Method for controlling vehicles driving as platoon and related devices
View Patent ↗This application provides a method for controlling vehicles driving as a platoon performed by an electronic device. The method includes: transmitting a first vehicle clearing message to a target in-platoon vehicle, and a second vehicle clearing message to following vehicles behind the target in-platoon vehicle, the first vehicle clearing message used for instructing the target in-platoon vehicle to leave the platoon, the second vehicle clearing message used for instructing temporary clearing of the following vehicles behind the target in-platoon vehicle; receiving a platoon joining message returned from the following vehicles behind the target in-platoon vehicle; and reorganizing the following vehicles behind the target in-platoon vehicle according to the platoon joining message to form a new vehicle platoon, the new vehicle platoon not including the target in-platoon vehicle and following vehicles having not transmitted the platoon joining message to the leading vehicle.
1. A method for controlling vehicles driving as a platoon performed by an electronic device in connection with a target vehicle platoon comprising a leading vehicle and following vehicles, the following vehicles comprising a tail vehicle and in-platoon vehicles, the in-platoon vehicles comprising a target in-platoon vehicle about to leave the target vehicle platoon, the method comprising:
transmitting, from the leading vehicle, a first vehicle clearing message to the target in-platoon vehicle, and a second vehicle clearing message to following vehicles in the target vehicle platoon behind the target in-platoon vehicle, the first vehicle clearing message being used for indicating that a status of the target in-platoon vehicle is a free status and instructing the target in-platoon vehicle to leave the target vehicle platoon, the second vehicle clearing message comprising a temporary clearing indication, the temporary clearing indication being used for instructing temporary clearing of the following vehicles behind the target in-platoon vehicle, and a status of the following vehicles behind the target in-platoon vehicle that receive the second vehicle clearing message being a temporary clearing status;
receiving a platoon joining message returned from the following vehicles behind the target in-platoon vehicle in response to receiving the temporary clearing indication; and
reorganizing the following vehicles behind the target in-platoon vehicle according to the platoon joining message to form a new vehicle platoon, the new vehicle platoon not comprising the target in-platoon vehicle and following vehicles behind the target in-platoon vehicle that have not transmitted the platoon joining message to the leading vehicle.
2. The method according to claim 1 , wherein the second vehicle clearing message comprises a clearing status field, and a value of the clearing status field represents the temporary clearing indication, wherein
the first vehicle clearing message does not comprise the clearing status field; or
the first vehicle clearing message comprises the clearing status field, and the value of the clearing status field represents a non-temporary clearing indication; or
the first vehicle clearing message comprises the clearing status field, and the value of the clearing status field represents the temporary clearing indication.
3. The method according to claim 1 , wherein the first vehicle clearing message and the second vehicle clearing message comprise a leaving list and a temporary leaving list, the leaving list comprising identity information of the target in-platoon vehicle, the temporary leaving list comprising identity information of the following vehicles behind the target in-platoon vehicle, and the temporary leaving list being used as the temporary clearing indication.
4. The method according to claim 1 , wherein the method further comprises:
receiving a leaving application message transmitted by the target in-platoon vehicle; and
the transmitting, from the leading vehicle, a first vehicle clearing message to the target in-platoon vehicle, and a second vehicle clearing message to following vehicles behind the target in-platoon vehicle comprises:
in response to receiving the leaving application message, transmitting, by the leading vehicle, the first vehicle clearing message to the target in-platoon vehicle, and the second vehicle clearing message to the following vehicles behind the target in-platoon vehicle.
5. The method according to claim 1 , wherein the transmitting, from the leading vehicle, a first vehicle clearing message to the target in-platoon vehicle, and a second vehicle clearing message to following vehicles behind the target in-platoon vehicle comprises:
when detecting an abnormal behavior of the target in-platoon vehicle or in response to an adjustment instruction for adjusting the target vehicle platoon, transmitting the first vehicle clearing message to the target in-platoon vehicle, and transmitting the second vehicle clearing message to the following vehicles behind the target in-platoon vehicle.
