform formulates a driving task according to the first driving information set, and transmits the driving task and the first driving information set to an original fleet vehicle, so that the original fleet vehicle runs according to the driving task, and the driving management platform comprises the following steps:
The driving management platform generates a recommended driving path, a recommended driving speed, a recommended workshop distance and a recommended following position according to the road condition data and the first driving information set, and sorts the recommended driving path, the recommended driving speed, the recommended workshop distance and the recommended following position into the driving task;
the driving management platform transmits the driving task and the first driving information set of the motorcade to the original motorcade vehicles through the internet of things, so that the original motorcade vehicles can drive according to the driving task.
Furthermore, the driving information is collected and analyzed in real time through the driving management platform, so that the motorcade can efficiently and cooperatively drive, and the intelligent level and efficiency of the motorcade management are improved. The driving task is formulated to enable the motorcade vehicles to run according to the specific path, speed and workshop distance, so that the driving safety of the motorcade is ensured, and the traffic efficiency of the highway is improved.
Optionally, the mobile vehicles include newly added vehicles that want to join the original fleet and dequeued vehicles that want to leave the original fleet, the mobile vehicles not being a queuing head car and a queuing tail car;
According to the willingness of the mobile vehicles to form a team, the driving management platform utilizes the first driving information set and the driving information of the mobile vehicles to construct a second driving information set, and then the team to be planned is constructed, and the method comprises the following steps:
the mobile vehicle uploads real-time driving information and team willingness to a driving management platform by utilizing a communication module;
According to the willingness of the mobile vehicles to group, the driving management platform adds driving information sent by the newly added vehicles into the first driving information set, kicks the driving information of the off-line vehicles out of the first driving information set, and further obtains the second driving information set;
And the driving management platform distributes vehicle numbers for the vehicles of the fleet to be planned according to the initial relative positions among the vehicles of the fleet to be planned, so as to form the fleet to be planned.
Further, the formation of the motorcade is dynamically adjusted according to the formation wish of the flowing vehicles, so that the dynamic planning and optimization of the motorcade are realized, the flexibility and response speed of the motorcade are improved, the requirements of vehicle insertion and release are met, and the accuracy and efficiency of the motorcade management are improved.
Optionally, the fleet vehicle movement strategies include a first fleet vehicle movement strategy, a second fleet vehicle movement strategy, and a third fleet vehicle movement strategy, the first fleet vehicle movement strategy being a first fleet rear section movement strategy, the second fleet vehicle movement strategy including a fleet front section movement strategy and a first new joining vehicle movement strategy, the third fleet vehicle movement strategy including a second fleet rear section movement strategy and a second new joining vehicle movement strategy;
The step of the driving management platform making a movement strategy of the fleet vehicles based on the driving task and the second driving information set and transmitting the movement strategy of the fleet vehicles and the second driving information set to the fleet vehicles to be planned comprises the following steps:
Under the condition that the driving rule is met, the driving management platform divides the fleet to be planned into a front fleet section and a rear fleet section according to the vehicle position of the mobile vehicle;
When the mobile vehicle is an off-line vehicle, the driving management platform updates a recommended following position of the rear section of the vehicle team in the driving task according to the second driving information set, and formulates a first vehicle team rear section movement strategy so that the front section of the vehicle team and the rear section of the vehicle team keep the recommended workshop distance;
If the mobile vehicle is a newly added vehicle, respectively making a second vehicle movement strategy and a third vehicle movement strategy based on the driving task according to the front unobstructed space distance of the head vehicle and the rear unobstructed space distance of the tail vehicle;
and the driving management platform transmits the movement strategy of the motorcade vehicle and the second driving information set to the motorcade vehicle to be planned through the Internet of things.
Furthermore, various vehicle movement strategies of the vehicle teams are formulated according to the requirements of vehicle team insertion and team release, including movement strategies of front sections, rear sections and newly added vehicles, the capability of the vehicle teams for external traffic interference is improved, the high-efficiency coordination of the vehicle teams in various scenes is ensured, and the driving safety of the vehicle teams is improved.
Optionally, if the mobile vehicle is a newly added vehicle, the second fleet vehicle movement strategy and the third fleet vehicle movement strategy are formulated based on the driving task according to the magnitudes of the unobstructed space distance in front of the head vehicle and the unobstructed space distance behind the tail vehicle, respectively, and the steps include:
When the mobile vehicle is a newly added vehicle, if the barrier-free space distance in front of the head vehicle and the barrier-free space distance behind the tail vehicle are smaller than the free running distance, the movement strategy of the vehicle team to be planned is keeping the current driving state;
If the barrier-free space distance in front of the head car is not smaller than the free running distance, the running management platform establishes a front section movement strategy of a motorcade based on the driving task to reserve a recommended following position between the front section of the motorcade and the rear section of the motorcade for the newly added vehicle, and establishes a first new added vehicle movement strategy to enable the newly added vehicle to run to the corresponding recommended following position, otherwise, judging whether the barrier-free space distance behind the tail car is smaller than the free running distance;
If the barrier-free space distance behind the tail car is not smaller than the free running distance, the running management platform establishes a second vehicle team back section movement strategy based on the driving task to leave a recommended following position for the newly added vehicle between the vehicle team front section and the vehicle team back section, and establishes a second newly added vehicle movement strategy to enable the newly added vehicle to run to the corresponding recommended following position;
Optionally, the driving environment information includes a neighboring vehicle position and a neighboring vehicle speed;
The step of judging the executable degree of the movement strategy of the fleet vehicles by the fleet vehicles to be planned through the task judgment module based on the second driving information set and the driving environment information acquired by the fleet vehicles to be planned in real time comprises the following steps:
the first vehicle to be planned behind the newly-added vehicle and the dequeue vehicle utilizes the task judgment module to identify the vehicle of the non-vehicle to be planned in the adjacent vehicle according to the second driving information set and the driving environment information;
When the mobile vehicle is an off-line vehicle, based on the first fleet vehicle movement strategy and the driving environment information of the non-planned fleet vehicle, a first vehicle to be planned behind the dequeue vehicle uses a task judgment module to judge the executable degree of the motion strategy of the first vehicle;
When the mobile vehicle is a newly-added vehicle, the newly-added vehicle uses a task judging module to judge the executable degree of the second vehicle movement strategy and the third vehicle movement strategy based on the second vehicle movement strategy, the third vehicle movement strategy and the driving environment information of the vehicle of the non-planned vehicle.
