WO2023221519A1 - 车辆编队行驶控制方法、装置、设备及存储介质 - Google Patents

车辆编队行驶控制方法、装置、设备及存储介质 Download PDF

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Publication number
WO2023221519A1
WO2023221519A1 PCT/CN2022/142508 CN2022142508W WO2023221519A1 WO 2023221519 A1 WO2023221519 A1 WO 2023221519A1 CN 2022142508 W CN2022142508 W CN 2022142508W WO 2023221519 A1 WO2023221519 A1 WO 2023221519A1
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Prior art keywords
vehicle
target vehicle
remote control
formation
control terminal
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PCT/CN2022/142508
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English (en)
French (fr)
Inventor
雷艺学
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腾讯科技（深圳）有限公司
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Publication of WO2023221519A1 publication Critical patent/WO2023221519A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/14—Session management
    • H04L67/141—Setup of application sessions

Definitions

  • the embodiments of the present application relate to the fields of computer and communication technologies, and in particular to a vehicle platoon driving control method, device, equipment and storage medium.
  • Vehicle formation refers to two or more vehicles closely following and connecting to form a formation with similar driving behaviors based on wireless communication technology and autonomous driving technology.
  • vehicle formation scenarios There are three types of vehicles in vehicle formation scenarios: pilot vehicles, follower vehicles and free vehicles.
  • the pilot vehicle is the vehicle at the front of the vehicle formation along the direction of the vehicle formation during the formation and is responsible for the entire vehicle formation. management work.
  • the following vehicle is the following vehicle other than the leading vehicle in the vehicle formation.
  • a free vehicle is a vehicle outside the vehicle formation. The free vehicle is not yet in the vehicle formation, so it will not interact with the lead vehicle or follower vehicle in formation-related driving behavior and data.
  • vehicles in a vehicle formation communicate with each other through short-distance direct communication interfaces, and formation driving and management are completed independently by the vehicle formation.
  • a target vehicle in a vehicle formation such as a pilot vehicle or a following vehicle
  • how to control the status of the vehicles in the vehicle formation is an urgent problem that needs to be solved.
  • This application provides a vehicle formation driving control method, device, equipment and storage medium, which can remotely control the status of vehicles in the vehicle formation through the network and flexibly conduct remote dispatching of the vehicle formation.
  • a vehicle formation driving control method includes:
  • the target vehicle establishes a network connection with the remote control terminal, and the target vehicle is any vehicle in the vehicle formation;
  • the target vehicle determines that it needs to be taken over remotely, and initiates an operation to control the status of other vehicles in the vehicle formation except the target vehicle;
  • the target vehicle sends a takeover request to the remote control terminal so that the remote control terminal controls the target vehicle to enter a driving state;
  • the target vehicle receives the takeover confirmation message sent by the remote control terminal.
  • a vehicle formation driving control method includes:
  • the remote control terminal establishes a network connection with the target vehicle, and the target vehicle is any vehicle in the vehicle formation;
  • the remote control terminal receives the takeover request sent by the target vehicle
  • the remote control terminal sends a takeover confirmation message to the target vehicle
  • the remote control terminal controls the target vehicle to enter a driving state.
  • a vehicle formation driving control device includes:
  • connection module is used to establish a network connection with the remote control terminal
  • a processing module configured to determine that it needs to be taken over remotely and initiate an operation to control the status of other vehicles in the vehicle formation except the target vehicle;
  • a sending module configured to send a takeover request to the remote control terminal so that the remote control terminal controls the target vehicle to enter a driving state
  • a receiving module configured to receive a takeover confirmation message sent by the remote control terminal.
  • a vehicle formation driving control device includes:
  • a connection module used to establish a network connection with a target vehicle, where the target vehicle is any vehicle in the vehicle formation;
  • a receiving module configured to receive a takeover request sent by the target vehicle
  • a sending module configured to send a takeover confirmation message to the target vehicle
  • a processing module used to control the target vehicle to enter a driving state is a processing module used to control the target vehicle to enter a driving state.
  • an electronic device including: a processor and a memory, the memory is used to store a computer program, the processor is used to call and run the computer program stored in the memory, to Execute the above method on the target vehicle side or the method on the remote control end side.
  • a computer-readable storage medium including a computer program that, when run on a computer, causes the computer to execute the above method on the target vehicle side or the method on the remote control end side.
  • a computer program product is provided.
  • the computer program When the computer program is run on a computer, it causes the computer to execute the above method on the target vehicle side or the method on the remote control end side.
  • a vehicle platoon driving control system includes: a target vehicle and a remote control terminal; the target vehicle is used to execute the method on the target vehicle side, and the remote control terminal Used to perform the above remote control end-side method.
  • the remote control terminal can obtain the status information of each vehicle in the vehicle formation.
  • the target vehicle determines that it needs to be taken over remotely, it initiates control of the status of other vehicles in the vehicle formation except the target vehicle.
  • the operation sends a takeover request to the remote control terminal through the network, and then the remote control terminal can control the target vehicle to enter the driving state.
  • the target vehicle in the vehicle formation needs to be taken over remotely (for example, if the target vehicle encounters a sudden emergency or requires travel intervention and determines that it needs to be taken over remotely), it requests the remote control end to control the target vehicle to enter the driving state and initiate The operation of controlling the status of other vehicles in the vehicle formation enables remote control of the status of vehicles in the vehicle formation through the network, and the remote control terminal can flexibly remotely schedule the vehicle formation.
  • Figure 1 shows a schematic diagram of an application scenario provided by an exemplary embodiment of the present application
  • Figure 2 is an interactive flow chart of a vehicle platooning control method provided by an embodiment of the present application
  • Figure 3 is an interactive flow chart of a vehicle platooning control method provided by an embodiment of the present application.
  • Figure 4 is a system architecture diagram of a vehicle platooning control method provided by an embodiment of the present application.
  • Figure 5 is an interactive flow chart of a vehicle platooning control method provided by an embodiment of the present application.
  • Figure 6 is an interactive flow chart of a vehicle platooning control method provided by an embodiment of the present application.
  • Figure 7 is an interactive flow chart of a vehicle platooning control method provided by an embodiment of the present application.
  • Figure 8 is an interactive flow chart of a vehicle platooning control method provided by an embodiment of the present application.
  • Figure 9 is a schematic structural diagram of a vehicle platooning control device provided by an embodiment of the present application.
  • Figure 10 is a schematic structural diagram of a vehicle platooning control device provided by an embodiment of the present application.
  • Figure 11 is a schematic block diagram of an electronic device provided by an embodiment of the present application.
  • Artificial Intelligence is the theory, method, technology and technology that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. operating system.
  • artificial intelligence is a comprehensive technology of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can respond in a similar way to human intelligence.
  • Artificial intelligence is the study of the design principles and implementation methods of various intelligent machines, so that the machines have the functions of perception, reasoning and decision-making.
  • Artificial intelligence technology is a comprehensive subject that covers a wide range of fields, including both hardware-level technology and software-level technology.
  • Basic artificial intelligence technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation/interaction systems, mechatronics and other technologies.
  • Artificial intelligence software technology mainly includes computer vision technology, speech processing technology, natural language processing technology, and machine learning/deep learning.
  • artificial intelligence technology has been researched and applied in many fields, such as common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, driverless driving, autonomous driving, and drones. , robots and intelligent customer service, etc.
  • automatic driving technology usually includes high-precision maps, environmental perception, behavioral decision-making, path planning, motion control and other technologies. Automatic driving has a wide range of application prospects.
  • Platooning refers to the following and connecting of two or more vehicles based on wireless communication technology and autonomous driving technology to form a formation with similar driving behaviors.
  • two or more vehicles drive in a formation in a specific scenario, which also includes formation behavior processes such as creating a formation, disbanding the formation, vehicles joining the formation, and vehicles leaving the formation. .
  • Leading Vehicle is the vehicle at the front of the formation along the direction of the formation and is responsible for the management of the entire fleet.
  • Following vehicle (FV for short) is a following vehicle other than the leading vehicle in a formation.
  • the status of the vehicle may include "piloting status", "following status” and "free status".
  • the pilot vehicle is in the leading state
  • the following vehicle is in the following state
  • the vehicles that are not traveling in vehicle formation are in the free state (the corresponding vehicles can be called free vehicles or free vehicles).
  • Figure 1 shows a schematic diagram of an application scenario provided by an exemplary embodiment of the present application.
  • the controlled vehicle can be any vehicle in the vehicle formation.
  • the remote control end can be deployed on a cloud server, and the cloud server can be a central cloud server or an edge cloud server (Mobile Edge Computing (MEC)).
  • Edge cloud servers are servers closer to the edge, such as being set up on the roadside to provide services nearby; compared to edge cloud servers, central cloud servers are set up at the remote end and can provide a wider range of services.
  • MEC Mobile Edge Computing
  • the leading vehicle can communicate with the following vehicle.
  • the leading vehicle can transmit sensor data to the following vehicle.
  • the leading vehicle can send a sensor data acquisition request to the following vehicle to obtain the information sensed by the following vehicle. data.
  • the pilot vehicle and the following vehicle can communicate with the remote control terminal through the network.
  • the network can be, for example, a 4G (4th Generation Mobile Communication Technology) network or a 5G (5th Generation Mobile Communication Technology) network. technology) network or next-generation wireless communication network, etc.
  • the remote control terminal can obtain the status information of each vehicle in the vehicle formation.
  • the status information can include, for example, the status parameters and other attribute information of the vehicle obtained through the vehicle sensor, and can also include perception fusion information, that is, multiple types of information.
  • Data fusion of vehicle sensors includes but is not limited to comprehensive processing of sensory data based on aligned time and space coordinates to obtain more accurate and comprehensive information.
  • each following vehicle can send its own status information to the pilot vehicle, which then sends it to the remote control terminal through the network; or each vehicle can send its own status information to the remote control terminal through the network. Control terminal.
  • the remote control end can disband the vehicle formation according to the status information of each vehicle, or can match which vehicles are suitable to form a vehicle formation.
  • the matching range is not limited to PC5 (ProSe Communication 5, the fifth interface of proximity communication ) within communication range.
  • the remote control terminal can detect a certain free vehicle (that is, a vehicle that has not yet become a member of the formation) based on the vehicle's planned driving route, support for remote control driving and formation driving capabilities, vehicle formation business authorization and other information. suitable formation and trigger the formation joining process. Alternatively, it can take over a certain vehicle in the vehicle formation when an emergency occurs, and remotely control the status of other vehicles in the vehicle formation through the network to achieve flexible control of the vehicle formation, for example, disbanding and controlling the vehicle formation. Other vehicles become free vehicles.
  • Vehicles in a vehicle fleet can interact and respond to information through V2X (Vehicle to Everything) communication equipment to realize fleet management and control decisions and meet the requirements of fleet driving.
