CN-122024462-A - Multi-vehicle formation driving management method based on V2V communication

CN122024462ACN 122024462 ACN122024462 ACN 122024462ACN-122024462-A

Abstract

The invention provides a multi-vehicle formation driving management method based on V2V communication, which can provide multi-vehicle formation driving capabilities of formation creation, formation joining, formation leaving, formation breaking, formation following and the like for a vehicle formation and provide role management, information management and behavior management of each vehicle in the vehicle formation for a formation system. Based on the method, intelligent driving of the cooperative formation of multiple vehicles can be realized, so that oil consumption is reduced, labor cost of a driver is reduced, and the safety and stability of the whole vehicle team are very important. Meanwhile, the V2V communication is used as a simple and efficient vehicle-to-vehicle interconnection formation management method, so that the requirements of real-time synchronization and dynamic information sharing of each vehicle information in multi-vehicle formation can be met, and the formation running efficiency and safety are improved.

Inventors

BO TAO
XUE LINGYANG
MAO SHENGFA
LIU CHAO
XUE LINGLING

Assignees

陕西重型汽车有限公司

Dates

Publication Date: 20260512
Application Date: 20260109

Claims (8)

1. The multi-vehicle formation driving management method based on V2V communication is characterized by comprising the following steps of: Creating formation, namely converting the free vehicle roles into pilot vehicles through user operation so as to perform subsequent in-team information broadcasting behaviors of vehicle team management and vehicle team maintenance; adding formation, namely adding free vehicles into a specified vehicle queue sequence through user operation, converting roles into following vehicles, and carrying out intelligent driving along with pilot vehicles; The following vehicles are separated from the current formation through user operation, the free vehicle roles are recovered, and intelligent driving is carried out without following the pilot vehicles; The method comprises the steps of breaking up formation, namely completely breaking up the current vehicle formation through user operation, and enabling all vehicles to recover free vehicle roles and not to carry out multi-vehicle formation driving; And the formation follows, namely, in the running process of the multi-vehicle formation, each vehicle in the vehicle formation carries out real-time information interaction, so that the stable, efficient and safe running of the whole vehicle formation is ensured.
2. The method for managing multi-vehicle formation traveling based on V2V communication according to claim 1, wherein the method for creating the formation is: The user operation is that a free vehicle operator clicks a formation creation button on a formation man-machine interface when the vehicle is in a state of not starting formation, a vehicle driving destination is selected or input, and a formation creation function is started; the queue information change, namely, after receiving user operation information, a free in-vehicle formation management module for creating formation changes own roles into pilot vehicles, and creates a formation only comprising own roles; And after the formation is successfully created, the pilot vehicle broadcasts the formation information to the outside V2V through the C-V2X vehicle-mounted terminal, and free vehicles with V2V communication functions on the periphery can receive the formation information.
3. The method for managing multi-vehicle formation traveling based on V2V communication according to claim 1, wherein the method for joining in formation is as follows: The method comprises the steps that queue information is obtained, namely, a free vehicle with a V2V communication function obtains peripheral V2X information through a C-V2X vehicle-mounted terminal when the vehicle is not added into a formation, whether the formation ID is contained in analysis information, whether the pilot vehicle ID is identical to the formation ID or not, and formation information broadcast by the pilot vehicle is screened out; the free vehicle operator selects or inputs the name of the target vehicle team on the team man-machine interface, clicks a 'join team' button, and opens a team joining function; The vehicle information change, namely, after receiving user operation information, a formation management module of free vehicles in the formation changes own roles into temporary following vehicles of a target vehicle formation, and sets the formation ID of the own to be a target formation ID which is planned to be added; The temporary following vehicles broadcast the vehicle information to the outside V2V through a C-V2X vehicle-mounted terminal, the target fleet pilot vehicle acquires the surrounding temporary following vehicle information through the C-V2X vehicle-mounted terminal, analyzes whether the formation ID of the temporary following vehicles in the information is the same as the formation ID of the fleet of the vehicle, and filters the formation ID to acquire temporary following vehicle information; The pilot vehicle replies, namely, pilot vehicle operators select whether to agree with the temporary following vehicles to join in formation or not in a formation man-machine interface, and the selection result is broadcasted to external V2V through a C-V2X vehicle-mounted terminal, and the temporary following vehicles filter according to formation ID contained in the message to obtain reply information of the pilot vehicle; After the temporary following vehicle receives the pilot vehicle reply information, if the information content is 'consent', the role of the temporary following vehicle is changed into the following vehicle, the pilot vehicle carries out external V2V broadcasting on the formation information added with the following vehicle through the C-V2X vehicle-mounted terminal, the free vehicles with V2V communication functions on the periphery and the following vehicle can receive the formation information, if the information content is 'refusing', or the pilot vehicle reply information cannot be received for a long time, the temporary following vehicle recovers the role of the temporary following vehicle into the free vehicle, the pilot vehicle keeps the original formation information unchanged, carries out external V2V broadcasting through the C-V2X vehicle-mounted terminal, and the free vehicles with V2V communication functions on the periphery can receive the formation information.