Furthermore, by comprehensively considering the second driving information set and the driving environment information, the task judgment module can judge the executable degree of the vehicle movement strategy of the motorcade more accurately, so that the reliability and the safety of the cooperative driving of the motorcade are improved.
Optionally, the first fleet back movement strategy includes a first fleet back movement strategy and a second first fleet back movement strategy, and the first fleet back movement strategy and the second first fleet back movement strategy are expressed sequentially using the following relation:
Wherein, For recommended driving speed,/>For the time taken for all fleet vehicles to be planned to travel to the corresponding recommended following positions in the fleet rear section,/>For the acceleration of the vehicle of the first vehicle team in the rear-section movement strategy of the first vehicle team when the vehicle of the vehicle team to be planned runs at uniform acceleration,/>For the time of uniform acceleration running of the vehicle of the fleet to be planned,/>For the time of the vehicle of the fleet to be planned to travel at the constant speed and the maximum speed limit of 0.9 times of the lane, d is the recommended workshop distance,/>For maximum speed limit of lane,/>And the acceleration of the vehicle of the first motorcade to be planned in the second first motorcade rear-section movement strategy when the vehicle of the motorcade to be planned runs at uniform acceleration.
Optionally, according to the executable degree, the driving management platform and the task execution module mutually cooperate to use the movement strategy of the fleet vehicle to adjust the driving state of the fleet vehicle to be planned, and finally, the fleet vehicle to be planned performs cooperative driving according to the driving task, including the following steps:
If the executable degree is 1, the vehicle using task execution module of the vehicle team to be planned adjusts the driving state according to the vehicle motion strategy of the vehicle team;
And if the executable degree is not 1, the task execution module of the vehicle team to be planned refuses to execute the motion strategy of the vehicle team and feeds back the refused execution information to the driving management platform, and the driving management platform adjusts the motion strategy of the vehicle team and resends the motion strategy of the vehicle team to be planned.
Furthermore, according to the numerical value of the executable degree, the vehicle of the fleet to be planned can use the task execution module to adjust the driving state, meanwhile, the vehicle movement strategy of the fleet can be refused to be executed according to the actual situation and fed back to the driving management platform in time, so that the high efficiency and the safety of the cooperative driving of the fleet are guaranteed, and the execution efficiency and the reliability of the cooperative driving of the fleet are improved.
In a second aspect, the present invention provides a driving task-based fleet cooperative driving system, where the system uses the driving task-based fleet cooperative driving method provided by the present invention, and the system includes: the driving task-based vehicle team collaborative driving method comprises an information acquisition module, a driving management platform, a communication module, a task judgment module and a task execution module, wherein the information acquisition module, the driving management platform, the communication module, the task judgment module and the task execution module are described in the driving task-based vehicle team collaborative driving method. The system provided by the invention has stronger capability of coping with external traffic interference, can enable the motorcade to have better cooperative driving capability when the motorcade is inserted in the middle and driven away from the vehicle in the driving process, and can provide more alternative schemes for the control of the motorcade.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for cooperative driving of a fleet based on driving tasks according to an embodiment of the present invention;
Fig. 2 is a schematic diagram of a frame of a fleet collaborative driving system based on driving tasks according to an embodiment of the present invention.
Detailed Description
Specific embodiments of the invention will be described in detail below, it being noted that the embodiments described herein are for illustration only and are not intended to limit the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: no such specific details are necessary to practice the invention. In other instances, well-known circuits, software, or methods have not been described in detail in order not to obscure the invention.
Throughout the specification, references to "one embodiment," "an embodiment," "one example," or "an example" mean: a particular feature, structure, or characteristic described in connection with the embodiment or example is included within at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Moreover, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and that the illustrations are not necessarily drawn to scale.
It should be noted in advance that in an alternative embodiment, the same symbols or alphabet meaning and number are the same as those present in all formulas, except where separate descriptions are made.
In an alternative embodiment, referring to fig. 1, the present invention provides a method for cooperative driving of a fleet based on driving tasks, the method comprising the steps of:
s1, vehicles to be formed are used for uploading driving information acquired in real time by the information acquisition module to a driving management platform by utilizing the communication module to construct a first driving information set, and then an original vehicle team is constructed.
Specifically, in this embodiment, the driving information includes a vehicle position, a vehicle speed, a barrier-free space distance in front of the head vehicle, and a barrier-free space distance behind the tail vehicle, and the willingness to group includes willingness to group and to leave from a queue, and the driving management platform stores the road condition data.
More specifically, the willingness to group the vehicles to be grouped defaults to be grouped and located on the same lane and has an automatic driving function. And uploading the vehicle positions and the vehicle speeds acquired in real time by the respective information acquisition modules to a driving management platform by the vehicles to be assembled by the communication modules, and constructing an original driving information set by the driving management platform by using the received vehicle positions and the received vehicle speeds. And according to the relative position and the speed direction between the vehicles to be formed in the original driving information set, the driving management platform distributes vehicle numbers for the vehicles to be formed, and then the original vehicle team is formed. When the vehicle numbers are distributed, the vehicles to be formed at the forefront are the head vehicles of the queue according to the speed direction of the vehicles to be formed, the serial numbers of the head vehicles of the queue are 1, then the vehicles to be formed behind the head vehicles of the queue are numbered in sequence, the vehicles to be formed at the tail of the vehicle queue are the tail vehicles of the queue, and the vehicles to be formed between the head vehicles of the queue and the tail vehicles of the queue are the following vehicles.