6. The method according to claim 1 , wherein the temporary clearing indication comprises a temporary clearing timer; and after the transmitting a second vehicle clearing message to following vehicles behind the target in-platoon vehicle, the method further comprises:
maintaining, in the leading vehicle before a time specified by the temporary clearing timer, platoon information of the following vehicles behind the target in-platoon vehicle in the target vehicle platoon.
7. The method according to claim 1 , wherein the temporary clearing indication comprises a temporary clearing timer; and the method further comprises:
when no platoon joining message returned by a target following vehicle in the following vehicles behind the target in-platoon vehicle has been received within a time specified by the temporary clearing timer, putting identity information of the target following vehicle into a leaving list, and setting a status of the target following vehicle to the free status.
8. The method according to claim 1 , wherein the reorganizing the following vehicles behind the target in-platoon vehicle according to the platoon joining message to form a new vehicle platoon comprises:
reorganizing platoon information according to the platoon joining message; and
transmitting the reorganized platoon information to the following vehicles behind the target in-platoon vehicle that have returned the platoon joining message, to form the new vehicle platoon.
9. An electronic device in connection with a current vehicle platoon including a leading vehicle and following vehicles, the following vehicles comprising a target following vehicle about to drive away from the current vehicle platoon, the target following vehicle being a non-tail vehicle in the current vehicle platoon, the electronic device comprising:
one or more processors; and
a storage apparatus, configured to store one or more programs, the one or more programs, when executed by the one or more processors, causing the electronic device to implement a method for controlling vehicles driving as a platoon, the method including:
transmitting, from the leading vehicle, a first vehicle clearing message to the target in-platoon vehicle, and a second vehicle clearing message to following vehicles in the target vehicle platoon behind the target in-platoon vehicle, the first vehicle clearing message being used for indicating that a status of the target in-platoon vehicle is a free status and instructing the target in-platoon vehicle to leave the target vehicle platoon, the second vehicle clearing message comprising a temporary clearing indication, the temporary clearing indication being used for instructing temporary clearing of the following vehicles behind the target in-platoon vehicle, and a status of the following vehicles behind the target in-platoon vehicle that receive the second vehicle clearing message being a temporary clearing status;
receiving a platoon joining message returned from the following vehicles behind the target in-platoon vehicle in response to receiving the temporary clearing indication; and
reorganizing the following vehicles behind the target in-platoon vehicle according to the platoon joining message to form a new vehicle platoon, the new vehicle platoon not comprising the target in-platoon vehicle and following vehicles behind the target in-platoon vehicle that have not transmitted the platoon joining message to the leading vehicle.
10. The electronic device according to claim 9 , wherein the second vehicle clearing message comprises a clearing status field, and a value of the clearing status field represents the temporary clearing indication, wherein
the first vehicle clearing message does not comprise the clearing status field; or
the first vehicle clearing message comprises the clearing status field, and the value of the clearing status field represents a non-temporary clearing indication; or
the first vehicle clearing message comprises the clearing status field, and the value of the clearing status field represents the temporary clearing indication.
11. The electronic device according to claim 9 , wherein the first vehicle clearing message and the second vehicle clearing message comprise a leaving list and a temporary leaving list, the leaving list comprising identity information of the target in-platoon vehicle, the temporary leaving list comprising identity information of the following vehicles behind the target in-platoon vehicle, and the temporary leaving list being used as the temporary clearing indication.
12. The electronic device according to claim 9 , wherein the method further comprises:
receiving a leaving application message transmitted by the target in-platoon vehicle; and
the transmitting, from the leading vehicle, a first vehicle clearing message to the target in-platoon vehicle, and a second vehicle clearing message to following vehicles behind the target in-platoon vehicle comprises:
in response to receiving the leaving application message, transmitting, by the leading vehicle, the first vehicle clearing message to the target in-platoon vehicle, and the second vehicle clearing message to the following vehicles behind the target in-platoon vehicle.
13. The electronic device according to claim 9 , wherein the transmitting, from the leading vehicle, a first vehicle clearing message to the target in-platoon vehicle, and a second vehicle clearing message to following vehicles behind the target in-platoon vehicle comprises:
when detecting an abnormal behavior of the target in-platoon vehicle or in response to an adjustment instruction for adjusting the target vehicle platoon, transmitting the first vehicle clearing message to the target in-platoon vehicle, and transmitting the second vehicle clearing message to the following vehicles behind the target in-platoon vehicle.
