Granted Patent B2

US 12,242,280 · App. 18/483,478 · Granted Mar 4, 2025

Inventors: Yong Xu (Beijing, CN); Wenrui Li (Beijing, CN); Qingxin Bi (Beijing, CN); Nan Wu (Beijing, CN)

Assignee: BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.

G05D1/0293G05D1/0022G05D1/0217G05D1/0223H04L12/40006H04L2012/40273

Abstract

Claims (80)

1. A method for vehicle automatic navigation control, comprising:

controlling, by a second vehicle-mounted server located at a second vehicle, the second vehicle to move;

receiving, by the second vehicle-mounted server located at the second vehicle, a platooning request carrying a vehicle-mounted server identifier corresponding to a first vehicle-mounted server located at a first vehicle;

determining, by the second vehicle-mounted server, whether to agree to form a platoon based on the platooning request; and

transmitting, by the second vehicle-mounted server when it is determined to agree to form the platoon, location information and driving information of the second vehicle to the first vehicle-mounted server based on the vehicle-mounted server identifier carried in the platooning request in accordance with a predetermined time length; and

controlling, by the first vehicle-mounted server, the first vehicle to move as a following vehicle of the second vehicle in accordance with the location information and the driving information of the second vehicle, including:

controlling, by the first vehicle-mounted server when reaching a location indicated by the location information, the first vehicle to move in accordance with the driving information,

wherein the driving information contains information about a steering wheel angle, a throttle control amount, and a brake control amount of the second vehicle,

wherein a navigation route corresponding to the first vehicle-mounted server and a navigation route corresponding to the second vehicle-mounted server have an overlapping navigation route, wherein a current location of the second vehicle is located before a starting point of the overlapping navigation route, and wherein a distance between the current location and the starting point of the overlapping navigation route is not greater than a first threshold.

2. The method of claim 1 , wherein the first vehicle has one or more following vehicles, or the second vehicle has one or more following vehicles.

3. The method of claim 2 , further comprising, when the platooning request further carries one or more additional vehicle-mounted server identifiers, corresponding to the one or more following vehicles of the first vehicle based on an order in which each of the one or more following vehicles of the first vehicle follows the first vehicle:

transmitting the location information and the driving information of the second vehicle to one or more vehicle-mounted servers corresponding to the one or more additional vehicle-mounted server identifiers, in accordance with the predetermined time length.

4. The method of claim 3 , further comprising:

instructing, in accordance with the order in which each of the one or more following vehicles of the first vehicle follows the first vehicle, a vehicle-mounted server on a leading vehicle in front of a given following vehicle of the one or more following vehicles of the first vehicle to transmit location information to a given vehicle-mounted server on the given following vehicle in accordance with the predetermined time length, or transmitting, in accordance with the order, location information of the leading vehicle in front of the given following vehicle to the given vehicle-mounted server on the given following vehicle in accordance with the predetermined time length; and

receiving a distance reported by a respective vehicle-mounted server corresponding to each of the one or more additional vehicle-mounted server identifiers carried in the platooning request, the distance being a distance, determined by the respective vehicle-mounted server each time the respective vehicle-mounted server receives location information in accordance with a specified time length, between a location corresponding to the received location information and its corresponding location.

5. The method of claim 2 , wherein said transmitting, when it is determined to agree to form the platoon, the location information and the driving information of the second vehicle to the first vehicle-mounted server based on the vehicle-mounted server identifier carried in the platooning request in accordance with the predetermined time length comprises:

determining, when it is determined to agree to form the platoon, whether the second vehicle has the one or more following vehicles before agreeing to form the platoon, and if the second vehicle has no following vehicle before agreeing to form the platoon, transmitting a prompt message to the first vehicle-mounted server in accordance with a specific time length, the prompt message carrying the location information and speed information of the second vehicle, or if the second vehicle has the one or more following vehicles before agreeing to form the platoon, instructing a vehicle-mounted server on a last following vehicle of the second vehicle before agreeing to form the platoon to transmit the prompt message to the first vehicle-mounted server in accordance with the specific time length, the prompt message carrying location information and speed information of the last following vehicle; and

transmitting, in response to receiving a confirmation message transmitted from the first vehicle-mounted server, the location information and the driving information of the second vehicle to the first vehicle-mounted server in accordance with the predetermined time length,

wherein the confirmation message is transmitted by the first vehicle-mounted server after controlling, each time the prompt message is received, the first vehicle to approach a location corresponding to the location information carried in the prompt message and controlling, when a distance between the first vehicle and the location corresponding to the location information carried in the received prompt message is not greater than a second threshold, a difference between a speed of the first vehicle and a speed corresponding to the speed information carried in the prompt message not to be greater than a third threshold.