Further, the information acquisition module comprises a high-definition camera and a millimeter wave radar. After the vehicle numbers are allocated to the vehicles to be formed, the information acquisition module is used for identifying the vehicles in front of the queue head, measuring the distance between the vehicles in front of the queue head and the vehicles, taking the obtained minimum distance value as the barrier-free space distance in front of the head, and if no other vehicles are in front of the queue head, directly taking the barrier-free space distance in front of the head for 10km. The unobstructed spatial distance behind the tail car is the minimum of the distances between the train tail car and the vehicles behind the train tail car, and the acquisition mode is the same as the mode for acquiring the unobstructed spatial distance in front of the head car. After the front unobstructed space distance of the head car and the rear unobstructed space distance of the tail car are obtained, the front and the tail cars in the queue respectively use the communication module to transmit the front unobstructed space distance of the head car and the rear unobstructed space distance of the tail car to the driving management platform, and the driving management platform supplements the original driving information set by using the front unobstructed space distance of the head car and the rear unobstructed space distance of the tail car, so that a first driving information set is obtained.
Furthermore, because the driving information of the vehicles to be formed is changed in real time, the first driving information set is dynamically updated, and the real-time property of the data can be improved by collecting and sharing the data in real time through the driving management platform, so that the vehicles can stably run. In addition, the communication module is installed in the vehicle to be formed, and data transmission between the communication module and the driving management platform is realized through the Internet of things, which is the prior art.
S2, the driving management platform formulates a driving task according to the first driving information set, and transmits the driving task and the first driving information set to an original fleet vehicle so that the original fleet vehicle can drive according to the driving task.
The road condition data are driving rules of a road section where the vehicles to be formed are located, and the driving rules comprise highway speed limit and whether lane replacement is supported or not. S2 specifically comprises the following steps:
s21, the driving management platform generates a recommended driving path, a recommended driving speed, a recommended workshop distance and a recommended following position according to the road condition data and the first driving information set, and the recommended driving path, the recommended driving speed, the recommended workshop distance and the recommended following position are tidied into the driving task.
Specifically, in this embodiment, the driving management platform determines the driving speed interval according to the highway speed limit, and further determines the recommended driving speed and the recommended inter-vehicle distance according to the vehicle speed of the original fleet vehicle. For convenience of the following description, the recommended driving speed is a median of the vehicle speeds of the original fleet vehicles, and the recommended inter-vehicle distance satisfies the following relationship:
Wherein d is the recommended inter-vehicle distance, Is the distance between two adjacent original fleet vehicles.
Further, the driving management platform determines a recommended driving path according to the vehicle position of the head-of-line vehicle in the original vehicle team, wherein the recommended driving path is the center line of the lane where the head-of-line vehicle in the original vehicle team is located. After determining the recommended travel path and the recommended inter-vehicle distance, a recommended following position of the original fleet vehicle may be determined, where the recommended following position is the position of the following vehicle and the queue tail vehicle on the recommended travel path according to the recommended inter-vehicle distance. And finally, the driving management platform sorts the recommended driving path, the recommended driving speed, the recommended workshop distance and the recommended following position into driving tasks.
S22, the driving management platform transmits the driving task and the first driving information set of the motorcade to the original motorcade vehicles through the Internet of things, so that the original motorcade vehicles run according to the driving task.
Specifically, in this embodiment, if the original fleet is temporarily formed, the original fleet vehicles may not be able to directly perform cooperative driving according to the driving task at first, so the driving management platform needs to formulate a corresponding adjustment policy for each original fleet vehicle, so that each original fleet vehicle adjusts its own state according to the corresponding adjustment policy, and finally achieves the purpose of driving according to the driving task. For ease of understanding, a straight lane is illustrated herein, and other types of lanes may be selected in alternative embodiments.
Further, when the original fleet is composed, there is no situation in which vehicles are inserted or removed from the fleet, so that the original fleet vehicles can be rapidly implemented using an Adaptive Cruise Control (ACC) system according to driving tasks according to recommended driving speeds and recommended inter-vehicle distances.
Furthermore, the driving information is collected and analyzed in real time through the driving management platform, so that the data processing amount of vehicles in the fleet is reduced, the fleet is ensured to efficiently and cooperatively drive, and the intelligent level and efficiency of fleet management are improved. In addition, if the fleet is already driving according to the driving mission at the beginning, the formulation of the driving strategy in this step may be omitted.
S3, according to the team forming willingness of the mobile vehicles, the driving management platform utilizes the first driving information set and the driving information of the mobile vehicles to construct a second driving information set, and further a vehicle team to be planned is constructed.
Wherein the mobile vehicles comprise newly added vehicles which want to be added to the original motorcade and dequeued vehicles which want to be separated from the original motorcade, and the mobile vehicles are not queuing head vehicles and queuing tail vehicles. S3 specifically comprises the following steps:
S31, the mobile vehicle uploads real-time driving information and team willingness to a driving management platform by using a communication module.
Specifically, in the present embodiment, the mobile vehicle and the original fleet vehicle travel in the same direction.
And S32, adding the driving information sent by the newly added vehicle into the first driving information set by the driving management platform according to the willingness of the mobile vehicle to group, kicking the driving information of the dequeue vehicle out of the first driving information set, and further obtaining the second driving information set.
S33, the driving management platform distributes vehicle numbers for the vehicles of the fleet to be planned according to the initial relative positions among the vehicles of the fleet to be planned, and then the fleet to be planned is formed.