  • vehicle and the remote control terminal can carry out necessary information interaction to realize the control and management of the formation, such as obtaining real-time status information, input and output instructions, emergency management and control, etc.
  • Vehicles and roadside units can transmit information, including dynamic speed limits, traffic conditions and other information, to achieve vehicle-road collaboration.
  • the pilot car is the frontmost vehicle in the vehicle formation and is the decision-maker of the entire vehicle formation's driving behavior, controlling and making decisions on the behavior of the fleet.
  • the pilot vehicle can be driven manually by a driver or autonomously.
  • the functions of the pilot car include: the pilot car has the function of recording and sharing driving behaviors in real time.
  • the pilot car has the ability to reasonably plan driving routes and driving behaviors based on traffic conditions, and effectively and accurately execute driving behaviors.
  • the pilot car communicates with followers through V2X communication equipment.
  • the vehicle interacts with information and distributes its trajectory, status and other driving parameter information to the following vehicle.
  • the following car can be driven automatically by the system.
  • the following car has the ability to reasonably plan driving routes and driving behaviors based on traffic conditions, and effectively and accurately implement the driving parameters sent by the leading car.
  • the following car communicates with the leading car and other following cars through V2X communication equipment. Interaction and information recording, sending its location, status information and other information to other vehicles in the vehicle formation.
  • a network connection is established with each vehicle in the vehicle formation through a remote control terminal.
  • the remote control terminal can obtain the status information of each vehicle in the vehicle formation.
  • the target vehicle determines that it needs to be taken over remotely , initiate an operation to control the status of other vehicles in the vehicle formation except the target vehicle, and send a takeover request to the remote control terminal through the network, and then the remote control terminal can control the target vehicle to enter the driving state.
  • the target vehicle in the vehicle formation needs to be taken over remotely (for example, if the target vehicle encounters a sudden emergency or requires travel intervention and determines that it needs to be taken over remotely), it requests the remote control end to control the target vehicle to enter the driving state and initiate The operation of controlling the status of other vehicles in the vehicle formation enables the remote control of the status of the vehicles in the vehicle formation through the network.
  • the remote control terminal can flexibly schedule the vehicle formation remotely, and the remote control terminal can control the driving of the vehicle formation in real time. Behavioral and fleet management, remote intervention in vehicle fleets.
  • Figure 2 is an interactive flow chart of a vehicle platooning control method provided by an embodiment of the present application. As shown in Figure 2, the method may include:
  • the target vehicle establishes a network connection with the remote control terminal.
  • the target vehicle is any vehicle in the vehicle formation.
  • the target vehicle is any vehicle in the vehicle formation
  • the vehicle formation members include the leading vehicle and the following vehicles of the leading vehicle.
  • the pilot vehicle can be driven manually by the driver or automatically.
  • the leading vehicle and the following vehicle conduct V2X communication through PC5 communication method for fleet driving.
  • the target vehicle establishes a network connection with the remote control terminal, which can be established through a 4G network, a 5G network or a next-generation wireless communication network. After the network connection is established, the target vehicle can interact with the remote control terminal for data.
  • the method in this embodiment can also include:
  • the target vehicle sends the status information of the target vehicle to the remote control terminal.
  • the status information may include, for example, the vehicle's status parameters and other attribute information obtained through vehicle sensors, and may also include perceptual fusion information, which is the fusion of data from multiple vehicle sensors, including but not limited to time and space coordinate pairs based on alignment.
  • the sensory data is comprehensively processed to obtain more accurate and comprehensive information.
  • the status information may include, for example, current driving speed and current location information.
  • the target vehicle determines that it needs to be taken over remotely, and initiates an operation to control the status of other vehicles in the vehicle formation except the target vehicle.
  • the target vehicle determines that it needs to be taken over remotely. For example, it may be that the target vehicle determines that it encounters a sudden emergency or requires travel intervention, and determines that it needs to be taken over remotely. It may also be that the target vehicle determines that it is difficult to continue driving. , for example, the target car breaks down or has insufficient fuel supply. If the target car is a pilot car, for example, the driver of the pilot car becomes unwell.
  • the vehicle formation will change accordingly. Therefore, an operation to control the status of other vehicles in the vehicle formation except the target vehicle is first initiated to control the status of other vehicles in the vehicle formation.
  • the target vehicle when the target vehicle is the lead vehicle, as an implementable method, the target vehicle initiates an operation to control the status of other vehicles in the vehicle formation except the target vehicle.
  • the target vehicle can be:
  • the target vehicle determines that the vehicle formation needs to be disbanded, it sends a convoy disbandment message to the following vehicle of the lead vehicle, so that the following vehicle that receives the convoy disbandment message sets its own state to the free state and drives away from the vehicle formation.
  • the leading vehicle when the leading vehicle is taken over, it is generally because the leading vehicle has a special condition and therefore it is not suitable to continue driving as the leading vehicle. At this time, the vehicle formation needs to be disbanded. If the leading vehicle determines that the vehicle formation needs to be disbanded, it will report to the vehicle formation.
  • the following vehicle sends a fleet disbandment message. Specifically, the fleet disbandment message can be sent to the following vehicle through the communication interface between the leading vehicle and the following vehicle.
  • the following vehicle that receives the convoy disbandment message sets its status to the free state and drives away from the vehicle formation. Therefore, the status of the following car changes to the free state, and the following car becomes a free car.
  • the following vehicle that becomes a free vehicle can continue to send its own status information to the remote control terminal.
  • the remote control terminal can subsequently find a suitable vehicle formation for the free vehicle and trigger the process of joining the formation to achieve flexible scheduling.
  • the method of this embodiment may also include: when the target vehicle determines that there is no need to disband the vehicle formation, sending instruction information to the follower vehicle of the lead vehicle to continue maintaining the vehicle formation.
  • the leading vehicle is taken over and is driven by the remote control terminal, if the leading vehicle determines that it does not need to disband the current vehicle formation, it can allow the following vehicle to continue driving according to the driving parameters sent by the leading vehicle.
  • the The following vehicles of the lead vehicle send instructions to continue maintaining the vehicle formation.
  • the instruction information may not be sent, and the following vehicle may continue to drive according to the driving parameters sent by the leading vehicle.
  • the target vehicle when the target vehicle is a following vehicle, as an implementable method, the target vehicle initiates an operation to control the status of other vehicles in the vehicle formation except the target vehicle. Specifically, it can be as follows:
  • the target vehicle sends a leaving request message to the pilot vehicle.
  • the departure request message refers to a message sent by the target vehicle to the lead vehicle to request to leave the current vehicle formation.
  • the target vehicle receives the convoy disbandment message sent by the pilot vehicle.
  • the fleet disbandment message refers to a message sent by the pilot vehicle to the target vehicle to remind the target vehicle that it can leave the current vehicle formation, indicating that the target vehicle's own state can change to a free state.
  • the target vehicle sets its own state to the free state and drives away from the vehicle formation.
  • the driving is controlled by the remote control terminal.
  • the following car is no longer a member of the vehicle formation, so the following car can set its own state to the free state and drive away from the vehicle formation.
  • the pilot vehicle After the pilot vehicle receives the departure request message sent by the target vehicle, if it determines that the vehicle formation needs to be disbanded, it can send a fleet disbandment message to all following vehicles in the vehicle formation. If it determines that the vehicle formation does not need to be disbanded, it can Send a fleet disbandment message to the target vehicle.
  • the lead vehicle By sending a departure request message from the target vehicle to the lead vehicle, the lead vehicle can return the corresponding team disbandment message to the target vehicle based on whether the vehicle formation needs to be disbanded, and respond flexibly to whether each follower vehicle leaves the team.
  • the target vehicle sends a takeover request to the remote control terminal.
  • the takeover request refers to a message sent by the target vehicle to the remote control terminal to request the remote control terminal to control the target vehicle into a driving state.
  • the remote control terminal sends a takeover confirmation message to the target vehicle.
  • the takeover confirmation message refers to a message sent by the remote control terminal to the target vehicle to feedback the above-mentioned takeover request, indicating that the remote control terminal has determined to control the target vehicle to enter the driving state.
  • the remote control terminal controls the target vehicle to enter the driving state.
  • the remote control terminal controls the target vehicle to enter the driving state, specifically:
  • the remote control terminal controls the target vehicle to enter the driving state based on the status information of the target vehicle.
  • the remote control terminal controls the target vehicle to enter the driving state according to the status information of the target vehicle. Specifically, it can be:
  • the remote control terminal determines the driving information of the target vehicle based on the status information of the target vehicle.
  • the remote control terminal sends driving information to the target vehicle.
  • the target vehicle performs driving behavior based on the driving information.
  • the driving information includes information such as driving route and driving speed
  • the target vehicle can perform driving behavior according to the driving route and driving speed sent by the remote control terminal.
  • the remote control terminal determines the target vehicle's driving route based on the target vehicle's status information, so that the target vehicle's driving status meets the actual driving needs, and flexibly considers the target vehicle's vehicle status and other parameter information.
  • the vehicle formation driving control method provided in this embodiment establishes a network connection between the target vehicle and the remote control terminal.
  • the remote control terminal can obtain the status information of each vehicle in the vehicle formation.
  • the target vehicle determines that it needs to be taken over remotely, it initiates control of the vehicle formation.
  • a takeover request is sent to the remote control terminal through the network, and then the remote control terminal can control the target vehicle to enter the driving state.
  • the target vehicle in the vehicle formation needs to be taken over remotely (for example, if the target vehicle encounters a sudden emergency or requires travel intervention and determines that it needs to be taken over remotely), it requests the remote control end to control the target vehicle to enter the driving state and initiate The operation of controlling the status of other vehicles in the vehicle formation enables remote control of the status of vehicles in the vehicle formation through the network, and the remote control terminal can flexibly remotely schedule the vehicle formation.
  • the target vehicle first initiates an operation to control the status of other vehicles in the vehicle formation except the target vehicle, and then requests the remote control end to take over.
  • the remote control terminal it is also possible to first request the remote control terminal to take over, and then initiate an operation to control the status of other vehicles in the vehicle formation except the target vehicle. Description will be made below with reference to the embodiment shown in FIG. 3 .
  • Figure 3 is an interactive flow chart of a vehicle platoon driving control method provided by an embodiment of the present application. As shown in Figure 3, the method may include:
  • the target vehicle establishes a network connection with the remote control terminal.
  • the target vehicle is any vehicle in the vehicle formation.
  • the target vehicle is any vehicle in the vehicle formation
  • the vehicle formation members include the leading vehicle and the following vehicles of the leading vehicle.
  • the pilot vehicle can be driven manually by the driver or automatically.