6. The method of claim 2 , further comprising, when it is determined to agree to form the platoon:

determining whether the second vehicle has the one or more following vehicles before agreeing to form the platoon;

if the second vehicle has no following vehicle before agreeing to form the platoon, transmitting the location information of the second vehicle to the first vehicle-mounted server in accordance with a specified time length; and

if the vehicle where the second vehicle-mounted server has the one or more following vehicles before agreeing to form the platoon, instructing a vehicle-mounted server on a last following vehicle of the second vehicle before agreeing to form the platoon to transmit location information of the last following vehicle to the first vehicle-mounted server in accordance with the specified time length, or transmitting the location information of the last following vehicle before agreeing to form the platoon to the first vehicle-mounted server in accordance with the predetermined time length.

7. The method of claim 2 , further comprising:

receiving, by the second vehicle-mounted server, a request to quit the platoon as transmitted from the first vehicle-mounted server; and

stopping transmission of the location information and the driving information to the first vehicle-mounted server in accordance with the request to quit the platoon,

wherein the method further comprises, when the location information and the driving information of the second vehicle has been transmitted to respective vehicle-mounted servers corresponding to one or more additional vehicle-mounted server identifiers carried in the platooning request corresponding to the one or more following vehicles, in accordance with the predetermined time length:

stopping transmission of the location information and the driving information of the second vehicle to the respective vehicle-mounted servers corresponding to the one or more additional vehicle-mounted server identifiers carried in the platooning request.

8. A device for vehicle automatic navigation control, comprising a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus,

the memory is configured to store a computer program, and

the processor is configured to implement, when executing the program stored on the memory, a method, wherein the method comprises:

controlling, by a second vehicle-mounted server located at a second vehicle, the second vehicle to move;

receiving, by the second vehicle-mounted server located at the second vehicle, a platooning request carrying a vehicle-mounted server identifier corresponding to a first vehicle-mounted server located at a first vehicle;

determining whether to agree to form a platoon based on the platooning request; and

transmitting, when it is determined to agree to form the platoon, location information and driving information of the second vehicle to the first vehicle-mounted server based on the vehicle-mounted server identifier carried in the platooning request in accordance with a predetermined time length; and

controlling, by the first vehicle-mounted server, the first vehicle to move as a following vehicle of the second vehicle in accordance with the location information and the driving information of the second vehicle, including:

controlling, by the first vehicle-mounted server when reaching a location indicated by the location information, the first vehicle to move in accordance with the driving information,

wherein the driving information contains information about a steering wheel angle, a throttle control amount, and a brake control amount of the second vehicle,

wherein a navigation route corresponding to the first vehicle-mounted server and a navigation route corresponding to the second vehicle-mounted server have an overlapping navigation route, wherein a current location of the second vehicle is located before a starting point of the overlapping navigation route, and wherein a distance between the current location and the starting point of the overlapping navigation route is not greater than a first threshold.

9. The device of claim 8 , wherein the first vehicle has one or more following vehicles, or the second vehicle has one or more following vehicles.

10. The device of claim 9 , wherein the method further comprises, when the platooning request further carries one or more additional vehicle-mounted server identifiers, corresponding to the one or more following vehicles of the first vehicle based on an order in which each of the one or more following vehicles of the first vehicle follows the first vehicle:

transmitting the location information and the driving information of the second vehicle to one or more vehicle-mounted servers corresponding to the one or more additional vehicle-mounted server identifiers, in accordance with the predetermined time length.