Specifically, in the present embodiment, the specific content of step S33 may refer to step S1, which is not described herein. The formation of the motorcade is dynamically adjusted according to the formation wish of the flowing vehicles, so that the dynamic planning and optimization of the motorcade are realized, the flexibility and response speed of the motorcade are improved, the requirements of vehicle insertion and dequeuing are met, and the accuracy and efficiency of the motorcade management are improved.
And S4, based on the driving task and the second driving information set, the driving management platform formulates a vehicle movement strategy of the vehicle team, and transmits the vehicle movement strategy of the vehicle team and the second driving information set to the vehicle team to be planned.
The vehicle movement strategies of the vehicle team comprise a first vehicle movement strategy of the vehicle team, a second vehicle movement strategy of the vehicle team and a third vehicle movement strategy of the vehicle team, wherein the first vehicle movement strategy of the vehicle team is a first vehicle team back section movement strategy, the second vehicle movement strategy of the vehicle team comprises a vehicle team front section movement strategy and a first new joining vehicle movement strategy, and the third vehicle movement strategy of the vehicle team comprises a second vehicle team back section movement strategy and a second new joining vehicle movement strategy. S4 specifically comprises the following steps:
And S41, under the condition that the driving rule is met, the driving management platform divides the fleet to be planned into a front fleet section and a rear fleet section according to the vehicle positions of the mobile vehicles.
Specifically, in this embodiment, if the location of the fleet to be planned supports lane change, the driving management platform divides the fleet to be planned into a front fleet section and a rear fleet section according to the vehicle location of the mobile vehicle.
More specifically, if the mobile vehicle is an off-line vehicle, all the vehicles to be planned in front of the off-line vehicle are the front section of the vehicle fleet, and all the vehicles to be planned in back of the vehicle fleet are the back section of the vehicle fleet on the recommended driving path according to the vehicle positions of the off-line vehicle before the off-line. If there are a plurality of dequeue vehicles, the front section of the fleet and the rear section of the fleet may be divided according to the order of the vehicle numbers of the dequeue vehicles in the original fleet. For example, if two dequeue vehicles exist, the vehicle numbers of the dequeue vehicles in the original vehicle queue are 3 and 5 in sequence, the vehicle queue to be planned is firstly divided into a front vehicle queue section and a rear vehicle queue section based on the dequeue vehicle with the vehicle number of 3 and a first vehicle queue rear section movement strategy is formulated, the front vehicle queue section and the rear vehicle queue section keep the recommended workshop distance, then the vehicle queue to be planned is secondly divided into the front vehicle queue section and the rear vehicle queue section based on the dequeue vehicle with the vehicle number of 5 and the first vehicle queue rear section movement strategy is formulated, the front vehicle queue section and the rear vehicle queue section keep the recommended workshop distance, and so on. The process in which the fleet rear section performs the first fleet rear section movement strategy to maintain the fleet front section and the fleet rear section at the recommended inter-vehicle distance may refer to step S42.
Further, if the mobile vehicle is a newly added vehicle and the number of the newly added vehicle in the fleet to be planned is n according to the position of the newly added vehicle, the fleet to be planned vehicles numbered 1 to n-1 in the fleet to be planned are fleet front sections, and the fleet to be planned vehicles numbered n+1 and the fleet to be planned vehicles behind the fleet to be planned are fleet rear sections. At this time, the fleet vehicles to be planned in the front section and the rear section of the fleet still travel according to the driving task. If a plurality of newly added vehicles exist, the front section of the vehicle team and the rear section of the vehicle team can be divided according to the sequence of the vehicle numbers of the newly added vehicles in the vehicle team to be planned. For example, if there are two newly added vehicles whose vehicle numbers in the fleet to be planned are 3 and 5 in order, the fleet to be planned is first divided into a front fleet section and a rear fleet section based on the newly added vehicle with the vehicle number 3, and after it is inserted between the vehicles of the original fleet, the fleet to be planned is divided into a front fleet section and a rear fleet section based on the newly added vehicle with the vehicle number 5, and the newly added vehicle with the vehicle number 5 is inserted between the vehicles of the original fleet, and so on. The process of inserting a newly joined vehicle between the original fleet vehicles may refer to step S43.
And S42, when the mobile vehicle is an off-line vehicle, the driving management platform updates a recommended following position of the rear section of the vehicle team in the driving task according to the second driving information set, and formulates a first vehicle team rear section movement strategy so that the front section of the vehicle team and the rear section of the vehicle team keep the recommended workshop distance.
Specifically, in this embodiment, when the mobile vehicle is an off-line vehicle, at least one following vehicle will be fewer in the original fleet to form a fleet to be planned, which means that a recommended following position will be vacated in the original fleet, and at this time, the recommended following positions of all the vehicles of the fleet to be planned in the rear section of the fleet should be moved forward by one position, so that the front section of the fleet and the rear section of the fleet maintain the recommended workshop distance, and this can be achieved by making the first movement strategy of the rear section of the fleet.
Further, the time taken for all the fleet vehicles to be planned to travel to the corresponding recommended following positions in the rear section of the fleet is set, and the first fleet rear section movement strategy is divided into two types:
1. And uniformly accelerating and driving the vehicle of the vehicle team to be planned for a period of time, uniformly decelerating to the recommended driving speed and reaching the recommended following position, uniformly driving according to the recommended driving speed, wherein the maximum speed of the vehicle team to be planned during uniform accelerating and driving is less than 0.9 times of the maximum speed limit of the lane, and at the moment, the motion strategy of the rear section of the first vehicle team can be expressed by the following relation:
Wherein, For recommended driving speed,/>For the time and/>, which is taken for all fleet vehicles to be planned to travel to the corresponding recommended following positions in the rear section of the fleet，/>And the acceleration of the vehicle of the first motorcade to be planned in the first motorcade rear-section movement strategy when the vehicle of the motorcade to be planned runs at uniform acceleration. The acceleration of the vehicle of the fleet to be planned during uniform acceleration running and uniform deceleration running is the same,This relationship can be used to calculate directly.
