Platooning method, apparatus and system of autonomous driving platoon
The present disclosure provides a method and a server for platooning. The method provides: obtaining, based on a platooning request message, a first vehicle type and first kinematic information of a vehicle to join a platoon, a second vehicle type and second kinematic information of a current tail of the platoon, first sensor operating status information of the vehicle to join the platoon, and second sensor operating status information of the current tail vehicle; performing vehicle kinematic determination to obtain a kinematic determination result; performing sensor determination to obtain a sensor determination result; transmitting a confirmation request message to a vehicle of the platoon when the determination results are both successful; and controlling, upon receiving a request approval message, the vehicle to join the platoon to establish a V2V communication connection with each vehicle in the platoon. The method can achieve platoon without any road side unit.
1. A method for platooning, comprising:
receiving, from a first vehicle, a platooning request message for joining a platoon;
obtaining, based on the platooning request message, a first vehicle type, first kinematic information and first sensor operating status information of the first vehicle, a second vehicle type, second kinematic information and second sensor operating status information of a second vehicle currently at a tail of the platoon, comprising:
retrieving a vehicle registration message of the first vehicle based on a vehicle electronic tag of the first vehicle, to obtain the first vehicle type and the first kinematic information of the first vehicle, the first kinematic information comprising a minimum turning radius and a braking preparation time length of the first vehicle, wherein the platooning request message comprises the vehicle electronic tag of the first vehicle;
obtaining a vehicle electronic tag of the second vehicle currently at the tail; and
retrieving a vehicle registration message of the second vehicle currently at the tail, to obtain the second vehicle type and the second kinematic information of the second vehicle currently at the tail, the second kinematic information comprising a minimum turning radius and a braking preparation time length of the second vehicle currently at the tail;
performing vehicle kinematic determination based on the first vehicle type, the first kinematic information, the second vehicle type, and the second kinematic information, to obtain a kinematic determination result;
performing sensor determination based on the first sensor operating status information and the second sensor operating status information, to obtain a sensor determination result;
transmitting a confirmation request message to a third vehicle in response to the kinematic determination result and the sensor determination result meeting a first predetermined condition, wherein the third vehicle is in the platoon; and
controlling, upon receiving a request approval message from the third vehicle, the first vehicle to establish a Vehicle-to-Vehicle (V2V) communication connection with each vehicle in the platoon.
2. The method of claim 1 , further comprising:
receiving, from a fourth vehicle, a vehicle registration message for joining the platoon, the vehicle registration message containing a vehicle license plate number, a third vehicle type, a vehicle electronic tag, vehicle driver information, vehicle power system information, and vehicle sensor information; and
allowing the fourth vehicle to join the platoon in response to the vehicle registration message meeting a second predetermined condition.
3. The method of claim 2 , further comprising:
receiving position information, destination information, and platoon information from the fourth vehicle; and
determining navigation path information for the fourth vehicle based on the position information and the destination information.
4. The method of claim 3 , further comprising:
transmitting, to the first vehicle, vehicle display information for the fourth vehicle, the vehicle display information containing the vehicle license plate number, the third vehicle type, the position information, the destination information, and the platoon information of the fourth vehicle and a distance for the fourth vehicle to move together with the first vehicle.
5. The method of claim 4 , wherein the vehicle display information comprises a plurality of pieces of vehicle display information, and the platooning request message comprises a selected one of the plurality of pieces of vehicle display information, and receiving, from the first vehicle, the platooning request message comprises:
in response to the platoon information in the selected piece of vehicle display information being empty, determining that the second vehicle currently at the tail of the platoon corresponds to the selected piece of vehicle display information; and
in response to the platoon information in the selected piece of vehicle display information being not empty, determining the platoon based on the platoon information.