4. The method for managing multi-vehicle formation traveling based on V2V communication according to claim 1, wherein the method for dequeuing is as follows: the queue information acquisition, namely acquiring formation information broadcast by a pilot vehicle of a vehicle team under the state that a following vehicle is in the vehicle team; the user operation, namely clicking a 'leave formation' button on a formation man-machine interface by following a vehicle operator, and starting a formation leaving function; The vehicle information change, namely, after receiving user operation information, a formation management module of a following vehicle in the leaving formation changes the role of the following vehicle into a temporary free vehicle of the vehicle formation; The temporary free vehicle broadcasts the vehicle information to the outside V2V through a C-V2X vehicle-mounted terminal, and the pilot vehicle of the vehicle team filters and obtains the temporary free vehicle information according to the formation ID contained in the message; The pilot vehicle replies, namely, pilot vehicle operators select whether to agree that the temporary free vehicle leaves the formation or not in the formation man-machine interface, and the temporary free vehicle carries out external V2V broadcasting through a C-V2X vehicle-mounted terminal, and filters according to the information mark of the formation to obtain reply information of the pilot vehicle; After leaving, the temporary free vehicle changes the role of the temporary free vehicle into the free vehicle after receiving the pilot vehicle reply information if the information content is 'consent', the pilot vehicle performs external V2V broadcasting on the formation information of the following vehicle through the C-V2X vehicle-mounted terminal, the free vehicles with the V2V communication function on the periphery can receive the formation information, or the temporary free vehicle restores the role of the temporary free vehicle into the following vehicle if the information content is 'refused', the pilot vehicle keeps the original formation information unchanged, and performs external V2V broadcasting on the following vehicle through the C-V2X vehicle-mounted terminal, and the free vehicles with the V2V communication function on the periphery can receive the formation information.
5. The method for managing multi-vehicle formation traveling based on V2V communication according to claim 1, wherein the method for dequeuing is as follows: The pilot vehicle operator clicks a 'release formation' button on a formation man-machine interface, and a formation release function is started; The following vehicle formation management module in the disaggregation formation changes the role of the following vehicle into a temporary pilot vehicle of the vehicle formation after receiving the operation information of the user; The temporary pilot vehicle carries out external V2V broadcasting on the vehicle information through a C-V2X vehicle-mounted terminal, and the vehicle team following vehicle filters according to the formation ID contained in the message to obtain temporary pilot vehicle information; The following vehicle replies, namely after receiving the disaggregation information broadcast by the temporary pilot vehicle, the following vehicle formation management module changes the role of the following vehicle into a free vehicle, and carries out external V2V broadcast on the own vehicle information through the C-V2X vehicle-mounted terminal, and the temporary pilot vehicle filters according to the vehicle formation information mark to obtain reply information of the following vehicle; After the temporary pilot vehicle receives the reply information of all the following vehicles, changing the roles of the temporary pilot vehicle into free vehicles, deleting the formation information of all the original vehicle teams, and not broadcasting the external V2V through the C-V2X vehicle-mounted terminal, wherein the free vehicles with the V2V communication function on the periphery do not receive the formation information.
6. The method for managing multi-vehicle formation traveling based on V2V communication according to claim 1, wherein the method for tracking the formation is as follows: the pilot vehicle formation management module broadcasts the formation information of the current whole vehicle formation to the outside V2V through the C-V2X vehicle-mounted terminal, and the following vehicles and the free vehicles with the V2V communication function on the periphery can receive the formation information; The following vehicle information report comprises that after receiving the pilot vehicle formation information, a following vehicle formation management module in a vehicle team carries out external V2V broadcast on own vehicle information through a C-V2X vehicle-mounted terminal, and the pilot vehicle of the vehicle team filters according to the formation ID contained in the message to obtain the following vehicle report information; the method comprises the steps that after receiving the vehicle information of each following vehicle in a vehicle team, a pilot vehicle updates corresponding vehicle information in the formation information according to return information; Formation following, namely continuously cycling the steps when the vehicle team is in the formation following state.
7. The multi-vehicle formation driving management method based on V2V communication according to claim 1, wherein the formation management module is used for realizing formation information transmission between vehicles through a vehicle-mounted C-V2X communication terminal and adjusting vehicle roles according to user operation and formation rules.
8. The V2V communication-based multi-vehicle formation travel management method according to claim 1, wherein the user operation is formation management control by HMI or cloud platform control.