  • the leading vehicle and the following vehicle conduct V2X communication through PC5 communication method for fleet driving.
  • the target vehicle establishes a network connection with the remote control terminal, which can be established through a 4G network, a 5G network or a next-generation wireless communication network. After the network connection is established, the target vehicle can interact with the remote control terminal for data.
  • the method in this embodiment can also include:
  • the target vehicle sends the status information of the target vehicle to the remote control terminal.
  • the status information may include, for example, the vehicle's status parameters and other attribute information obtained through vehicle sensors, and may also include perceptual fusion information, which is the fusion of data from multiple vehicle sensors, including but not limited to time and space coordinate pairs based on alignment.
  • the sensory data is comprehensively processed to obtain more accurate and comprehensive information.
  • the status information may include, for example, current driving speed and current location information.
  • the target vehicle sends a takeover request to the remote control terminal.
  • the target vehicle may be determined when it encounters a sudden emergency or requires travel intervention, or when the target vehicle determines that it is in a situation where it is difficult to continue driving, such as a breakdown of the target vehicle or insufficient fuel supply. , if the target vehicle is the pilot vehicle, for example, the driver of the pilot vehicle becomes unwell. Send a takeover request to the remote control.
  • the remote control terminal sends a takeover confirmation message to the target vehicle.
  • the remote control terminal controls the target vehicle to enter the driving state.
  • the remote control terminal controls the target vehicle to enter the driving state, specifically:
  • the remote control terminal controls the target vehicle to enter the driving state based on the status information of the target vehicle.
  • the remote control terminal controls the target vehicle to enter the driving state according to the status information of the target vehicle, which can be:
  • the remote control terminal determines the driving information of the target vehicle based on the status information of the target vehicle.
  • the remote control terminal sends driving information to the target vehicle.
  • the target vehicle performs driving behavior based on the driving information.
  • the driving information includes information such as driving route and driving speed
  • the target vehicle can perform driving behavior according to the driving route and driving speed sent by the remote control terminal.
  • the target vehicle determines that it has been remotely taken over, and initiates an operation to control the status of other vehicles in the vehicle formation except the target vehicle.
  • the vehicle formation will change accordingly. Therefore, an operation to control the status of other vehicles in the vehicle formation except the target vehicle is initiated to control the status of other vehicles in the vehicle formation. Take control.
  • the target vehicle when the target vehicle is the lead vehicle, as an implementable method, the target vehicle initiates an operation to control the status of other vehicles in the vehicle formation except the target vehicle.
  • the target vehicle can be:
  • the target vehicle determines that the vehicle formation needs to be disbanded, it sends a convoy disbandment message to the following vehicle of the lead vehicle, so that the following vehicle that receives the convoy disbandment message sets its own state to the free state and drives away from the vehicle formation.
  • the leading vehicle when the leading vehicle is taken over, it is generally because the leading vehicle has a special condition and therefore it is not suitable to continue driving as the leading vehicle. At this time, the vehicle formation needs to be disbanded. If the leading vehicle determines that the vehicle formation needs to be disbanded, it will report to the vehicle formation.
  • the following vehicle sends a fleet disbandment message. Specifically, the fleet disbandment message can be sent to the following vehicle through the communication interface between the leading vehicle and the following vehicle.
  • the following vehicle that receives the convoy disbandment message sets its status to the free state and drives away from the vehicle formation. Therefore, the status of the following car changes to the free state, and the following car becomes a free car.
  • the following vehicle that becomes a free vehicle can continue to send its own status information to the remote control terminal.
  • the remote control terminal can subsequently find a suitable vehicle formation for the free vehicle and trigger the process of joining the formation to achieve flexible scheduling.
  • the method of this embodiment may also include: when the target vehicle determines that there is no need to disband the vehicle formation, sending instruction information to the follower vehicle of the lead vehicle to continue maintaining the vehicle formation.
  • the leading vehicle is taken over and is driven by the remote control terminal, if the leading vehicle determines that it does not need to disband the current vehicle formation, it can allow the following vehicle to continue driving according to the driving parameters sent by the leading vehicle.
  • the The following vehicles of the lead vehicle send instructions to continue maintaining the vehicle formation.
  • the instruction information may not be sent, and the following vehicle may continue to drive according to the driving parameters sent by the leading vehicle.
  • the target vehicle when the target vehicle is a following vehicle, as an implementable method, the target vehicle initiates an operation to control the status of other vehicles in the vehicle formation except the target vehicle. Specifically, it can be as follows:
  • the target vehicle sends a leaving request message to the pilot vehicle.
  • the target vehicle receives the convoy disbandment message sent by the pilot vehicle.
  • the target vehicle sets its own state to the free state and drives away from the vehicle formation.
  • the driving is controlled by the remote control terminal.
  • the following car is no longer a member of the vehicle formation, so the following car can set its own state to the free state and drive away from the vehicle formation.
  • the pilot vehicle After the pilot vehicle receives the departure request message sent by the target vehicle, if it determines that the vehicle formation needs to be disbanded, it can send a fleet disbandment message to all following vehicles in the vehicle formation. If it determines that the vehicle formation does not need to be disbanded, it can Send a fleet disbandment message to the target vehicle.
  • the vehicle formation driving control method provided in this embodiment establishes a network connection between the target vehicle and the remote control terminal.
  • the remote control terminal can obtain the status information of each vehicle in the vehicle formation.
  • the target vehicle sends a takeover request to the remote control terminal through the network, and then remotely The control terminal can control the target vehicle to enter the driving state.
  • the target vehicle determines that it has been taken over remotely and initiates an operation to control the status of other vehicles in the vehicle formation except the target vehicle. Therefore, the target vehicle in the vehicle formation requests the remote control terminal to control the target vehicle to enter the driving state, and initiates an operation to control the status of other vehicles in the vehicle formation. Therefore, the status of the vehicles in the vehicle formation can be remotely controlled through the network.
  • Remote control The terminal can flexibly conduct remote dispatching of vehicle fleets.
  • Figure 4 is a system architecture diagram of a vehicle platoon driving control method provided by an embodiment of the present application.
  • the remote control terminal in this embodiment is a remote control cockpit, and the remote control cockpit is deployed in The central cloud server, map and formation auxiliary (unit) are deployed on the edge cloud server.
  • One edge cloud server is responsible for one road section. Data interaction is carried out between the central cloud server and the edge cloud server through the A7 interface.
  • the remote control cockpit and the remote control vehicle are connected. Data interaction is carried out between the edge cloud server and the remote-controlled vehicle through the A5 interface. Data interaction is carried out between the edge cloud server and the remote-controlled vehicle through the A3 interface.
  • the Data interaction is carried out between the road side unit (Road Side Unit, RSU) and the edge cloud server through the A4 interface.
  • the RSU and the center Data interaction occurs between cloud servers through the A6 interface, data interaction between the RSU and other vehicles occurs through the A2 interface, and data interaction between the remotely controlled vehicle and other vehicles occurs through the A1 interface.
  • the A1 interface can be a PC5 communication interface.
  • the remote-controlled vehicle forms a vehicle formation with other vehicles.
  • the remote-controlled vehicle can be the leading vehicle or the following vehicle.
  • both the central cloud server and the edge cloud server have perception fusion functions, which can fuse data from multiple vehicle sensors, including but not limited to comprehensive processing of perception data based on aligned time and space coordinates to obtain a more accurate and comprehensive information.
  • the remote-controlled vehicle has a sensing function with other vehicles, which can specifically be the vehicle's status parameters and other attribute information obtained through vehicle sensors.
  • Figure 5 is an interactive flow chart of a vehicle formation driving control method provided by an embodiment of the present application.
  • the target vehicle is the pilot vehicle as an example, and the vehicle formation members include the pilot vehicle. and the following vehicle of the lead vehicle.
  • the method can include:
  • the pilot vehicle establishes a network connection with the remote control cockpit.
  • pilot car and the remote control cockpit can interact with each other through the A5 interface.
  • the pilot vehicle determines that it needs to be taken over remotely. When it is determined that the vehicle formation needs to be disbanded, a fleet disbandment message is sent to the following vehicles of the pilot vehicle.
  • the leading vehicle may send a fleet disbandment message to the following vehicles of the leading vehicle through the A1 interface.
  • the pilot vehicle sends a takeover request to the remote control cockpit.
  • the pilot vehicle can send a takeover request to the remote control cockpit through the A5 interface.
  • the remote control cockpit sends a takeover confirmation message to the pilot vehicle.
  • the remote control cockpit can send a takeover confirmation message to the pilot vehicle through the A5 interface.
  • the remote control cockpit controls the pilot car to enter the driving state. Specifically, the remote control cockpit determines the driving information based on the status information of the pilot vehicle, sends the driving information to the pilot vehicle, and the pilot vehicle performs driving behavior based on the driving information.
  • the following vehicle that receives the message of the team's disbandment sets its own status to the free state and leaves the vehicle formation to become a free vehicle.
  • Figure 6 is an interactive flow chart of a vehicle platoon driving control method provided by an embodiment of the present application.
  • the target vehicle is a following vehicle in the vehicle formation as an example.
  • the method can include:
  • the following car and the remote control cockpit can interact with each other through the A5 interface.
  • the following vehicle determines that it needs to be taken over remotely and sends a departure request message to the leading vehicle.
  • the following car can send a leaving request message to the leading car through the A1 interface.
  • the leading vehicle sends a team disbandment message to the following vehicle.
  • the leading vehicle can send a fleet disbandment message to the following vehicle through the A1 interface.
  • the following car can send a takeover request to the remote control cockpit through the A5 interface.
  • the remote control cockpit sends a takeover confirmation message to the following vehicle.
  • the remote control cockpit can send a takeover confirmation message to the following vehicle through the A5 interface.
  • the remote control cockpit controls the following car to enter the driving state.
  • the remote control cockpit determines the driving information based on the status information of the following car, sends the driving information to the following car, and the following car performs driving behavior based on the driving information.
  • the pilot vehicle after the pilot vehicle receives the leaving request message sent by the following vehicle, and determines that the vehicle formation needs to be disbanded, it can send a fleet disbandment message to all following vehicles in the vehicle formation, except for the following vehicle that is taken over. , other following vehicles that receive the team disbandment message will set their own status to the free state, and drive away from the vehicle formation to become a free vehicle.
  • a convoy disbandment message can be sent to the following vehicle.
  • the target vehicle (pilot vehicle or following vehicle) first initiates an operation to control the status of other vehicles in the vehicle formation except the target vehicle, and then requests the remote control end to take over.
  • the following describes in detail the target vehicle (pilot vehicle or following vehicle) with reference to the embodiments of Figures 7 and 8. It first requests the remote control terminal to take over, and then initiates an operation to control the status of other vehicles in the vehicle formation except the target vehicle.