6. The method of claim 1 , wherein performing the vehicle kinematic determination based on the first vehicle type, the first kinematic information, the second vehicle type, and the second kinematic information, to obtain the kinematic determination result comprises:
obtaining a first vehicle level to which the first vehicle type corresponds and a second vehicle level to which the second vehicle type corresponds based on the first vehicle type and the second vehicle type, respectively, wherein the first vehicle level is associated with a first vehicle volume and a first vehicle weight, the second vehicle level is associated with a second vehicle volume and a second vehicle weight;
determining whether the first vehicle level is lower than or equal to the second vehicle level;
comparing the minimum turning radius of the first vehicle with the minimum turning radius of the second vehicle currently at the tail;
comparing the braking preparation time length of the first vehicle with the braking preparation time length of the second vehicle currently at the tail; and
determining the kinematic determination result meets the first predetermined condition in response to the first vehicle level being lower than or equal to the second vehicle level, the minimum turning radius of the first vehicle being smaller than or equal to the minimum turning radius of the second vehicle currently at the tail, and the braking preparation time length of the first vehicle being smaller than or equal to the braking preparation time length of the second vehicle currently at the tail.
7. The method of claim 1 , wherein performing sensor determination based on the first sensor operating status information and the second sensor operating status information, to obtain the sensor determination result comprises:
determining whether an operating status of a minimum perception information sensor on the first vehicle and an operating status of a minimum perception information sensor on the second vehicle currently at the tail are operating normally or operating with redundancy, whether an operating status and accuracy of a positioning sensor on the first vehicle and an operating status and accuracy of a positioning sensor on the second vehicle currently at the tail are normal, and whether an operating status and accuracy of a forward distance sensor on the first vehicle and an operating status and accuracy of a forward distance sensor on the second vehicle currently at the tail are normal; and
determining the sensor determination result meets the first predetermined condition in response to the operating status of the minimum perception information sensor on the first vehicle and the operating status of the minimum perception information sensor on the second vehicle currently at the tail being operating normally or operating with redundancy, the operating status and accuracy of the positioning sensor on the first vehicle and the operating status and accuracy of the positioning sensor on the second vehicle currently at the tail being normal, and the operating status and accuracy of the forward distance sensor on the first vehicle and the operating status and accuracy of the forward distance sensor on the second vehicle currently at the tail being normal.
8. A method for platooning, comprising:
receiving, from a first vehicle, a platooning request message for joining a platoon;
obtaining, based on the platooning request message, a first vehicle type, first kinematic information and first sensor operating status information of the first vehicle, and a second vehicle type, second kinematic information and second sensor operating status information of a second vehicle currently at a tail of the platoon, comprising:
retrieving a vehicle registration message of the first vehicle based on a vehicle electronic tag of the first vehicle, to obtain the first vehicle type and the first kinematic information of the first vehicle, the first kinematic information comprising a minimum turning radius and a braking preparation time length of the first vehicle, wherein the platooning request message comprises the vehicle electronic tag of the first vehicle;
obtaining a vehicle electronic tag of the second vehicle currently at the tail; and
retrieving a vehicle registration message of the second vehicle currently at the tail based on the vehicle electronic tag of the second vehicle currently at the tail, to obtain the second vehicle type and the second kinematic information of the second vehicle currently at the tail, the second kinematic information comprising a minimum turning radius and a braking preparation time length of the second vehicle currently at the tail;
performing vehicle kinematic determination, based on the first vehicle type, the first kinematic information, the second vehicle type, and the second kinematic information, to obtain a kinematic determination result;
performing sensor determination, based on the first sensor operating status information and the second sensor operating status information, to obtain a sensor determination result; and
establishing a Vehicle-to-Vehicle (V2V) communication connection with the first vehicle in response to the kinematic determination result and the sensor determination result meeting a first predetermined condition.