Description

Multi-vehicle formation driving management method based on V2V communication Technical Field The invention provides a multi-vehicle formation driving management method based on V2V communication, and relates to the technical field of wireless communication and intelligent driving. Background With the development of wireless communication technology and intelligent driving technology, intelligent driving heavy commercial vehicle formation technology is gradually applied to scenes such as ports, mining areas, logistics trunks and the like, so that logistics transportation is more efficient and quicker. The formation driving can realize the cooperative formation intelligent driving of multiple vehicles, thereby reducing the oil consumption and the labor cost of drivers, currently, main stream host factories at home and abroad are researching and developing the formation driving of the multiple vehicles and the cooperative intelligent driving, and clients are provided with the formation driving requirement under the scenes of high-speed logistics and the like, and the industry is beginning to explore the commercial floor operation mode of the intelligent driving and the formation driving. In the formation system, role management, information management and behavior management of each vehicle play a vital role in the safety and stability of the whole vehicle formation. Therefore, there is a need to develop a simple and efficient inter-vehicle interconnection formation management method, which meets the requirements of real-time synchronization and dynamic information sharing of each vehicle information in multi-vehicle formation. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide a multi-vehicle formation driving management method based on V2V communication, solves the difficult problem of how to form formation in real time in a synergistic, efficient and safe way, and can effectively improve the efficiency and the safety of multi-vehicle formation driving. The specific technical scheme is as follows: A multi-vehicle formation driving management method based on V2V communication comprises the following steps: Creating formation, namely converting the free vehicle roles into pilot vehicles through user operation so as to perform subsequent in-team information broadcasting behaviors of vehicle team management and vehicle team maintenance; adding formation, namely adding free vehicles into a specified vehicle queue sequence through user operation, converting roles into following vehicles, and carrying out intelligent driving along with pilot vehicles; The following vehicles are separated from the current formation through user operation, the free vehicle roles are recovered, and intelligent driving is carried out without following the pilot vehicles; The method comprises the steps of breaking up formation, namely completely breaking up the current vehicle formation through user operation, and enabling all vehicles to recover free vehicle roles and not to carry out multi-vehicle formation driving; And the formation follows, namely, in the running process of the multi-vehicle formation, each vehicle in the vehicle formation carries out real-time information interaction, so that the stable, efficient and safe running of the whole vehicle formation is ensured. Preferably, the method for creating the formation comprises the following steps: The user operation is that a free vehicle operator clicks a formation creation button on a formation man-machine interface when the vehicle is in a state of not starting formation, a vehicle driving destination is selected or input, and a formation creation function is started; the queue information change, namely, after receiving user operation information, a free in-vehicle formation management module for creating formation changes own roles into pilot vehicles, and creates a formation only comprising own roles; And after the formation is successfully created, the pilot vehicle broadcasts the formation information to the outside V2V through the C-V2X vehicle-mounted terminal, and free vehicles with V2V communication functions on the periphery can receive the formation information. Preferably, the method for adding formation comprises the following steps: The method comprises the steps that queue information is obtained, namely, a free vehicle with a V2V communication function obtains peripheral V2X information through a C-V2X vehicle-mounted terminal when the vehicle is not added into a formation, whether the formation ID is contained in analysis information, whether the pilot vehicle ID is identical to the formation ID or not, and formation information broadcast by the pilot vehicle is screened out; the free vehicle operator selects or inputs the name of the target vehicle team on the team man-machine interface, clicks a 'join team' button, and opens a team joining function; The vehicle information change, namely, after receiving user ope