Provided is a platooning method of autonomous driving platoon, comprising: according to the application platooning request message, obtaining the first vehicle type and first kinematics information of the vehicle to be platooned, the second vehicle type and second kinematics information of the current tail vehicle in the queue of the vehicle to which the vehicle to be platooned is to be added, the first sensor and working status information of the vehicle to be platooned, and second sensor and working status information of the vehicle of each vehicle in the queue of the vehicle to which the vehicle to be platooned is to be added; performing vehicle kinematics judgment to generate a kinematics judgment result; performing sensor judgment to generate a sensor judgment result; when all the judgments are passed, sending the confirmation request message to the vehicle-mounted device of the head vehicle in the queue of the vehicle to which the vehicle to be platooned is to be added; after receiving the application consent message, controlling the vehicle-mounted device of the vehicle to be platooned to make the V2V communication connection with the vehicle-mounted device of each vehicle in the queue of the vehicle to which the vehicle to be platooned is to be added, to complete addition of the queue. This method does not need to rely on the processing and response of the roadside unit, and can also complete the platooning of the cooperative autonomous driving platoon in the area where the roadside unit is not provided. Provided are also a computer-readable storage medium, a computer apparatus, a cloud server, and a platooning system of autonomous driving platoon.
Platooning method, apparatus and system of autonomous driving platoon
2021-07-29
Patent
Elektronische Ressource
Englisch
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