9. The method of claim 8 , wherein performing the vehicle kinematic determination, based on the first vehicle type, the first kinematic information, the second vehicle type, and the second kinematic information, to obtain the kinematic determination result comprises:
obtaining a first vehicle level to which the first vehicle type corresponds and a second vehicle level to which the second vehicle type corresponds based on the first vehicle type and the second vehicle type, respectively, wherein the first vehicle level is associated with a first vehicle volume and a first vehicle weight, the second vehicle level is associated with a second vehicle volume and a second vehicle weight;
determining whether the first vehicle level is lower than or equal to the second vehicle level;
comparing the minimum turning radius of the first vehicle with the minimum turning radius of the second vehicle currently at the tail;
comparing the braking preparation time length of the first vehicle with the braking preparation time length of the second vehicle currently at the tail; and
determining the kinematic determination result meets the first predetermined condition in response to the first vehicle level being lower than or equal to the second vehicle level, the minimum turning radius of the first vehicle being smaller than or equal to the minimum turning radius of the second vehicle currently at the tail, and the braking preparation time length of the first vehicle being smaller than or equal to the braking preparation time length of the second vehicle currently at the tail.
10. The method of claim 8 , wherein performing sensor determination, based on the first sensor operating status information and the second sensor operating status information, to obtain the sensor determination result comprises:
determining whether an operating status of a minimum perception information sensor on the first vehicle and an operating status of a minimum perception information sensor on the second vehicle currently at the tail are operating normally or operating with redundancy, whether an operating status and accuracy of a positioning sensor on the first vehicle and an operating status and accuracy of a positioning sensor on the second vehicle currently at the tail are normal, and whether an operating status and accuracy of a forward distance sensor on the first vehicle and an operating status and accuracy of a forward distance sensor on the second vehicle currently at the tail are normal; and
determining the sensor determination result meets the first predetermined condition in response to the operating status of the minimum perception information sensor on the first vehicle and the operating status of the minimum perception information sensor on the second vehicle currently at the tail being operating normally or operating with redundancy, the operating status and accuracy of the positioning sensor on the first vehicle and the operating status and accuracy of the positioning sensor on the second vehicle currently at the tail being normal, and the operating status and accuracy of the forward distance sensor on the first vehicle and the operating status and accuracy of the forward distance sensor on the second vehicle currently at the tail being normal.
11. A computing apparatus, comprising:
a processor; and
a memory storing program codes that, when executed by the processor, causes the apparatus to implement a method comprising:
receiving, from a first vehicle, a platooning request message for joining a platoon;
obtaining, based on the platooning request message, a first vehicle type, first kinematic information and first sensor operating status information of the first vehicle, a second vehicle type, second kinematic information and second sensor operating status information of a second vehicle currently at a tail of the platoon, comprising:
retrieving a vehicle registration message of the first vehicle based on a vehicle electronic tag of the first vehicle, to obtain the first vehicle type and the first kinematic information of the first vehicle, the first kinematic information comprising a minimum turning radius and a braking preparation time length of the first vehicle, wherein the platooning request message comprises the vehicle electronic tag of the first vehicle;
obtaining a vehicle electronic tag of the second vehicle currently at the tail; and
retrieving a vehicle registration message of the second vehicle currently at the tail, to obtain the second vehicle type and the second kinematic information of the second vehicle currently at the tail, the second kinematic information comprising a minimum turning radius and a braking preparation time length of the second vehicle currently at the tail;
performing vehicle kinematic determination based on the first vehicle type, the first kinematic information, the second vehicle type, and the second kinematic information, to obtain a kinematic determination result;
performing sensor determination based on the first sensor operating status information and the second sensor operating status information, to obtain a sensor determination result;
transmitting a confirmation request message to a third vehicle in response to the kinematic determination result and the sensor determination result meeting a first predetermined condition, wherein the third vehicle is in the platoon; and
controlling, upon receiving a request approval message from the third vehicle, the first vehicle to establish a Vehicle-to-Vehicle (V2V) communication connection with each vehicle in the platoon.