2. The vehicle of the fleet to be planned is firstly accelerated and driven for a period of time and reaches the maximum speed limit of 0.9 times of the lane, then is driven for a period of time at the maximum speed limit of 0.9 times of the lane at a constant speed, is then decelerated to the recommended driving speed and reaches the recommended following position, and finally is driven at a constant speed according to the recommended driving speed, and at the moment, the movement strategy of the rear section of the first fleet can be expressed by using the following relation:
Wherein, For the time of uniform acceleration running of the vehicle of the fleet to be planned,/>For the time of driving the vehicle of the fleet to be planned at the constant speed and the maximum speed limit of 0.9 times of the lane,/>For maximum speed limit of lane,/>And the acceleration of the vehicle of the first motorcade to be planned in the second first motorcade rear-section movement strategy when the vehicle of the motorcade to be planned runs at uniform acceleration. The acceleration of the vehicle of the fleet to be planned in uniform acceleration running and uniform deceleration running is the same as that of the vehicle of the fleet to be planned in uniform deceleration running、/>And/>Can be calculated using this relationship.
And S43, if the mobile vehicle is a newly added vehicle, respectively making a second vehicle movement strategy and a third vehicle movement strategy based on the driving task according to the front unobstructed space distance of the head vehicle and the rear unobstructed space distance of the tail vehicle.
Wherein S43 further comprises the following steps:
And S431, when the mobile vehicle is a newly added vehicle, if the barrier-free space distance in front of the head vehicle and the barrier-free space distance behind the tail vehicle are smaller than the free running distance, the movement strategy of the vehicle team to be planned is keeping the current driving state.
Specifically, in this embodiment, when the mobile vehicle is a newly added vehicle, the fleet vehicle to be planned includes the newly added vehicle and the original fleet vehicle, and the front fleet section or the rear fleet section should change the movement state within a certain period of time so that a recommended following position is left between the front fleet section and the rear fleet section, and then the newly added vehicle travels to the recommended following position. However, if the front unobstructed space distance of the front part of the vehicle and the rear unobstructed space distance of the tail vehicle are smaller than the free driving distance, at the moment, no matter the front section of the vehicle team changes the motion state or the motion state of the rear section of the vehicle team, the distance between partial vehicles is smaller than the recommended workshop distance, so that the collision risk is increased, the newly added vehicle cannot be inserted between the front section of the vehicle team and the rear section of the vehicle team at the moment, the vehicle of the vehicle team to be planned should keep the current driving state, and the vehicle of the vehicle team to be planned continues to drive according to the driving task in the original vehicle team.
S432, if the barrier-free space distance in front of the head car is not smaller than the free running distance, the running management platform establishes a front section movement strategy of a vehicle team based on the driving task to enable the newly added vehicle to leave a recommended following position between the front section of the vehicle team and the rear section of the vehicle team, and establishes a first new added vehicle movement strategy to enable the newly added vehicle to run to the corresponding recommended following position, otherwise, whether the barrier-free space distance behind the tail car is smaller than the free running distance is judged.
Specifically, in the present embodiment, the free running distance is not less than. If the barrier-free space distance in front of the front vehicle is not smaller than the free running distance, the vehicle of the vehicle team to be planned in the front section of the vehicle team changes the driving state according to the movement strategy of the front section of the vehicle team, the rear section of the vehicle team keeps the current driving state, a recommended following position is reserved between the front section of the vehicle team and the rear section of the vehicle team for the newly-added vehicle, the recommended following position is recorded as the newly-added recommended following position, the newly-added recommended following position is the initial recommended following position of the vehicle team to be planned with the minimum number in the rear section of the vehicle team, and the newly-added vehicle is not initially located behind the newly-added recommended following position. The fleet front movement strategy is similar to the first fleet rear movement strategy and will not be described in detail herein.
Further, for the first newly added vehicle motion policy, assuming that a projected distance of a distance between the newly added vehicle and the newly added recommended following position in the direction of the newly added vehicle speed is L before the newly added vehicle starts executing the newly added vehicle motion policy, if the newly added vehicle speed is greater than the recommended driving speed, the newly added vehicle is uniformly decelerating and is interposed between the front section of the fleet and the rear section of the fleet, the first newly added vehicle motion policy may be expressed using the following relation:
Wherein, For the vehicle speed of newly added vehicles,/>For the acceleration of the newly added vehicle during uniform deceleration running, c is the distance from the original vehicle position of the newly added vehicle to the recommended running path,/>The time of the vehicle traveling at even deceleration is the first newly added vehicle. By using the relation, calculate/>And/>。
If the initial vehicle speed of the newly added vehicle is less than the recommended driving speed, the first newly added vehicle motion strategy is: newly added vehicle atAccelerating to 2 times of recommended driving speed, wherein the relative position of the newly added vehicle and the newly added recommended following position is unchanged, and then calculating/>, according to the relation selected in the step of selecting the relative position of the newly added vehicle and the newly added recommended following positionAnd/>。
S433, if the barrier-free space distance behind the tail car is not smaller than the free running distance, the running management platform establishes a second vehicle queue rear section movement strategy based on the driving task to enable the newly added vehicle to leave a recommended following position between the vehicle queue front section and the vehicle queue rear section, and establishes a second newly added vehicle movement strategy to enable the newly added vehicle to run to the corresponding recommended following position.