  • Figure 7 is an interactive flow chart of a vehicle platoon driving control method provided by an embodiment of the present application. As shown in Figure 7, in this embodiment, taking the target vehicle as the pilot vehicle as an example, the method may include:
  • the pilot vehicle establishes a network connection with the remote control cockpit.
  • the pilot vehicle interacts with the remote control cockpit.
  • pilot car and the remote control cockpit can interact with each other through the A5 interface.
  • the pilot vehicle sends a takeover request to the remote control cockpit.
  • the pilot vehicle can send a takeover request to the remote control cockpit through the A5 interface.
  • the remote control cockpit sends a takeover confirmation message to the pilot vehicle.
  • the remote control cockpit can send a takeover confirmation message to the pilot vehicle through the A5 interface.
  • the pilot vehicle is determined to have been taken over remotely. When it is determined that the vehicle formation needs to be disbanded, a fleet disbandment message is sent to the following vehicles of the pilot vehicle.
  • the leading vehicle may send a fleet disbandment message to the following vehicles of the leading vehicle through the A1 interface.
  • the remote control cockpit controls the pilot car to enter the driving state. Specifically, the remote control cockpit determines the driving information based on the status information of the pilot vehicle, sends the driving information to the pilot vehicle, and the pilot vehicle performs driving behavior based on the driving information.
  • the following vehicle that receives the message of the team's disbandment sets its own status to the free state and leaves the vehicle formation to become a free vehicle.
  • Figure 8 is an interactive flow chart of a vehicle platoon driving control method provided by an embodiment of the present application.
  • the target vehicle is a following vehicle in the vehicle formation as an example.
  • the method can include:
  • the following car and the remote control cockpit can interact with each other through the A5 interface.
  • the following car can send a takeover request to the remote control cockpit through the A5 interface.
  • the remote control cockpit sends a takeover confirmation message to the following vehicle.
  • the remote control cockpit can send a takeover confirmation message to the following vehicle through the A5 interface.
  • the following vehicle determines that it has been taken over remotely and sends a departure request message to the leading vehicle.
  • the following car can send a leaving request message to the leading car through the A1 interface.
  • the leading vehicle sends a team disbandment message to the following vehicle.
  • the leading vehicle can send a fleet disbandment message to the following vehicle through the A1 interface.
  • the remote control cockpit controls the following car to enter the driving state.
  • the remote control cockpit determines the driving information based on the status information of the following car, sends the driving information to the following car, and the following car performs driving behavior based on the driving information.
  • the pilot vehicle after the pilot vehicle receives the leaving request message sent by the following vehicle, and determines that the vehicle formation needs to be disbanded, it can send a fleet disbandment message to all following vehicles in the vehicle formation, except for the following vehicle that is taken over. , other following vehicles that receive the team disbandment message will set their own status to the free state, and drive away from the vehicle formation to become a free vehicle.
  • a convoy disbandment message can be sent to the following vehicle.
  • FIG. 9 is a schematic structural diagram of a vehicle platooning control device provided by an embodiment of the present application.
  • the device may include: a connection module 11, a processing module 12, a sending module 13 and a receiving module 14, where,
  • the connection module 11 is used to establish a network connection with the remote control terminal.
  • the vehicle platoon control device can be a vehicle platoon control device in any vehicle in the vehicle formation;
  • the processing module 12 is used to determine that it needs to be taken over remotely and initiate an operation to control the status of other vehicles in the vehicle formation except the target vehicle;
  • the sending module 13 is used to send a takeover request to the remote control terminal, so that the remote control terminal controls the target vehicle to enter the driving state;
  • the receiving module 14 is used to receive the takeover confirmation message sent by the remote control terminal.
  • the target vehicle is the pilot vehicle
  • the processing module 12 is used to:
  • a convoy disbandment message is sent to the following vehicle of the lead vehicle, so that the following vehicle that receives the convoy disbandment message will set its own status to the free state and drive away from the vehicle formation.
  • processing module 12 is also configured to: when it is determined that there is no need to disband the vehicle formation, send instruction information to continue maintaining the vehicle formation to the following vehicle of the lead vehicle.
  • the target vehicle is a following vehicle
  • the sending module 13 is used to: send a leaving request message to the leading vehicle
  • the receiving module 14 is used to receive the fleet disbandment message sent by the pilot vehicle;
  • the processing module 12 is used to set its own state to a free state and drive away from the vehicle formation.
  • the sending module 13 is also used to send the status information of the target vehicle to the remote control terminal.
  • the receiving module 14 is used to receive the driving information sent by the remote control terminal, and the processing module 12 is used to perform driving behavior according to the driving information, and the driving information is determined by the remote control terminal according to the status information of the target vehicle.
  • FIG 10 is a schematic structural diagram of a vehicle platooning control device provided by an embodiment of the present application.
  • the device may include: a connection module 21, a receiving module 22, a sending module 23 and a processing module 24, where the connection Module 21 is used to establish a network connection with the target vehicle, which is any vehicle in the vehicle formation;
  • the receiving module 22 is used to receive the takeover request sent by the target vehicle
  • the sending module 23 is used to send a takeover confirmation message to the target vehicle
  • the processing module 24 is used to control the target vehicle to enter the driving state.
  • the receiving module 22 is also configured to receive the status information of the target vehicle sent by the target vehicle.
  • the processing module 24 is used to control the target vehicle to enter the driving state according to the status information of the target vehicle.
  • the processing module 24 is configured to determine the driving information of the target vehicle based on the status information of the target vehicle;
  • the sending module 23 is used to send driving information to the target vehicle, so that the target vehicle performs driving behavior according to the driving information.
  • the vehicle platooning control device shown in Figure 9 can execute the method embodiment corresponding to the target vehicle, and the foregoing and other operations and/or functions of each module in the device shown in Figure 9 are respectively to achieve the corresponding method embodiment of the target vehicle.
  • the vehicle platooning control device shown in Figure 10 can execute the method embodiment corresponding to the remote control end, and the aforementioned and other operations and/or functions of each module in the device shown in Figure 10 are respectively to implement the method corresponding to the remote control end. Embodiments, for the sake of brevity, will not be described again here.
  • the software module may be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, register, etc.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps in the above method embodiment in combination with its hardware.
  • FIG. 11 is a schematic block diagram of an electronic device 700 provided by an embodiment of the present application.
  • the electronic device 700 may include:
  • Memory 710 and processor 720 The memory 710 is used to store a computer program and transmit the program code to the processor 720. In other words, the processor 720 can call and run the computer program from the memory 710 to implement the method in the embodiment of the present application.
  • the processor 720 may be configured to execute the above method embodiments according to instructions in the computer program.
  • the processor 720 may include but is not limited to:
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • the memory 710 includes, but is not limited to:
  • Non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory. Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. Volatile memory may be Random Access Memory (RAM), which is used as an external cache.
  • RAM Random Access Memory
  • RAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • SDRAM double data rate synchronous dynamic random access memory
  • Double Data Rate SDRAM DDR SDRAM
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous link dynamic random access memory
  • Direct Rambus RAM Direct Rambus RAM
  • the computer program can be divided into one or more modules, and the one or more modules are stored in the memory 710 and executed by the processor 720 to complete the tasks provided by the present application.
  • the one or more modules may be a series of computer program instruction segments capable of completing specific functions. The instruction segments are used to describe the execution process of the computer program in the electronic device.
  • the electronic device may also include:
  • Transceiver 730 which may be connected to the processor 720 or the memory 710.
  • the processor 720 can control the transceiver 730 to communicate with other devices. Specifically, it can send information or data to other devices, or receive information or data sent by other devices.
  • Transceiver 730 may include a transmitter and a receiver.
  • the transceiver 730 may further include an antenna, and the number of antennas may be one or more.
  • bus system where in addition to the data bus, the bus system also includes a power bus, a control bus and a status signal bus.
  • This application also provides a computer storage medium, which includes instructions (or computer programs) that, when run on a computer, cause the computer to execute the method of the above method embodiment.
  • embodiments of the present application also provide a computer program product containing instructions (or computer programs). When the instructions (or computer programs) are executed by a computer, they cause the computer to perform the method of the above method embodiments.
  • "computer program” and “instruction”, “computer instruction”, “computer program instruction”, etc. express the same meaning, and they all refer to a program or program that can be executed by the processor of the computer. instruction.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted over a wired connection from a website, computer, server, or data center (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) to another website, computer, server or data center.
  • the computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center integrated with one or more available media.
  • the available media may be magnetic media (such as floppy disks, hard disks, magnetic tapes), optical media (such as digital video discs (DVD)), or semiconductor media (such as solid state disks (SSD)), etc.
  • a vehicle platooning control system is also provided.
  • the system includes: a target vehicle and a remote control terminal; the target vehicle is used to execute the method on the target vehicle side, and the remote control terminal is used to perform the method on the target vehicle side. Perform the above remote control end-side method.
  • a target vehicle and a remote control terminal the target vehicle is used to execute the method on the target vehicle side
  • the remote control terminal is used to perform the method on the target vehicle side. Perform the above remote control end-side method.
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the modules is only a logical function division. In actual implementation, there may be other division methods.
  • multiple modules or components may be combined or may be Integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.
  • Modules described as separate components may or may not be physically separated, and components shown as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. For example, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically alone, or two or more modules can be integrated into one module.