11. The device of claim 10 , wherein the method further comprises:

instructing, in accordance with the order in which each of the one or more following vehicles of the first vehicle follows the first vehicle, a vehicle-mounted server on a leading vehicle in front of a given following vehicle of the one or more following vehicles of the first vehicle to transmit location information to a given vehicle-mounted server on the given following vehicle in accordance with the predetermined time length, or transmitting, in accordance with the order, location information of the leading vehicle in front of the given following vehicle to the given vehicle-mounted server on the given following vehicle in accordance with the predetermined time length; and

receiving a distance reported by a respective vehicle-mounted server corresponding to each of the one or more additional vehicle-mounted server identifiers carried in the platooning request, the distance being a distance, determined by the respective vehicle-mounted server each time the respective vehicle-mounted server receives location information in accordance with a specified time length, between a location corresponding to the received location information and its corresponding location.

12. The device of claim 9 , wherein said transmitting, when it is determined to agree to form the platoon, the location information and the driving information of the second vehicle to the first vehicle-mounted server transmitting the platooning request based on the vehicle-mounted server identifier carried in the platooning request in accordance with the predetermined time length comprises:

determining, when it is determined to agree to form the platoon, whether the second vehicle has the one or more following vehicles before agreeing to form the platoon, and if the second vehicle has no following vehicle before agreeing to form the platoon, transmitting a prompt message to the first vehicle-mounted server in accordance with a specific time length, the prompt message carrying the location information and speed information of the second vehicle, or if the second vehicle has the one or more following vehicles before agreeing to form the platoon, instructing a vehicle-mounted server on a last following vehicle of the second vehicle before agreeing to form the platoon to transmit the prompt message to the first vehicle-mounted server in accordance with the specific time length, the prompt message carrying location information and speed information of the last following vehicle; and

transmitting, in response to receiving a confirmation message transmitted from the first vehicle-mounted server, the location information and the driving information of the second vehicle to the first vehicle-mounted server in accordance with the predetermined time length.

13. The device of claim 9 , wherein the method further comprises, when it is determined to agree to form the platoon:

determining whether the second vehicle has the one or more following vehicles before agreeing to form the platoon;

if the second vehicle has no following vehicle before agreeing to form the platoon, transmitting the location information of the second vehicle to the first vehicle-mounted server in accordance with a specified time length; and

if the vehicle where the second vehicle-mounted server has the one or more following vehicles before agreeing to form the platoon, instructing a vehicle-mounted server on a last following vehicle of the second vehicle before agreeing to form the platoon to transmit location information of the last following vehicle to the first vehicle-mounted server in accordance with the specified time length, or transmitting the location information of the last following vehicle before agreeing to form the platoon to the first vehicle-mounted server in accordance with the predetermined time length.

14. The device of claim 9 , wherein the method further comprises:

receiving, by the second vehicle-mounted server, a request to quit the platoon as transmitted from the first vehicle-mounted server; and

stopping transmission of the location information and the driving information to the first vehicle-mounted server in accordance with the request to quit the platoon,

wherein the method further comprises, when the location information and the driving information of the second vehicle has been transmitted to respective vehicle-mounted servers corresponding to one or more additional vehicle-mounted server identifiers carried in the platooning request corresponding to the one or more following vehicles, in accordance with the predetermined time length:

stopping transmission of the location information and the driving information of the second vehicle to the respective vehicle-mounted servers corresponding to the one or more additional vehicle-mounted server identifiers carried in the platooning request.

15. A non-transitory computer storage medium, storing an executable program which, when executed by a processor, implements a method for vehicle automatic navigation control, the method comprising:

controlling, by a second vehicle-mounted server located at a second vehicle, the second vehicle to move;

receiving, by the second vehicle-mounted server located at the second vehicle, a platooning request carrying a vehicle-mounted server identifier corresponding to a first vehicle-mounted server located at a first vehicle;

determining whether to agree to form a platoon based on the platooning request; and

transmitting, when it is determined to agree to form the platoon, location information and driving information of the second vehicle to the first vehicle-mounted server based on the vehicle-mounted server identifier carried in the platooning request in accordance with a predetermined time length; and

controlling, by the first vehicle-mounted server, the first vehicle to move as a following vehicle of the second vehicle in accordance with the location information and the driving information of the second vehicle, including:

controlling, by the first vehicle-mounted server when reaching a location indicated by the location information, the first vehicle to move in accordance with the driving information,

wherein the driving information contains information about a steering wheel angle, a throttle control amount, and a brake control amount of the second vehicle,

wherein a navigation route corresponding to the first vehicle-mounted server and a navigation route corresponding to the second vehicle-mounted server have an overlapping navigation route, wherein a current location of the second vehicle is located before a starting point of the overlapping navigation route, and wherein a distance between the current location and the starting point of the overlapping navigation route is not greater than a first threshold.