Specifically, in this embodiment, if the unobstructed spatial distance behind the tail car is not less than the free driving distance, the vehicle of the fleet to be planned in the front section of the fleet maintains the current driving state, and the vehicle of the fleet to be planned in the rear section of the fleet changes the driving state according to the second fleet rear section movement strategy, so as to leave a recommended following position for the newly added vehicle between the fleet front section and the fleet rear section. The second motorcade rear section movement strategy specifically comprises the following steps: the vehicle of the fleet to be planned firstly uniformly decelerates and travels for a period of time, then uniformly accelerates to the recommended driving speed and reaches the recommended following position, and then uniformly travels according to the recommended driving speed, and at the moment, the motion strategy of the rear section of the second fleet can be expressed by using the following relation:
Wherein, For recommended driving speed,/>And the acceleration of the vehicle of the second vehicle team to be planned in the rear-section movement strategy is the acceleration of the vehicle of the second vehicle team during uniform deceleration driving. The acceleration of the vehicle of the fleet to be planned in uniform deceleration running and uniform acceleration running is the same as that of the vehicle of the fleet to be planned in uniform acceleration runningThis relationship can be used to calculate directly.
Further, since the newly added recommended following position is the initial recommended following position of the vehicle of the to-be-planned vehicle group with the smallest number in the rear section of the vehicle group, and the relative position of the initial recommended following position of the vehicle of the to-be-planned vehicle group with the smallest number in the rear section of the vehicle group and other recommended following positions is always unchanged, the second newly added vehicle movement strategy is the same as the first newly added vehicle movement strategy.
S44, the driving management platform transmits the movement strategy of the fleet vehicle and the second driving information set to the fleet vehicle to be planned through the Internet of things.
S5, based on the second driving information set and driving environment information acquired by the to-be-planned fleet vehicles in real time, the to-be-planned fleet vehicles judge the executable degree of the fleet vehicle movement strategy by using a task judgment module.
The driving environment information comprises the position and the speed of the adjacent vehicle, and is acquired by an information acquisition module. S5 specifically comprises the following steps:
s51, identifying the non-to-be-planned vehicle fleet vehicles in the adjacent vehicles by the task judgment module according to the second driving information set and the driving environment information by the newly-added vehicles and the first to-be-planned vehicle fleet vehicles behind the dequeue vehicles.
Specifically, in this embodiment, the position of each vehicle of the fleet to be planned can be determined by the second driving information set for the first vehicle of the fleet to be planned behind the newly added vehicle and the dequeued vehicle, and the position of each neighboring vehicle can be determined according to the driving environment information, and the neighboring vehicle position can be compared with the position of each vehicle of the fleet to be planned to determine the vehicle of the fleet not to be planned.
Furthermore, the task judgment module establishes a plane rectangular coordinate system by taking the vehicle in which the task judgment module is positioned as a coordinate origin, marks the positions of the vehicles of the vehicle teams to be planned and the adjacent vehicle positions in the plane rectangular coordinate system, and can identify the vehicles of the vehicle teams not to be planned, which is the prior art.
And S52, when the mobile vehicle is an off-line vehicle, judging the executable degree of the motion strategy of the first vehicle by using a task judgment module on the basis of the motion strategy of the first vehicle and the driving environment information of the vehicle of the non-to-be-planned vehicle of the off-line vehicle.
Specifically, in this embodiment, a first vehicle to be planned behind an off-line vehicle is recorded as a rear-end first vehicle, and then the rear-end first vehicle uses a task judgment module to judge whether the first vehicle and the first vehicle to be planned are in the same coordinate position at a certain moment in the process of driving to a new recommended driving position according to the first vehicle movement strategy based on the first vehicle movement strategy and current driving environment information, if yes, the executable degree is 0, and if not, the executable degree is 1.
Further, the task judgment module predicts the driving track of the vehicle of the non-planning vehicle team by using the driving environment information of the vehicle of the non-planning vehicle team, then judges whether the recommended driving path of the front-end vehicle of the rear-end segment and the driving track of the vehicle of the non-planning vehicle team have an intersection point, and judges whether the front-end vehicle of the rear-end segment and the vehicle of the non-planning vehicle team drive to the intersection point in the same time, which is the prior art. If the front-end vehicles of the rear section and the vehicles of the vehicle team to be planned travel to the intersection point in the same time, the front-end vehicles of the rear section and the vehicles of the vehicle team to be planned can appear at the same coordinate position at a certain moment, the executable degree is 0, and otherwise, the executable degree is 1.
And S53, when the mobile vehicle is a newly-added vehicle, based on the second vehicle movement strategy, the third vehicle movement strategy and the driving environment information of the vehicle of the non-planned vehicle, the newly-added vehicle uses a task judgment module to judge the executable degree of the second vehicle movement strategy and the third vehicle movement strategy.
Specifically, in the present embodiment, the manner of obtaining the executable degree in this step is similar to that in step S52, so that the description thereof will not be repeated here.
And S6, according to the executable degree, the driving management platform and the task execution module are mutually matched to adjust the driving state of the vehicle team to be planned by using the vehicle motion strategy of the vehicle team, and finally the vehicle of the vehicle team to be planned is driven cooperatively according to the driving task.
Wherein, S6 specifically includes the following steps:
And S61, if the executable degree is 1, the vehicle using task execution module of the vehicle team to be planned adjusts the driving state according to the vehicle motion strategy of the vehicle team.
Specifically, in this embodiment, if the executable degree is 1, according to the corresponding vehicle movement strategy of the vehicle team, the vehicle of the vehicle team to be planned uses the task execution module to adjust the running speed and the running path of the vehicle team to be planned, so that the vehicle of the vehicle team to be planned runs into the corresponding recommended following position, and the cooperative driving of the vehicle team is realized.
And S62, if the executable degree is not 1, the task execution module of the vehicle team to be planned refuses to execute the motion strategy of the vehicle team and feeds back the refused execution information to the driving management platform, and the driving management platform adjusts the motion strategy of the vehicle team and resends the motion strategy to the vehicle of the vehicle team to be planned.