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Abstract

一种车辆编队行驶控制方法、装置、设备及存储介质，涉及计算机和通信技术领域，上述方法包括：目标车与远程控制端建立网络连接，目标车为车辆编队中的任一车辆(S101)，目标车确定需被远程接管，发起控制车辆编队中除目标车之外的其它车辆的状态的操作(S102)，目标车向远程控制端发送接管请求，以使远程控制端控制目标车进入驾驶状态(S103)，目标车接收远程控制端发送的接管确认消息。实现了可以通过网络远程控制车辆编队中的车辆的状态，远程控制端可灵活地对车辆编队进行远程调度。

Description

车辆编队行驶控制方法、装置、设备及存储介质
本申请要求于2022年05月18日提交的申请号为202210550989.8、发明名称为“车辆编队行驶控制方法、装置、设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及计算机和通信技术领域，尤其涉及一种车辆编队行驶控制方法、装置、设备及存储介质。
背景技术
车辆编队是指基于无线通信技术和自动驾驶技术，两辆或者两辆以上的车辆紧紧跟随并连接起来，形成一个具有相似驾驶行为的编队。在车辆编队的场景中存在三种类型的车辆：领航车、跟随车和自由车，其中，领航车是编队行驶中沿着车辆编队的行驶方向处于车辆编队最前方的车辆，负责整个车辆编队的管理工作。跟随车是车辆编队行驶中除了领航车之外的其它跟随的车辆。自由车是车辆编队之外的其它车辆，自由车尚未在车辆编队中，因此不会与领航车或者跟随车进行编队相关的驾驶行为及数据交互操作。
相关技术中，一个车辆编队中的车辆之间通过短距离直连通信接口通信，编队驾驶和管理由车辆编队独立完成。当车辆编队中的目标车辆(如领航车或某一跟随车)在遇到突发的紧急情况或者需要行程干预时，如何控制车辆编队中的车辆的状态，是亟需解决的问题。
发明内容
本申请提供一种车辆编队行驶控制方法、装置、设备及存储介质，可以通过网络远程控制车辆编队中的车辆的状态，灵活地对车辆编队进行远程调度。
根据本申请实施例的一个方面，提供了一种车辆编队行驶控制方法，车辆编队成员包括领航车和所述领航车的跟随车，所述方法包括：
目标车与远程控制端建立网络连接，所述目标车为所述车辆编队中的任一车辆；
所述目标车确定需被远程接管，发起控制所述车辆编队中除所述目标车之外的其它车辆的状态的操作；
所述目标车向所述远程控制端发送接管请求，以使所述远程控制端控制所述目标车进入驾驶状态；
所述目标车接收所述远程控制端发送的接管确认消息。
根据本申请实施例的一个方面，提供了一种车辆编队行驶控制方法，车辆编队成员包括领航车和所述领航车的跟随车，所述方法包括：
远程控制端与目标车建立网络连接，所述目标车为所述车辆编队中的任一车辆；
所述远程控制端接收所述目标车发送的接管请求；
所述远程控制端向所述目标车发送接管确认消息；
所述远程控制端控制所述目标车进入驾驶状态。
根据本申请实施例的一个方面，提供了一种车辆编队行驶控制装置，车辆编队成员包括领航车和所述领航车的跟随车，所述装置包括：
连接模块，用于与远程控制端建立网络连接；
处理模块，用于确定需被远程接管，发起控制所述车辆编队中除所述目标车之外的其它车辆的状态的操作；
发送模块，用于向所述远程控制端发送接管请求，以使所述远程控制端控制所述目标车 进入驾驶状态；
接收模块，用于接收所述远程控制端发送的接管确认消息。
根据本申请实施例的一个方面，提供了一种车辆编队行驶控制装置，车辆编队成员包括领航车和所述领航车的跟随车，所述装置包括：
连接模块，用于与目标车建立网络连接，所述目标车为所述车辆编队中的任一车辆；
接收模块，用于接收所述目标车发送的接管请求；
发送模块，用于向所述目标车发送接管确认消息；
处理模块，用于控制所述目标车进入驾驶状态。
根据本申请实施例的一个方面，提供了一种电子设备，包括：处理器和存储器，所述存储器用于存储计算机程序，所述处理器用于调用并运行所述存储器中存储的计算机程序，以执行上述目标车侧的方法或者远程控制端侧的方法。
根据本申请实施例的一个方面，提供了一种计算机可读存储介质，包括计算机程序，当其在计算机上运行时，使得所述计算机执行上述目标车侧的方法或者远程控制端侧的方法。
根据本申请实施例的一个方面，提供了一种计算机程序产品，当所述计算机程序在计算机上运行时，使得所述计算机执行上述目标车侧的方法或者远程控制端侧的方法。
根据本申请实施例的一个方面，提供了一种车辆编队行驶控制***，所述***包括：目标车和远程控制端；所述目标车用于执行上述目标车侧的方法，所述远程控制端用于执行上述远程控制端侧的方法。
通过目标车与远程控制端建立网络连接，远程控制端可以获取车辆编队中各个车辆的状态信息，目标车在确定需被远程接管时，发起控制车辆编队中除目标车之外的其它车辆的状态的操作，通过网络向远程控制端发送接管请求，进而远程控制端可控制目标车进入驾驶状态。从而，车辆编队中的目标车在需要被远程接管时(如目标车遇到突发的紧急情况或者需要行程干预，确定需被远程接管)，请求远程控制端控制目标车进入驾驶状态，并发起控制车辆编队中其它车辆的状态的操作，因此实现了可以通过网络远程控制车辆编队中的车辆的状态，远程控制端可灵活地对车辆编队进行远程调度。
附图说明
图1示出了本申请一个示例性实施例提供的一种应用场景示意图；
图2为本申请实施例提供的一种车辆编队行驶控制方法的交互流程图；
图3为本申请实施例提供的一种车辆编队行驶控制方法的交互流程图；
图4为本申请实施例提供的一种车辆编队行驶控制方法的***架构图；
图5为本申请实施例提供的一种车辆编队行驶控制方法的交互流程图；
图6为本申请实施例提供的一种车辆编队行驶控制方法的交互流程图；
图7为本申请实施例提供的一种车辆编队行驶控制方法的交互流程图；
图8为本申请实施例提供的一种车辆编队行驶控制方法的交互流程图；
图9为本申请实施例提供的一种车辆编队行驶控制装置的结构示意图；
图10为本申请实施例提供的一种车辆编队行驶控制装置的结构示意图；
图11是本申请实施例提供的一种电子设备的示意性框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。
需要说明的是，本申请实施例的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请实施例能够以除了在这里图示或描述的那 些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、***、产品或服务器不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
在介绍本申请技术方案之前，下面先对本申请相关知识进行介绍：
1、人工智能(Artificial Intelligence，简称AI)，是利用数字计算机或者数字计算机控制的机器模拟、延伸和扩展人的智能，感知环境、获取知识并使用知识获得最佳结果的理论、方法、技术及应用***。换句话说，人工智能是计算机科学的一个综合技术，它企图了解智能的实质，并生产出一种新的能以人类智能相似的方式做出反应的智能机器。人工智能也就是研究各种智能机器的设计原理与实现方法，使机器具有感知、推理与决策的功能。
人工智能技术是一门综合学科，涉及领域广泛，既有硬件层面的技术也有软件层面的技术。人工智能基础技术一般包括如传感器、专用人工智能芯片、云计算、分布式存储、大数据处理技术、操作/交互***、机电一体化等技术。人工智能软件技术主要包括计算机视觉技术、语音处理技术、自然语言处理技术以及机器学习/深度学习等几大方向。
随着人工智能技术研究和进步，人工智能技术在多个领域展开研究和应用，例如常见的智能家居、智能穿戴设备、虚拟助理、智能音箱、智能营销、无人驾驶、自动驾驶、无人机、机器人和智能客服等。
其中，自动驾驶技术通常包括高精地图、环境感知、行为决策、路径规划、运动控制等技术，自动驾驶有着广泛的应用前景。
2、编队(Platooning)，是指基于无线通信技术和自动驾驶技术，两辆或者两辆以上的车辆紧紧跟随并连接起来，形成一个具有相似驾驶行为的编队。
3、编队行驶(Driving as a Platoon)，两辆或者两辆以上的车辆以编队的形式在特定的场景下行驶，同时还包括创建编队、解散编队、车辆加入编队、车辆离开编队等编队行为过程。
4、领航车(Leading Vehicle，简称LV)，编队行驶中沿着车队的行驶方向处于编队最前方的车辆，负责整个车队的管理工作。
5、跟随车(Following Vehicle，简称FV)，编队行驶中除了领航车之外的其它跟随的车辆。
本申请实施例提供的技术方案主要涉及人工智能的自动驾驶等技术，具体通过如下实施例进行说明。
本申请实施例中，车辆的状态(status)可以包括“领航状态”、“跟随状态”和“自由状态”。其中领航车处于领航状态，跟随车处于跟随状态，非处于车辆编队行驶的车辆处于自由状态(对应的车辆可以称为自由车或者自由车辆)。
示例性地，图1示出了本申请一个示例性实施例提供的一种应用场景示意图，如图1所示，本申请实施例提供的技术方案主要涉及远程控制端、网络和被控车辆，被控车辆可以是车辆编队中的任一车辆。远程控制端可以部署在云端服务器，云端服务器可以是中心云服务器或者边缘云服务器(移动边缘计算(Mobile Edge Computing，简称MEC))。边缘云服务器时更靠近边缘端的服务器，比如设置在路侧，就近提供服务；相对于边缘云服务器，中心云服务器设置在远端，可以提供更大范围的服务。
其中，多个车辆组成一个车辆编队，领航车可以与跟随车进行通信，领航车可以将传感器数据传输给跟随车，领航车可以向跟随车发送传感器数据的获取请求，以获取跟随车感知到的数据。领航车与跟随车可以通过网络与远程控制端进行通信，该网络例如可以是4G(4th Generation Mobile Communication Technology，***移动通信技术)网络、5G(5th Generation Mobile Communication Technology，第五代移动通信技术)网络或者下一代无线通信网络等。
在一实施例中，远程控制端可以获取车辆编队中各个车辆的状态信息，该状态信息例如 可以包括通过车辆传感器获得的车辆的状态参数及其他属性信息，还可以包括感知融合信息，即将多种车辆传感器的数据融合，包括但不限于基于对齐的时间和空间坐标对感知数据进行综合处理，得到更为准确全面的信息。在图1所示的场景中，各跟随车可以将自身的状态信息发送至领航车，然后由领航车通过网络发送至远程控制端；或者各个车辆均可以通过网络将自身的状态信息发送至远程控制端。远程控制端在接收到各个车辆的状态信息之后，可以根据各个车辆的状态信息，解散车辆编队，或者可以匹配哪些车辆适合组成车辆编队，匹配范围不限于PC5(ProSe Communication 5，近邻通信第五接口)通信范围内。具体来说，远程控制端可以根据车辆的行驶计划路线，支持远程控制驾驶以及编队驾驶的能力、车辆编队业务授权等信息，为某一辆自由车(即尚未成为编队的成员的车辆)发现到适合的编队，并触发编队加入的过程。或者，可以在车辆编队中的某一车辆出现突发状况时接管该车辆，通过网络远程控制该车辆编队中其它车辆的状态，实现灵活地对车辆编队进行控制，例如，对车辆编队解散，控制其它车辆成为自由车。