14. The electronic device according to claim 9 , wherein the temporary clearing indication comprises a temporary clearing timer; and after the transmitting a second vehicle clearing message to following vehicles behind the target in-platoon vehicle, the method further comprises:
maintaining, in the leading vehicle before a time specified by the temporary clearing timer, platoon information of the following vehicles behind the target in-platoon vehicle in the target vehicle platoon.
15. The electronic device according to claim 9 , wherein the temporary clearing indication comprises a temporary clearing timer; and the method further comprises:
when no platoon joining message returned by a target following vehicle in the following vehicles behind the target in-platoon vehicle has been received within a time specified by the temporary clearing timer, putting identity information of the target following vehicle into a leaving list, and setting a status of the target following vehicle to the free status.
16. The electronic device according to claim 9 , wherein the reorganizing the following vehicles behind the target in-platoon vehicle according to the platoon joining message to form a new vehicle platoon comprises:
reorganizing platoon information according to the platoon joining message; and
transmitting the reorganized platoon information to the following vehicles behind the target in-platoon vehicle that have returned the platoon joining message, to form the new vehicle platoon.
17. A non-transitory computer-readable storage medium, storing one or more programs, the one or more programs, when executed by one or more processors of an electronic device, causing the electronic device to implement a method for controlling vehicles driving as a platoon, the method including:
transmitting, from the leading vehicle, a first vehicle clearing message to the target in-platoon vehicle, and a second vehicle clearing message to following vehicles in the target vehicle platoon behind the target in-platoon vehicle, the first vehicle clearing message being used for indicating that a status of the target in-platoon vehicle is a free status and instructing the target in-platoon vehicle to leave the target vehicle platoon, the second vehicle clearing message comprising a temporary clearing indication, the temporary clearing indication being used for instructing temporary clearing of the following vehicles behind the target in-platoon vehicle, and a status of the following vehicles behind the target in-platoon vehicle that receive the second vehicle clearing message being a temporary clearing status;
receiving a platoon joining message returned from the following vehicles behind the target in-platoon vehicle in response to receiving the temporary clearing indication; and
reorganizing the following vehicles behind the target in-platoon vehicle according to the platoon joining message to form a new vehicle platoon, the new vehicle platoon not comprising the target in-platoon vehicle and following vehicles behind the target in-platoon vehicle that have not transmitted the platoon joining message to the leading vehicle.
18. The non-transitory computer-readable storage medium according to claim 17 , wherein the method further comprises:
receiving a leaving application message transmitted by the target in-platoon vehicle; and
the transmitting, from the leading vehicle, a first vehicle clearing message to the target in-platoon vehicle, and a second vehicle clearing message to following vehicles behind the target in-platoon vehicle comprises:
in response to receiving the leaving application message, transmitting, by the leading vehicle, the first vehicle clearing message to the target in-platoon vehicle, and the second vehicle clearing message to the following vehicles behind the target in-platoon vehicle.
19. The non-transitory computer-readable storage medium according to claim 17 , wherein the transmitting, from the leading vehicle, a first vehicle clearing message to the target in-platoon vehicle, and a second vehicle clearing message to following vehicles behind the target in-platoon vehicle comprises:
when detecting an abnormal behavior of the target in-platoon vehicle or in response to an adjustment instruction for adjusting the target vehicle platoon, transmitting, from the leading vehicle, the first vehicle clearing message to the target in-platoon vehicle, and the second vehicle clearing message to the following vehicles behind the target in-platoon vehicle.
20. The non-transitory computer-readable storage medium according to claim 17 , wherein the temporary clearing indication comprises a temporary clearing timer; and after the transmitting a second vehicle clearing message to following vehicles behind the target in-platoon vehicle, the method further comprises:
maintaining, in the leading vehicle before a time specified by the temporary clearing timer, platoon information of the following vehicles behind the target in-platoon vehicle in the target vehicle platoon.