12. The computing apparatus of claim 11 , wherein the program codes, when executed by the processor, causes the apparatus to implement the method further comprising:
receiving, from a fourth vehicle, a vehicle registration message for joining the platoon, the vehicle registration message containing a vehicle license plate number, a third vehicle type, a vehicle electronic tag, vehicle driver information, vehicle power system information, and vehicle sensor information; and
allowing the fourth vehicle to join the platoon in response to the vehicle registration message meeting a second predetermined condition.
13. The computing apparatus of claim 12 , wherein the program codes, when executed by the processor, causes the apparatus to implement the method further comprising:
receiving position information, destination information, and platoon information from the fourth vehicle;
determining navigation path information for the fourth vehicle based on the position information and the destination information.
14. The computing apparatus of claim 13 , wherein the program codes, when executed by the processor, causes the apparatus to implement the method further comprising:
transmitting, to the first vehicle, vehicle display information for the fourth vehicle, the vehicle display information containing the vehicle license plate number, the third vehicle type, the position information, the destination information, and the platoon information of the fourth vehicle and a distance for the fourth vehicle to move together with the first vehicle.
15. The computing apparatus of claim 14 , wherein the vehicle display information comprises a plurality of pieces of vehicle display information, and the platooning request message comprises a selected one of the plurality of pieces of vehicle display information, and receiving, from the first vehicle, the platooning request message comprises:
in response to the platoon information in the selected piece of vehicle display information being empty, determining that the second vehicle currently at the tail of the platoon corresponds to the selected piece of vehicle display information; and
in response to the platoon information in the selected piece of vehicle display information being not empty, determining the platoon based on the platoon information.
16. The computing apparatus of claim 11 , wherein performing the vehicle kinematic determination based on the first vehicle type, the first kinematic information, the second vehicle type, and the second kinematic information, to obtain the kinematic determination result comprises:
obtaining a first vehicle level to which the first vehicle type corresponds and a second vehicle level to which the second vehicle type corresponds based on the first vehicle type and the second vehicle type, respectively, wherein the first vehicle level is associated with a first vehicle volume and a first vehicle weight, the second vehicle level is associated with a second vehicle volume and a second vehicle weight;
determining whether the first vehicle level is lower than or equal to the second vehicle level;
comparing the minimum turning radius of the first vehicle with the minimum turning radius of the second vehicle currently at the tail;
comparing the braking preparation time length of the first vehicle with the braking preparation time length of the second vehicle currently at the tail; and
determining the kinematic determination result meets the first predetermined condition in response to the first vehicle level being lower than or equal to the second vehicle level, the minimum turning radius of the first vehicle being smaller than or equal to the minimum turning radius of the second vehicle currently at the tail, and the braking preparation time length of the first vehicle being smaller than or equal to the braking preparation time length of the second vehicle currently at the tail.
17. The computing apparatus of claim 11 , wherein performing sensor determination based on the first sensor operating status information and the second sensor operating status information, to obtain the sensor determination result comprises:
determining whether an operating status of a minimum perception information sensor on the first vehicle and an operating status of a minimum perception information sensor on the second vehicle currently at the tail are operating normally or operating with redundancy, whether an operating status and accuracy of a positioning sensor on the first vehicle and an operating status and accuracy of a positioning sensor on the second vehicle currently at the tail are normal, and whether an operating status and accuracy of a forward distance sensor on the first vehicle and an operating status and accuracy of a forward distance sensor on the second vehicle currently at the tail are normal; and
determining the sensor determination result meets the first predetermined condition in response to the operating status of the minimum perception information sensor on the first vehicle and the operating status of the minimum perception information sensor on the second vehicle currently at the tail being operating normally or operating with redundancy, the operating status and accuracy of the positioning sensor on the first vehicle and the operating status and accuracy of the positioning sensor on the second vehicle currently at the tail being normal, and the operating status and accuracy of the forward distance sensor on the first vehicle and the operating status and accuracy of the forward distance sensor on the second vehicle currently at the tail being normal.