一个车辆编队内的车辆之间可通过V2X(Vehicle to Everything，车联网)通信设备进行信息交互与响应，实现车队管控决策，满足编队行驶要求。并且车辆与远程控制端可进行必要的信息交互以实现对编队的控制管理，如获取实时状态信息、输入输出指令、紧急管控等。车辆与路侧单元可进行信息传输，包括动态限速、交通状况等信息，以实现车路协同。
领航车是车辆编队中最前方的车辆，是整个车辆编队行驶行为的决策者，对车队行为进行管控和决策。领航车可以由驾驶员手动驾驶，也可以是自动驾驶。领航车具有的功能包括：领航车具有实时记录驾驶行为并共享的功能，领航车具有基于交通状况合理规划行驶路线及行驶行为，并有效准确执行驾驶行为的能力，领航车通过V2X通信设备与跟随车进行信息交互，将其轨迹、状态等行驶参数信息分发到跟随车。
跟随车可以由***自动驾驶，跟随车具有基于交通状况合理规划行驶路线及行驶行为，并有效准确执行领航车发送的行驶参数的能力，跟随车通过V2X通信设备与领航车和其它跟随车进行信息交互和信息记录，将其位置、状态信息等信息发送至车辆编队中的其它车辆。
车辆编队中的目标车辆(如领航车或某一跟随车)在遇到突发的紧急情况或者需要行程干预时，如何控制车辆编队中的车辆的状态。为解决这一问题，本申请实施例中通过远程控制端与车辆编队中的每一车辆建立网络连接，远程控制端可以获取车辆编队中各个车辆的状态信息，目标车在确定需被远程接管时，发起控制车辆编队中除目标车之外的其它车辆的状态的操作，通过网络向远程控制端发送接管请求，进而远程控制端可控制目标车进入驾驶状态。从而，车辆编队中的目标车在需要被远程接管时(如目标车遇到突发的紧急情况或者需要行程干预，确定需被远程接管)，请求远程控制端控制目标车进入驾驶状态，并发起控制车辆编队中其它车辆的状态的操作，因此实现了可以通过网络远程控制车辆编队中的车辆的状态，远程控制端可灵活地对车辆编队进行远程调度，远程控制端可实时控制车辆编队的驾驶行为和车队管理，对车辆编队进行远程干预。下面结合附图对本申请提供的车辆编队行驶控制方法进行详细说明。
图2为本申请实施例提供的一种车辆编队行驶控制方法的交互流程图，如图2所示，该方法可以包括：
S101、目标车与远程控制端建立网络连接，目标车为车辆编队中的任一车辆。
其中，目标车为车辆编队中的任一车辆，车辆编队成员包括领航车和领航车的跟随车。其中，领航车可以由驾驶员手动驾驶，也可以是自动驾驶。该车辆编队中，领航车与跟随车通过PC5通信方式进行V2X通信，进行车队行驶。
其中，目标车与远程控制端建立网络连接，可以是通过是4G网络、5G网络或者下一代无线通信网络建立网络连接。建立网络连接后，目标车可以与远程控制端进行数据交互，可选的，本实施例的方法还可以包括：
目标车向远程控制端发送目标车的状态信息。其中，该状态信息例如可以包括通过车辆 传感器获得的车辆的状态参数及其他属性信息，还可以包括感知融合信息，即将多种车辆传感器的数据融合，包括但不限于基于对齐的时间和空间坐标对感知数据进行综合处理，得到更为准确全面的信息。状态信息例如可以包括当前行驶速度和当前位置信息等。
S102、目标车确定需被远程接管，发起控制车辆编队中除目标车之外的其它车辆的状态的操作。
示例性地，目标车确定需被远程接管，例如可以是目标车确定遇到突发的紧急情况或者需要行程干预时，确定需被远程接管，还可以是目标车确定自身出现不易继续行驶的情况，例如目标车出现故障或供油不足等情况，若目标车为领航车，例如领航车的驾驶员出现身体不适等情况。
目标车在确定需被远程接管时，车辆编队相应会发生变化，因此先发起控制车辆编队中除目标车之外的其它车辆的状态的操作，以对车辆编队中的其它车辆的状态进行控制。
可选的，目标车为领航车时，作为一种可实施的方式，目标车发起控制车辆编队中除目标车之外的其它车辆的状态的操作，具体可以为：
S1021、目标车在确定需要解散车辆编队的情况下，向领航车的跟随车发送车队解散消息，以使接收到车队解散消息的跟随车将自身状态设置为自由状态，并驶离车辆编队。
示例性地，由于领航车被接管，一般是由于领航车出现特殊状况，因此领航车不宜继续作为领航行驶，此时需要解散车辆编队，领航车确定需要解散车辆编队，则向该车辆编队中的跟随车发送车队解散消息，具体可以通过领航车与跟随车之间的通信接口向跟随车发送车队解散消息。接收到车队解散消息的跟随车将自身状态设置为自由状态，并驶离车辆编队。因此，跟随车的状态变为自由状态，跟随车变为自由车。变为自由车的跟随车可继续向远程控制端发送自身的状态信息，远程控制端后续可以为自由车发现到适合的车辆编队，并触发编队加入的过程，实现灵活调度。
可选的，目标车为领航车时，本实施例的方法还可以包括：目标车在确定不需要解散车辆编队的情况下，向领航车的跟随车发送继续保持车辆编队的指示信息。
示例性地，领航车虽然被接管，由远程控制端控制驾驶，在领航车确定不需要解散当前的车辆编队的情况下，则可让跟随车继续按照领航车发送的行驶参数行驶，此时向领航车的跟随车发送继续保持车辆编队的指示信息。可选的，也可以不发送该指示信息，跟随车可继续按照领航车发送的行驶参数行驶。
可选的，目标车为跟随车时，作为一种可实施的方式，目标车发起控制车辆编队中除目标车之外的其它车辆的状态的操作，具体可以为：
S1021’、目标车向领航车发送离队请求消息。
离队请求消息是指目标车向领航车发送的用于请求离开当前车辆编队的消息。
S1022’、目标车接收领航车发送的车队解散消息。
车队解散消息是指领航车向目标车发送的用于提醒目标车可以离开当前车辆编队的消息，表示目标车的自身状态可以变为自由状态。
S1023’、目标车将自身状态设置为自由状态，并驶离车辆编队。
示例性地，跟随车被接管后，由远程控制端控制行驶，跟随车不再是该车辆编队中的成员，因此跟随车可将自身状态设置为自由状态，并驶离车辆编队。
领航车接收到目标车发送的离队请求消息后，在确定车辆编队需解散的情况下，则可向车辆编队中所有跟随车发送车队解散消息，在确定车辆编队不需解散的情况下，则可向目标车发送车队解散消息。通过由目标车向领航车发送离队请求消息，则领航车可以针对车辆编队是否需要解散的情况向目标车返回对应的车队解散消息，对各个跟随车是否离开车队灵活响应。
S103、目标车向远程控制端发送接管请求。
接管请求是指目标车向远程控制端发送的用于请求远程控制端控制目标车进入驾驶状态 的消息。
S104、远程控制端向目标车发送接管确认消息。
接管确认消息是指远程控制端向目标车发送的用于反馈上述接管请求的消息，表示远程控制端已经确定控制目标车进入驾驶状态。
S105、远程控制端控制目标车进入驾驶状态。
可选的，远程控制端控制目标车进入驾驶状态，具体可以为：
远程控制端根据目标车的状态信息，控制目标车进入驾驶状态。
进一步地，远程控制端根据目标车的状态信息，控制目标车进入驾驶状态，具体可以是：
远程控制端根据目标车的状态信息确定目标车的行驶信息。
远程控制端向目标车发送行驶信息。
目标车根据行驶信息执行驾驶行为。
示例性地，例如行驶信息包括行驶路线和行驶速度等信息，目标车可根据远程控制端发送的行驶路线和行驶速度执行驾驶行为。
远程控制端根据目标车的状态信息确定目标车的行驶路线等，使目标车的行驶状态满足实际的行驶需求，灵活考虑目标车的车辆状态和其他参数信息。
本实施例提供的车辆编队行驶控制方法，通过目标车与远程控制端建立网络连接，远程控制端可以获取车辆编队中各个车辆的状态信息，目标车在确定需被远程接管时，发起控制车辆编队中除目标车之外的其它车辆的状态的操作，通过网络向远程控制端发送接管请求，进而远程控制端可控制目标车进入驾驶状态。从而，车辆编队中的目标车在需要被远程接管时(如目标车遇到突发的紧急情况或者需要行程干预，确定需被远程接管)，请求远程控制端控制目标车进入驾驶状态，并发起控制车辆编队中其它车辆的状态的操作，因此实现了可以通过网络远程控制车辆编队中的车辆的状态，远程控制端可灵活地对车辆编队进行远程调度。
在图2所示的实施例中，目标车是先发起控制车辆编队中除目标车之外的其它车辆的状态的操作，再请求远程控制端接管，可选的，在另一实施方式中，还可以是先请求远程控制端接管，再发起控制车辆编队中除目标车之外的其它车辆的状态的操作。下面结合图3所示实施例进行说明。
图3为本申请实施例提供的一种车辆编队行驶控制方法的交互流程图，如图3所示，该方法可以包括：
S201、目标车与远程控制端建立网络连接，目标车为车辆编队中的任一车辆。
其中，目标车为车辆编队中的任一车辆，车辆编队成员包括领航车和领航车的跟随车。其中，领航车可以由驾驶员手动驾驶，也可以是自动驾驶。该车辆编队中，领航车与跟随车通过PC5通信方式进行V2X通信，进行车队行驶。
其中，目标车与远程控制端建立网络连接，可以是通过是4G网络、5G网络或者下一代无线通信网络建立网络连接。建立网络连接后，目标车可以与远程控制端进行数据交互，可选的，本实施例的方法还可以包括：
目标车向远程控制端发送目标车的状态信息。其中，该状态信息例如可以包括通过车辆传感器获得的车辆的状态参数及其他属性信息，还可以包括感知融合信息，即将多种车辆传感器的数据融合，包括但不限于基于对齐的时间和空间坐标对感知数据进行综合处理，得到更为准确全面的信息。状态信息例如可以包括当前行驶速度和当前位置信息等。
S202、目标车向远程控制端发送接管请求。
示例性地，目标车可以是在确定遇到突发的紧急情况或者需要行程干预时，还可以是目标车在确定自身出现不易继续行驶的情况时，例如目标车出现故障或供油不足等情况，若目标车为领航车，例如领航车的驾驶员出现身体不适等情况。向远程控制端发送接管请求。
S203、远程控制端向目标车发送接管确认消息。
S204、远程控制端控制目标车进入驾驶状态。
可选的，远程控制端控制目标车进入驾驶状态，具体可以为：
远程控制端根据目标车的状态信息，控制目标车进入驾驶状态。
进一步地，远程控制端根据目标车的状态信息，控制目标车进入驾驶状态，可以是：
远程控制端根据目标车的状态信息确定目标车的行驶信息。
远程控制端向目标车发送行驶信息。
目标车根据行驶信息执行驾驶行为。
示例性地，例如行驶信息包括行驶路线和行驶速度等信息，目标车可根据远程控制端发送的行驶路线和行驶速度执行驾驶行为。
S205、目标车确定已被远程接管，发起控制车辆编队中除目标车之外的其它车辆的状态的操作。
示例性地，目标车在确定已被远程接管时，车辆编队相应会发生变化，因此发起控制车辆编队中除目标车之外的其它车辆的状态的操作，以对车辆编队中的其它车辆的状态进行控制。
可选的，目标车为领航车时，作为一种可实施的方式，目标车发起控制车辆编队中除目标车之外的其它车辆的状态的操作，具体可以为：
S2051、目标车在确定需要解散车辆编队的情况下，向领航车的跟随车发送车队解散消息，以使接收到车队解散消息的跟随车将自身状态设置为自由状态，并驶离车辆编队。