Specifically, in this embodiment, the communication modules of the different fleet vehicles to be planned are connected through the internet of things, and the first fleet vehicle to be planned behind the dequeue vehicle will transmit the execution degree value to the other fleet vehicles to be planned in the rear section of the fleet. When the mobile vehicle is an off-line vehicle and the off-line vehicle does not drive away from the recommended driving path, the vehicle of the vehicle team to be planned at the rear section of the vehicle team inevitably increases collision risk if the vehicle is accelerated to drive, and the executable degree is not 1 at the moment, so that the task execution module of the vehicle team to be planned at the rear section of the vehicle team refuses to execute the first vehicle team rear section movement strategy and feeds back the refused execution information to the driving management platform through the communication module to enable the driving management platform to know, and the driving management platform can send instructions for keeping the current driving state to all the vehicles of the vehicle team to be planned until the executable degree is 1.
Further, when the mobile vehicle is a newly-added vehicle, if the executable degree of the movement strategy of the second vehicle is not 1, the task execution module of the newly-added vehicle refuses to execute the movement strategy of the second vehicle team and feeds back the refused execution information to the driving management platform through the communication module so that the driving management platform knows, and the driving management platform judges that the barrier-free space distance behind the tail vehicle is not smaller than the free driving distance. If the barrier-free space distance behind the tail car is smaller than the free running distance, the driving management platform sends an instruction for keeping the current running state to all the vehicles of the fleet to be planned until the barrier-free space distance behind the tail car is not smaller than the free running distance; if the barrier-free space distance behind the tail car is not smaller than the free running distance, the third fleet vehicle movement strategy of the driving management platform is sent to the newly added vehicle, and if the third fleet vehicle movement strategy executable degree is not 1, the driving management platform sends a command for keeping the current running state to all fleet vehicles to be planned until the second fleet vehicle movement strategy or the third fleet vehicle movement strategy executable degree is 1.
It should be noted that, in some cases, the actions described in the specification may be performed in a different order and still achieve desirable results, and in this embodiment, the order of steps is merely provided to make the embodiment more clear, and it is convenient to describe the embodiment without limiting it.
In an optional embodiment, please refer to fig. 2, the present invention further provides a driving task-based fleet collaborative driving system, which uses the driving task-based fleet collaborative driving method provided by the present invention, and the system includes an information acquisition module A1, a driving management platform A2, a communication module A3, a task decision module A4, and a task execution module A5.
Specifically, in this embodiment, the information collecting module A1 is electrically connected to the communication module A3 and the task judging module A4, the driving management platform A2 is connected to the communication module A3 through the internet of things, the communication module A3 is electrically connected to the task judging module A4, and the task judging module A4 is electrically connected to the task executing module A5. The information acquisition module A1, the driving management platform A2, the communication module A3, the task judgment module A4 and the task execution module A5 are as described in the steps S1-S6.
Further, in other optional embodiments, the system may further include a high-definition camera and a millimeter wave radar.
The system provided by the invention has stronger capability of coping with external traffic interference, and can enable the motorcade to have better cooperative driving capability when the motorcade is inserted midway and driven away from the vehicle in the driving process.
In summary, the driving information set is constructed, the driving task is formulated, and then the vehicle movement strategy of the motorcade is formulated, so that the motorcade can cooperatively drive according to the driving task, and more optional schemes are provided for the cooperative driving of the motorcade. Firstly, the driving information is collected and analyzed in real time through the driving management platform, so that efficient transmission and sharing of the information are realized, driving tasks and motion strategies conforming to the current road conditions and vehicle states can be made, the efficient and coordinated driving of a fleet is ensured, and the intelligent level and efficiency of fleet management are improved. Secondly, the invention allows the vehicles to dynamically join or leave the fleet according to the fleet forming will and based on the executable degree judged by the task judgment module, thereby effectively avoiding potential risks and accidents, improving the capability of the fleet to cope with external interference, enabling the fleet to have better cooperative driving capability when the vehicles are inserted or driven in the middle of the fleet driving process, and improving the driving safety of the fleet.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has 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 invention, and are intended to be included within the scope of the appended claims and description.