16. The non-transitory computer storage medium of claim 15 , wherein the first vehicle has one or more following vehicles, or the second vehicle has one or more following vehicles.

17. The non-transitory computer storage medium of claim 16 , wherein the method further comprises, when the platooning request further carries one or more additional vehicle-mounted server identifiers, corresponding to the one or more following vehicles of the first vehicle based on an order in which each of the one or more following vehicles of the first vehicle follows the first vehicle:

transmitting the location information and the driving information of the second vehicle to one or more vehicle-mounted servers corresponding to the one or more additional vehicle-mounted server identifiers, in accordance with the predetermined time length.

18. The non-transitory computer storage medium of claim 17 , wherein the method further comprises:

instructing, in accordance with the order in which each of the one or more following vehicles of the first vehicle follows the first vehicle, a vehicle-mounted server on a leading vehicle in front of a given following vehicle to transmit location information to a given vehicle-mounted server on the given following vehicle in accordance with the predetermined time length, or transmitting, in accordance with the order, location information of the leading vehicle in front of the given following vehicle to the given vehicle-mounted server on the given following vehicle in accordance with the predetermined time length; and

receiving a distance reported by a respective vehicle-mounted server corresponding to each of the one or more additional vehicle-mounted server identifiers carried in the platooning request, the distance being a distance, determined by the respective vehicle-mounted server each time the respective vehicle-mounted server receives location information in accordance with a specified time length, between a location corresponding to the received location information and its corresponding location.

19. The non-transitory computer storage medium of claim 16 , wherein said transmitting, when it is determined to agree to form the platoon, the location information and the driving information of the second vehicle to the first vehicle-mounted server based on the vehicle-mounted server identifier carried in the platooning request in accordance with the predetermined time length comprises:

determining, when it is determined to agree to form the platoon, whether the second vehicle has the one or more following vehicles before agreeing to form the platoon, and if the second vehicle has no following vehicle before agreeing to form the platoon, transmitting a prompt message to the first vehicle-mounted server in accordance with a specific time length, the prompt message carrying the location information and speed information of the second vehicle, or if the second vehicle has the one or more following vehicles before agreeing to form the platoon, instructing a vehicle-mounted server on a last following vehicle of the second vehicle before agreeing to form the platoon to transmit the prompt message to the first vehicle-mounted server in accordance with the specific time length, the prompt message carrying location information and speed information of the last following vehicle; and

transmitting, in response to receiving a confirmation message transmitted from the first vehicle-mounted server, the location information and the driving information of the second vehicle to the first vehicle-mounted server in accordance with the predetermined time length,

wherein the confirmation message is transmitted by the first vehicle-mounted server after controlling, each time the prompt message is received, the first vehicle to approach a location corresponding to the location information carried in the prompt message and controlling, when a distance between the first vehicle and the location corresponding to the location information carried in the received prompt message is not greater than a second threshold, a difference between a speed of the first vehicle and a speed corresponding to the speed information carried in the prompt message not to be greater than a third threshold.

20. The non-transitory computer storage medium of claim 16 , wherein the method further comprises: when it is determined to agree to form the platoon:

determining whether the second vehicle has the one or more following vehicles before agreeing to form the platoon;

if the second vehicle has no following vehicle before agreeing to form the platoon, transmitting the location information of the second vehicle to the first vehicle-mounted server in accordance with a specified time length; and

if the vehicle where the second vehicle-mounted server has the one or more following vehicles before agreeing to form the platoon, instructing a vehicle-mounted server on a last following vehicle of the second vehicle before agreeing to form the platoon to transmit location information of the last following vehicle to the first vehicle-mounted server in accordance with the specified time length, or transmitting the location information of the last following vehicle before agreeing to form the platoon to the first vehicle-mounted server in accordance with the predetermined time length.

Assignments (2)

Priority Claims (1)

Continuity (2)

References Cited (20)