示例性地，由于领航车被接管，一般是由于领航车出现特殊状况，因此领航车不宜继续作为领航行驶，此时需要解散车辆编队，领航车确定需要解散车辆编队，则向该车辆编队中的跟随车发送车队解散消息，具体可以通过领航车与跟随车之间的通信接口向跟随车发送车队解散消息。接收到车队解散消息的跟随车将自身状态设置为自由状态，并驶离车辆编队。因此，跟随车的状态变为自由状态，跟随车变为自由车。变为自由车的跟随车可继续向远程控制端发送自身的状态信息，远程控制端后续可以为自由车发现到适合的车辆编队，并触发编队加入的过程，实现灵活调度。
可选的，目标车为领航车时，本实施例的方法还可以包括：目标车在确定不需要解散车辆编队的情况下，向领航车的跟随车发送继续保持车辆编队的指示信息。
示例性地，领航车虽然被接管，由远程控制端控制驾驶，在领航车确定不需要解散当前的车辆编队的情况下，则可让跟随车继续按照领航车发送的行驶参数行驶，此时向领航车的跟随车发送继续保持车辆编队的指示信息。可选的，也可以不发送该指示信息，跟随车可继续按照领航车发送的行驶参数行驶。
可选的，目标车为跟随车时，作为一种可实施的方式，目标车发起控制车辆编队中除目标车之外的其它车辆的状态的操作，具体可以为：
S2051’、目标车向领航车发送离队请求消息。
S2052’、目标车接收领航车发送的车队解散消息。
S2053’、目标车将自身状态设置为自由状态，并驶离车辆编队。
示例性地，跟随车被接管后，由远程控制端控制行驶，跟随车不再是该车辆编队中的成员，因此跟随车可将自身状态设置为自由状态，并驶离车辆编队。
领航车接收到目标车发送的离队请求消息后，在确定车辆编队需解散的情况下，则可向车辆编队中所有跟随车发送车队解散消息，在确定车辆编队不需解散的情况下，则可向目标车发送车队解散消息。
本实施例提供的车辆编队行驶控制方法，通过目标车与远程控制端建立网络连接，远程控制端可以获取车辆编队中各个车辆的状态信息，目标车通过网络向远程控制端发送接管请求，进而远程控制端可控制目标车进入驾驶状态，标车确定已被远程接管，发起控制车辆编队中除目标车之外的其它车辆的状态的操作。从而，车辆编队中的目标车请求远程控制端控 制目标车进入驾驶状态，并发起控制车辆编队中其它车辆的状态的操作，因此实现了可以通过网络远程控制车辆编队中的车辆的状态，远程控制端可灵活地对车辆编队进行远程调度。
下面结合几个具体的实施例，对本申请的技术方案进行详细说明。
示例性地，图4为本申请实施例提供的一种车辆编队行驶控制方法的***架构图，如图4所示，本实施例中远程控制端为远程遥控驾驶舱，远程遥控驾驶舱部署在中心云服务器，地图和编队辅助(单元)部署在边缘云服务器，一个边缘云服务器负责一个路段，中心云服务器和边缘云服务器之间通过A7接口进行数据交互，远程遥控驾驶舱与被遥控车之间通过A5接口进行数据交互，边缘云服务器与被遥控车之间通过A3接口进行数据交互，路侧单元(Road Side Unit，RSU)与边缘云服务器之间通过A4接口进行数据交互，RSU与中心云服务器之间通过A6接口进行数据交互，RSU与其他车之间通过A2接口进行数据交互，被遥控车与其它车之间通过A1接口进行数据交互，A1接口可以是PC5通信接口。被遥控车与其它车组成一个车辆编队，被遥控车可以是领航车，也可以是跟随车。
其中，中心云服务器与边缘云服务器均具有感知融合功能，即可以将多种车辆传感器的数据融合，包括但不限于基于对齐的时间和空间坐标对感知数据进行综合处理，得到更为准确全面的信息。被遥控车与其它车具有感知功能，具体可以是通过车辆传感器获得的车辆的状态参数及其他属性信息。
结合图4，图5为本申请实施例提供的一种车辆编队行驶控制方法的交互流程图，如图5所示，本实施例中以目标车为领航车为例，车辆编队成员包括领航车和领航车的跟随车。该方法可以包括：
S301、领航车与跟随车通过PC5通信方式进行V2X通信，进行车队行驶。
S302、领航车与远程遥控驾驶舱建立网络连接。
S303、领航车与远程遥控驾驶舱进行数据交互。
示例性地，领航车与远程遥控驾驶舱可以通过A5接口进行数据交互。
S304、领航车确定需被远程接管，在确定需要解散车辆编队的情况下，向领航车的跟随车发送车队解散消息。
示例性地，领航车可以通过A1接口向领航车的跟随车发送车队解散消息。
S305、领航车向远程遥控驾驶舱发送接管请求。
示例性地，领航车可以通过A5接口向远程遥控驾驶舱发送接管请求。
S306、远程遥控驾驶舱向领航车发送接管确认消息。
示例性地，远程遥控驾驶舱可以通过A5接口向领航车发送接管确认消息。
至此，领航车被接管，远程遥控驾驶舱控制领航车进入驾驶状态。具体可以是远程遥控驾驶舱根据领航车的状态信息确定行驶信息，向领航车发送行驶信息，领航车根据行驶信息执行驾驶行为。
接收到车队解散消息的跟随车将自身状态设置为自由状态，并驶离车辆编队，成为自由车。
结合图4，图6为本申请实施例提供的一种车辆编队行驶控制方法的交互流程图，如图6所示，本实施例中以目标车为车辆编队中的一辆跟随车为例，该方法可以包括：
S401、跟随车与领航车通过PC5通信方式进行V2X通信，进行车队行驶。
S402、跟随车与远程遥控驾驶舱建立网络连接。
S403、跟随车与远程遥控驾驶舱进行数据交互。
具体地，跟随车与远程遥控驾驶舱可以通过A5接口进行数据交互。
S404、跟随车确定需被远程接管，向领航车发送离队请求消息。
示例性地，跟随车可以通过A1接口向领航车发送离队请求消息。
S405、领航车向跟随车发送车队解散消息。
示例性地，领航车可以通过A1接口向跟随车发送车队解散消息。
S406、跟随车向远程遥控驾驶舱发送接管请求。
具体地，跟随车可以通过A5接口向远程遥控驾驶舱发送接管请求。
S407、远程遥控驾驶舱向跟随车发送接管确认消息。
示例性地，远程遥控驾驶舱可以通过A5接口向跟随车发送接管确认消息。
至此，跟随车被接管，远程遥控驾驶舱控制跟随车进入驾驶状态。具体可以是远程遥控驾驶舱根据跟随车的状态信息确定行驶信息，向跟随车发送行驶信息，跟随车根据行驶信息执行驾驶行为。
本实施例中，领航车接收到跟随车发送的离队请求消息后，在确定车辆编队需解散的情况下，则可向车辆编队中所有跟随车发送车队解散消息，除被接管的跟随车之外，接收到车队解散消息的其它跟随车将自身状态设置为自由状态，并驶离车辆编队，成为自由车。在确定车辆编队不需解散的情况下，则可向该跟随车发送车队解散消息。
图5和图6所示实施例中，目标车(领航车或者跟随车)是先发起控制车辆编队中除目标车之外的其它车辆的状态的操作，再请求远程控制端接管。下面结合图7和图8实施例，详细说明目标车(领航车或者跟随车)先请求远程控制端接管，再发起控制车辆编队中除目标车之外的其它车辆的状态的操作。
结合图4，图7为本申请实施例提供的一种车辆编队行驶控制方法的交互流程图，如图7所示，本实施例中以目标车为领航车为例，该方法可以包括：
S501、领航车与跟随车通过PC5通信方式进行V2X通信，进行车队行驶。
S502、领航车与远程遥控驾驶舱建立网络连接。
S503、领航车与远程遥控驾驶舱进行数据交互。
示例性地，领航车与远程遥控驾驶舱可以通过A5接口进行数据交互。
S504、领航车向远程遥控驾驶舱发送接管请求。
示例性地，领航车可以通过A5接口向远程遥控驾驶舱发送接管请求。
S505、远程遥控驾驶舱向领航车发送接管确认消息。
示例性地，远程遥控驾驶舱可以通过A5接口向领航车发送接管确认消息。
S506、领航车确定已被远程接管，在确定需要解散车辆编队的情况下，向领航车的跟随车发送车队解散消息。
示例性地，领航车可以通过A1接口向领航车的跟随车发送车队解散消息。
至此，领航车被接管，远程遥控驾驶舱控制领航车进入驾驶状态。具体可以是远程遥控驾驶舱根据领航车的状态信息确定行驶信息，向领航车发送行驶信息，领航车根据行驶信息执行驾驶行为。
接收到车队解散消息的跟随车将自身状态设置为自由状态，并驶离车辆编队，成为自由车。
结合图4，图8为本申请实施例提供的一种车辆编队行驶控制方法的交互流程图，如图8所示，本实施例中以目标车为车辆编队中的一辆跟随车为例，该方法可以包括：
S601、跟随车与领航车通过PC5通信方式进行V2X通信，进行车队行驶。
S602、跟随车与远程遥控驾驶舱建立网络连接。
S603、跟随车与远程遥控驾驶舱进行数据交互。
示例性地，跟随车与远程遥控驾驶舱可以通过A5接口进行数据交互。
S604、跟随车向远程遥控驾驶舱发送接管请求。
示例性地，跟随车可以通过A5接口向远程遥控驾驶舱发送接管请求。
S605、远程遥控驾驶舱向跟随车发送接管确认消息。
示例性地，远程遥控驾驶舱可以通过A5接口向跟随车发送接管确认消息。
S606、跟随车确定已被远程接管，向领航车发送离队请求消息。
示例性地，跟随车可以通过A1接口向领航车发送离队请求消息。
S607、领航车向跟随车发送车队解散消息。
示例性地，领航车可以通过A1接口向跟随车发送车队解散消息。
至此，跟随车被接管，远程遥控驾驶舱控制跟随车进入驾驶状态。具体可以是远程遥控驾驶舱根据跟随车的状态信息确定行驶信息，向跟随车发送行驶信息，跟随车根据行驶信息执行驾驶行为。
本实施例中，领航车接收到跟随车发送的离队请求消息后，在确定车辆编队需解散的情况下，则可向车辆编队中所有跟随车发送车队解散消息，除被接管的跟随车之外，接收到车队解散消息的其它跟随车将自身状态设置为自由状态，并驶离车辆编队，成为自由车。在确定车辆编队不需解散的情况下，则可向该跟随车发送车队解散消息。
图9为本申请实施例提供的一种车辆编队行驶控制装置的结构示意图，如图9所示，该装置可以包括：连接模块11、处理模块12、发送模块13和接收模块14，其中，
连接模块11用于与远程控制端建立网络连接，该车辆编队行驶控制装置可以为车辆编队中的任一车辆中的车辆编队行驶控制装置；
处理模块12用于确定需被远程接管，发起控制车辆编队中除目标车之外的其它车辆的状态的操作；
发送模块13用于向远程控制端发送接管请求，以使远程控制端控制目标车进入驾驶状态；
接收模块14用于接收远程控制端发送的接管确认消息。
可选的，目标车为领航车，处理模块12用于：
在确定需要解散车辆编队的情况下，向领航车的跟随车发送车队解散消息，以使接收到车队解散消息的跟随车将自身状态设置为自由状态，并驶离车辆编队。
可选的，处理模块12还用于：在确定不需要解散车辆编队的情况下，向领航车的跟随车发送继续保持车辆编队的指示信息。
可选的，目标车为跟随车，发送模块13用于：向领航车发送离队请求消息；
接收模块14用于接收领航车发送的车队解散消息；
处理模块12用于：将自身状态设置为自由状态，并驶离车辆编队。
可选的，发送模块13还用于：向远程控制端发送目标车的状态信息。接收模块14用于接收远程控制端发送的行驶信息，处理模块12用于：根据行驶信息执行驾驶行为，行驶信息为远程控制端根据目标车的状态信息确定。
图10为本申请实施例提供的一种车辆编队行驶控制装置的结构示意图，如图10所示，该装置可以包括：连接模块21、接收模块22、发送模块23和处理模块24，其中，连接模块21用于与目标车建立网络连接，目标车为车辆编队中的任一车辆；
接收模块22用于接收目标车发送的接管请求；
发送模块23用于向目标车发送接管确认消息；
处理模块24用于控制目标车进入驾驶状态。