Claims (4)
1. The motorcade collaborative driving method based on the driving task is characterized by comprising the following steps of:
The method comprises the steps that a vehicle to be formed is uploaded to a driving management platform by utilizing a communication module to form a first driving information set by driving information acquired in real time by an information acquisition module, so that an original vehicle formation is formed, the driving information comprises a vehicle position, a vehicle speed, a barrier-free space distance in front of a head vehicle and a barrier-free space distance behind a tail vehicle, the formation willingness comprises willingness to form a formation and a detachment queue, the driving management platform stores road condition data, and the road condition data is a driving rule of a road section where the vehicle to be formed is located;
the driving management platform generates a recommended driving path, a recommended driving speed, a recommended workshop distance and a recommended following position according to the road condition data and the first driving information set, and arranges the recommended driving path, the recommended driving speed, the recommended workshop distance and the recommended following position into a driving task;
the driving management platform transmits the driving task and the first driving information set of the motorcade to the original motorcade vehicles through the internet of things, so that the original motorcade vehicles run according to the driving task;
According to the team forming wish of the mobile vehicles, the driving management platform utilizes the first driving information set and the driving information of the mobile vehicles to construct a second driving information set, and further a vehicle team to be planned is constructed;
Under the condition that the driving rule is met, the driving management platform divides the fleet to be planned into a front fleet section and a rear fleet section according to the vehicle position of the mobile vehicle;
When the mobile vehicle is an off-line vehicle, the driving management platform updates a recommended following position of the rear section of the vehicle team in the driving task according to the second driving information set, and formulates a first vehicle team rear section movement strategy so that the front section of the vehicle team and the rear section of the vehicle team keep the recommended workshop distance;
The first fleet rear section movement strategy comprises a first fleet rear section movement strategy and a second first fleet rear section movement strategy, and the first fleet rear section movement strategy and the second first fleet rear section movement strategy are expressed by using the following relational expressions in sequence:
，
，
Wherein, For recommended driving speed,/>For the time taken for all fleet vehicles to be planned to travel to the corresponding recommended following positions in the fleet rear section,/>For the acceleration of the vehicle of the first vehicle team in the rear-section movement strategy of the first vehicle team when the vehicle of the vehicle team to be planned runs at uniform acceleration,/>For the time of uniform acceleration running of the vehicle of the fleet to be planned,/>For the time of the vehicle of the fleet to be planned to travel at the constant speed and the maximum speed limit of 0.9 times of the lane, d is the recommended workshop distance,/>For maximum speed limit of lane,/>Acceleration of a vehicle of a first motorcade to be planned in a second first motorcade rear-section movement strategy when the vehicle is in uniform acceleration driving;
When the mobile vehicle is a newly added vehicle, if the barrier-free space distance in front of the head vehicle and the barrier-free space distance behind the tail vehicle are smaller than the free driving distance, the movement strategy of the vehicle to be planned is keeping the current driving state;
If the barrier-free space distance in front of the head car is not smaller than the free running distance, the running management platform establishes a front section movement strategy of a motorcade based on the driving task to reserve a recommended following position between the front section of the motorcade and the rear section of the motorcade for the newly added vehicle, and establishes a first new added vehicle movement strategy to enable the newly added vehicle to run to the corresponding recommended following position, otherwise, judging whether the barrier-free space distance behind the tail car is smaller than the free running distance;
If the barrier-free space distance behind the tail car is not smaller than the free running distance, the running management platform establishes a second vehicle team back section movement strategy based on the driving task to leave a recommended following position for the newly added vehicle between the vehicle team front section and the vehicle team back section, and establishes a second newly added vehicle movement strategy to enable the newly added vehicle to run to the corresponding recommended following position;
The driving management platform transmits the movement strategy of the fleet vehicles and the second driving information set to the fleet vehicles to be planned through the Internet of things;
The vehicle movement strategies of the vehicle team comprise a first vehicle movement strategy of the first vehicle team, a second vehicle movement strategy of the second vehicle team and a third vehicle movement strategy of the third vehicle team, wherein the first vehicle movement strategy of the first vehicle team is a rear section movement strategy of the first vehicle team, the second vehicle movement strategy of the second vehicle team comprises a front section movement strategy of the vehicle team and a first new joining vehicle movement strategy, and the third vehicle movement strategy of the third vehicle team comprises a rear section movement strategy of the second vehicle team and a second new joining vehicle movement strategy;
the newly-added vehicles and the first vehicle to be planned in the back of the dequeue vehicles identify non-vehicle to be planned in the adjacent vehicles by utilizing a task judgment module according to the second driving information set and driving environment information;
When the mobile vehicle is an off-line vehicle, based on the first fleet vehicle movement strategy and the driving environment information of the non-planned fleet vehicle, a first vehicle to be planned behind the dequeue vehicle uses a task judgment module to judge the executable degree of the motion strategy of the first vehicle;
When the mobile vehicle is a newly-added vehicle, the newly-added vehicle uses a task judging module to judge the executability of the second vehicle movement strategy and the third vehicle movement strategy based on the second vehicle movement strategy, the third vehicle movement strategy and the driving environment information of the vehicle of the non-planned vehicle;
and according to the executable degree, the driving management platform and the task execution module are mutually matched to adjust the driving state of the vehicle team to be planned by using the vehicle motion strategy of the vehicle team, and finally the vehicle of the vehicle team to be planned is driven cooperatively according to the driving task.
2. A driving task based fleet collaborative driving method according to claim 1, characterized in that:
The mobile vehicles comprise newly added vehicles which want to be added to the original motorcade and dequeued vehicles which want to be separated from the original motorcade, and the mobile vehicles are not a queuing head vehicle and a queuing tail vehicle;
According to the willingness of the mobile vehicles to form a team, the driving management platform utilizes the first driving information set and the driving information of the mobile vehicles to construct a second driving information set, and then the team to be planned is constructed, and the method comprises the following steps:
the mobile vehicle uploads real-time driving information and team willingness to a driving management platform by utilizing a communication module;
According to the willingness of the mobile vehicles to group, the driving management platform adds driving information sent by the newly added vehicles into the first driving information set, kicks the driving information of the off-line vehicles out of the first driving information set, and further obtains the second driving information set;
And the driving management platform distributes vehicle numbers for the vehicles of the fleet to be planned according to the initial relative positions among the vehicles of the fleet to be planned, so as to form the fleet to be planned.
3. The method for cooperative driving of a fleet based on driving tasks according to claim 1, wherein the driving management platform and the task execution module cooperate with each other to adjust the driving state of the fleet vehicle to be planned by using the fleet vehicle movement strategy according to the executable degree, and finally, the fleet vehicle to be planned performs cooperative driving according to the driving tasks includes the following steps:
If the executable degree is 1, the vehicle using task execution module of the vehicle team to be planned adjusts the driving state according to the vehicle motion strategy of the vehicle team;
And if the executable degree is not 1, the task execution module of the vehicle team to be planned refuses to execute the motion strategy of the vehicle team and feeds back the refused execution information to the driving management platform, and the driving management platform adjusts the motion strategy of the vehicle team and resends the motion strategy of the vehicle team to be planned.
4. A driving task based fleet cooperative driving system, the system using the driving task based fleet cooperative driving method according to any one of claims 1 to 3, characterized by comprising an information acquisition module, a driving management platform, a communication module, a task decision module and a task execution module, wherein the information acquisition module, the driving management platform, the communication module, the task decision module and the task execution module are as described in claims 1 to 3.
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