可选的，接收模块22还用于：接收目标车发送的目标车的状态信息。处理模块24用于根据目标车的状态信息，控制目标车进入驾驶状态。
可选的，处理模块24用于根据目标车的状态信息确定目标车的行驶信息；
发送模块23用于向目标车发送行驶信息，以使目标车根据行驶信息执行驾驶行为。
应理解的是，装置实施例与方法实施例可以相互对应，类似的描述可以参照方法实施例。为避免重复，此处不再赘述。具体地，图9所示的车辆编队行驶控制装置可以执行目标车对应的方法实施例，并且图9所示的装置中的各个模块的前述和其它操作和/或功能分别为了实现目标车对应的方法实施例，为了简洁，在此不再赘述。图10所示的车辆编队行驶控制装置可以执行远程控制端对应的方法实施例，并且图10所示的装置中的各个模块的前述和其它操作和/或功能分别为了实现远程控制端对应的方法实施例，为了简洁，在此不再赘述。
上文中结合附图从功能模块的角度描述了本申请实施例的车辆编队行驶控制装置。应理解，该功能模块可以通过硬件形式实现，也可以通过软件形式的指令实现，还可以通过硬件和软件模块组合实现。具体地，本申请实施例中的方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路和/或软件形式的指令完成，结合本申请实施例公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。可选地，软件模块可以位于随机存储器，闪存、只读存储器、可编程只读存储器、电可擦写可编程存储器、寄存器等本领域的成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法实施例中的步骤。
图11是本申请实施例提供的电子设备700的示意性框图。
如图11所示，该电子设备700可包括：
存储器710和处理器720，该存储器710用于存储计算机程序，并将该程序代码传输给该处理器720。换言之，该处理器720可以从存储器710中调用并运行计算机程序，以实现本申请实施例中的方法。
例如，该处理器720可用于根据该计算机程序中的指令执行上述方法实施例。
在本申请的一些实施例中，该处理器720可以包括但不限于：
通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等等。
在本申请的一些实施例中，该存储器710包括但不限于：
易失性存储器和/或非易失性存储器。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synch link DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DR RAM)。
在本申请的一些实施例中，该计算机程序可以被分割成一个或多个模块，该一个或者多个模块被存储在该存储器710中，并由该处理器720执行，以完成本申请提供的方法。该一个或多个模块可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述该计算机程序在该电子设备中的执行过程。
如图11所示，该电子设备还可包括：
收发器730，该收发器730可连接至该处理器720或存储器710。
其中，处理器720可以控制该收发器730与其他设备进行通信，具体地，可以向其他设备发送信息或数据，或接收其他设备发送的信息或数据。收发器730可以包括发射机和接收机。收发器730还可以进一步包括天线，天线的数量可以为一个或多个。
应当理解，该电子设备中的各个组件通过总线***相连，其中，总线***除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。
本申请还提供了一种计算机存储介质，包括指令(或计算机程序)，当其在计算机上运行时，使得该计算机执行上述方法实施例的方法。或者说，本申请实施例还提供一种包含指令(或计算机程序)的计算机程序产品，该指令(或计算机程序)被计算机执行时使得计算机执行上述方法实施例的方法。需要说明的是，在本申请实施例中，“计算机程序”和“指令”、“计算机指令”、“计算机程序指令”等表达相同的含义，都是指可被计算机的处理 器执行的程序或指令。
当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。该计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行该计算机程序指令时，全部或部分地产生按照本申请实施例该的流程或功能。该计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。该计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，该计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。该计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。该可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如数字视频光盘(digital video disc，DVD))、或者半导体介质(例如固态硬盘(solid state disk，SSD))等。
在一些实施例中，还提供了一种车辆编队行驶控制***，所述***包括：目标车和远程控制端；所述目标车用于执行上述目标车侧的方法，所述远程控制端用于执行上述远程控制端侧的方法。对于该***实施例中未详细说明的细节，可参见上文方法实施例。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的模块及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的几个实施例中，应该理解到，所揭露的***、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，该模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。
作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。例如，在本申请各个实施例中的各功能模块可以集成在一个处理模块中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个模块中。
以上该，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以该权利要求的保护范围为准。

Claims (13)

  1. 一种车辆编队行驶控制方法，车辆编队成员包括领航车和所述领航车的跟随车，所述方法包括：
    目标车与远程控制端建立网络连接，所述目标车为所述车辆编队中的任一车辆；
    所述目标车确定需被远程接管，发起控制所述车辆编队中除所述目标车之外的其它车辆的状态的操作；
    所述目标车向所述远程控制端发送接管请求，以使所述远程控制端控制所述目标车进入驾驶状态；
    所述目标车接收所述远程控制端发送的接管确认消息。
  2. 根据权利要求1所述的方法，其中，所述目标车为所述领航车，所述发起控制所述车辆编队中除所述目标车之外的其它车辆的状态的操作，包括：
    所述目标车在确定需要解散所述车辆编队的情况下，向所述领航车的跟随车发送车队解散消息，以使接收到所述车队解散消息的所述跟随车将自身状态设置为自由状态，并驶离所述车辆编队。
  3. 根据权利要求1所述的方法，其中，所述目标车为所述跟随车，所述发起控制所述车辆编队中除所述目标车之外的其它车辆的状态的操作，包括：
    所述目标车向所述领航车发送离队请求消息；
    所述目标车接收所述领航车发送的车队解散消息；
    所述目标车将自身状态设置为自由状态，并驶离所述车辆编队。
  4. 根据权利要求1所述的方法，其中，所述方法还包括：
    所述目标车向所述远程控制端发送所述目标车的状态信息；
    所述目标车接收所述远程控制端发送的行驶信息，根据所述行驶信息执行驾驶行为，所述行驶信息为所述远程控制端根据所述目标车的状态信息确定。
  5. 一种车辆编队行驶控制方法，车辆编队成员包括领航车和所述领航车的跟随车，所述方法包括：
    远程控制端与目标车建立网络连接，所述目标车为所述车辆编队中的任一车辆；
    所述远程控制端接收所述目标车发送的接管请求；
    所述远程控制端向所述目标车发送接管确认消息；
    所述远程控制端控制所述目标车进入驾驶状态。
  6. 根据权利要求5所述的方法，其中，所述方法还包括：
    所述远程控制端接收所述目标车发送的所述目标车的状态信息；
    所述远程控制端控制所述目标车进入驾驶状态，包括：
    所述远程控制端根据所述目标车的状态信息，控制所述目标车进入驾驶状态。
  7. 根据权利要求6所述的方法，其中，所述远程控制端根据所述目标车的状态信息，控制所述目标车进入驾驶状态，包括：
    所述远程控制端根据所述目标车的状态信息确定所述目标车的行驶信息；
    所述远程控制端向所述目标车发送所述行驶信息，以使所述目标车根据所述行驶信息执行驾驶行为。
  8. 一种车辆编队行驶控制装置，车辆编队成员包括领航车和所述领航车的跟随车，所述装置包括：
    连接模块，用于与远程控制端建立网络连接；
    处理模块，用于确定需被远程接管，发起控制所述车辆编队中除所述目标车之外的其它车辆的状态的操作；
    发送模块，用于向所述远程控制端发送接管请求，以使所述远程控制端控制所述目标车进入驾驶状态；
    接收模块，用于接收所述远程控制端发送的接管确认消息。
  9. 一种车辆编队行驶控制装置，车辆编队成员包括领航车和所述领航车的跟随车，所述装置包括：
    连接模块，用于与目标车建立网络连接，所述目标车为所述车辆编队中的任一车辆；
    接收模块，用于接收所述目标车发送的接管请求；
    发送模块，用于向所述目标车发送接管确认消息；
    处理模块，用于控制所述目标车进入驾驶状态。
  10. 一种电子设备，包括：
    处理器和存储器，所述存储器用于存储计算机程序，所述处理器用于调用并运行所述存储器中存储的计算机程序，以执行权利要求1-4或5-7中任一项所述的方法。
  11. 一种计算机可读存储介质，包括计算机程序，当其在计算机上运行时，使得所述计算机执行如权利要求1-4或5-7中任一项所述的方法。
  12. 一种计算机程序产品，所述计算机程序产品包括计算机程序，当所述计算机程序在计算机上运行时，使得所述计算机执行权利要求1-4或5-7中任一项所述方法。
  13. 一种车辆编队行驶控制***，所述***包括：目标车和远程控制端；
    所述目标车用于执行权利要求1-4中任一项所述方法；
    所述远程控制端用于执行权利要求5-7中任一项所述方法。
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